• Journal of Institute of Control, Robotics and Systems
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• v.14 no.2
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• pp.168-177
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• 2008

Path finding is a key element in the navigation of a mobile robot. To find a path, robot should know their position exactly, since the position error exposes a robot to many dangerous conditions. It could make a robot move to a wrong direction so that it may have damage by collision by the surrounding obstacles. We propose a method obtaining an accurate robot position. The localization of a mobile robot in its working environment performs by using a vision system and Virtual Reality Modeling Language(VRML). The robot identifies landmarks located in the environment. An image processing and neural network pattern matching techniques have been applied to find location of the robot. After the self-positioning procedure, the 2-D scene of the vision is overlaid onto a VRML scene. This paper describes how to realize the self-positioning, and shows the overlay between the 2-D and VRML scenes. The suggested method defines a robot's path successfully. An experiment using the suggested algorithm apply to a mobile robot has been performed and the result shows a good path tracking.

• Journal of information and communication convergence engineering
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• v.6 no.1
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• pp.6-9
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• 2008

In future domestic context aware applications the location of mobile devices is often required. Ultrasonic technology enables high resolution indoor position measurements. A disadvantage of state-of-art ultrasonic systems is that several base stations are required to estimate 3D position. This study aims to evaluate the efficiency and effectiveness of using UPS as a 3D free-hand writing or drawing tool. The processes include the design and testing of UPS as an efficient 3D free-hand writing or drawing tool in the air. The paper will further explain the system architecture of the UPS and how to use GPS as 3D free-hand writing or drawing tool. The efficiency and effectiveness of the system was confirmed by a computer software simulation. The software will further display the result of drawing or writing from the user by graphics. As a result, it is possible to implement UPS as a 3D free-hand writing or drawing tool in the air.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.7
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• pp.1537-1543
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• 2010

This paper describes a compact microstrip antenna with dual polarization characteristics. The antenna, receiving both a left-hand circularly polarized(LHCP) wave and a right-hand circularly polarized(RHCP) wave, can be used for a polarization diversity. A diamond-shaped patch with internal empty room is designed for impedance matching as well as size reduction. And slots are added around feeding point to improve input matching. The proposed antenna has been applied to GPS(global positioning system), operating at 1.57GHz. And, the proposed idea has been verified and estimated by simulation. The measurement results show that it has VSWR 2:1 bandwidth of 83MHz, 3dB axial bandwidth of about 58MHz, 3dB beamwidth of 90degree, and gain of 0dBi, respectively, for RHCP. Also, it has similar performances for LHCP.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.9 no.1
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• pp.83-96
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• 1991

The use of SPOT Imagery is a growing trend in the field of small and middle scale mapping, as well as in establishing topographic database. This study is about 3-D positioning using the SPOT Imagery, where the accuracy and the gemetric characteristics of SPOT photos are analysed according to the preprocessing level (level 1AP,1B). As a result of this study the following could be determined, i. e 1) the geometric characteristics of SPOT Imagery according to the preprocessing level, 2) the optimal polynomial type for exterior orientations of each preprocessing level, and 3) the type of significant additional parameters. It was found that both the geometric precision and accuracy of level 1AP is higher than those of level 1B, which implies that level 1AP is more suitable for precise 3-D positioning and map production.

• The KIPS Transactions:PartD
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• v.19D no.3
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• pp.237-246
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• 2012

Although the development of Global Positioning System (GPS) are more and more mature, its accuracy is just acceptable for outdoor positioning, not positioning for the indoor of building and the underpass. For the positioning application area for the indoor of building and the underpass, GPS even cannot achieve that accuracy because of the construction materials while the requirement for accurate positioning in the indoor of building and the underpass, because a space, a person is necessary, may be very small space with several square meters in the indoor of building and the underpass. The Received Signal Strength (RSS) based localization is becoming a good choice especially for the indoor of building and the underpass scenarios where the WiFi signals of IEEE 802.11, Wireless LAN, are available in almost every indoor of building and the underpass. The fundamental requirement of such localization system is to estimate location from Access Point (AP) to mobile device using RSS at a specific location. The Multi-path fading effects in this process make RSS to fluctuate unpredictably, causing uncertainty in localization. To deal with this problem, the combination for the method of Neural Networks and Push-Pull Estimation is applied so that the carried along the devices can learn and make the decision of position using mobile device where it is in the indoor of building and the underpass.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.19 no.1
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• pp.9-17
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• 2001

GPS is an efficient system in surveying and car navigation. but it is difficult to catch minimum number of satellite when it is hindered by obstacle such as city area. GLONASS system doesn't have perfect constellation yet, but it has many similarities with GPS system in principle of point positioning and signal system. so, it is expected to be much efficient when it is used with GPS system. For the purpose of this, the coordinates of GPS and GLONASS system, the quality of time and frequency was investigated, and the algorithm of point positioning was made. also, the efficiency of GPS/GLONASS combination was presented by analysing the precision of 3D point positioning using C/A code and Yuma satellite orbit information.

• International Journal of Highway Engineering
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• v.15 no.1
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• pp.155-161
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• 2013

PURPOSES: This study is to develop a road traffic sign recognition and automatic positioning for road facility management. METHODS: In this study, we installed the GPS, IMU, DMI, camera, laser sensor on the van and surveyed the car position, fore-sight image, point cloud of traffic signs. To insert automatic position of traffic sign, the automatic traffic sign recognition S/W developed and it can log the traffic sign type and approximate position, this study suggests a methodology to transform the laser point-cloud to the map coordinate system with the 3D axis rotation algorithm. RESULTS: Result show that on a clear day, traffic sign recognition ratio is 92.98%, and on cloudy day recognition ratio is 80.58%. To insert exact traffic sign position. This study examined the point difference with the road surveying results. The result RMSE is 0.227m and average is 1.51m which is the GPS positioning error. Including these error we can insert the traffic sign position within 1.51m CONCLUSIONS: As a result of this study, we can automatically survey the traffic sign type, position data of the traffic sign position error and analysis the road safety, speed limit consistency, which can be used in traffic sign DB.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.37 no.3
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• pp.621-627
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• 2017

In this study, GPS (Global Positioning System) is applied to rollers for quality control problems caused by empirical judgment of compaction construction. In addition, database and 3D modeling of location information can eliminate unnecessary compaction or excessive compaction, thereby improving quality and shortening the time. This paper presents a methodology of ICMV (Intelligent Compaction Measurement Values) analysis by designing a intelligent compaction method using an accelerometer. Detailed method of ICMV analysis includes CMV (Compaction Meter Value) analysis which can quickly and conveniently evaluate the compaction of the compacted ground.

• Journal of Positioning, Navigation, and Timing
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• v.10 no.3
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• pp.189-196
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• 2021

In this paper, we propose techniques to correct the altitude error and heading error of 3D Pedestrian Inertial Navigation (PIN). When a PIN is used to estimate the location of a pedestrian only with an Inetrial Measurement Unit (IMU) without infrastructure, there is a problem in that the location error gradually increases due to the limitation of the observability of the filter. To solve this problem without additional sensors, we propose two techniques in this paper. First, stair walking is recognized in consideration of the altitude difference that may occur during one step. If it is recognized as stair walking, only Zero-velocity UPdaTe (ZUPT) is performed, and if it is recognized as level walking, ZUPT + Altitude Damping (AD) is performed together to correct the altitude error. Second, the straight-line movement direction is calculated through the difference of the estimated position, and the heading error is corrected by matching this information with the link information of the digital map. By applying these techniques, it is verified through real tests that accurate three-dimensional location information of pedestrians can be estimated without infrastructure.

• Journal of Korean Academy of Oral and Maxillofacial Radiology
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• v.18 no.1
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• pp.13-25
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• 1988

Bone destruction was induced experimentally by the insertion of a bit of the arsenic compound into the pulp chambers of the right premolars and the artificial bone defects were produced in the periapical regions of the left premolars in 7 dogs. The serial standardized periapical radiographs using aluminum stepwedge attached to the XCP instruments, and resin bite blocks were taken following insertion of arsenic compound and at 2, 4, 7, 10, 14, 17, 21, 24 and 28 days in case of bone destruction and following bone injury and weekly thereafter for a total of 14 weeks in case of bone formation. The errors of the method were determined with error estimators described by the Duinkerke. All radiographs were evaluated by the visual examination after joint evaluation by three dental radiologists and analysed with densitometer. The following results were obtained; 1. Analysis of the bone destruction process 1) The error of the method in estimating two distances proved to be small (S.D. for the measuring error; 0.04㎜, S.D. for the over-all error; 0.06㎜, S.D. for the positioning error; 0.05㎜) 2) The radiographic changes were observed after 7 days in 6 cases, 4 days in 1 case and 10 days in 1 case by the visual examination. 3) Aluminum equivalent values were diminished after 2 days and the diminution of 0.58±0.19㎜ was demanded to be detected by the visual examination. 2. Analysis of the bone formation process 1) The error of the method in estimating two distances proved to be small (S.D. for the measuring error; 0.03㎜, S.D. for the over-all error; 0.04㎜ S.D. for the positioning error; 0.04㎜) 2) The radiographic changes were observed after 2 weeks in 5 cases and 3 weeks in 2 cases by the visual examination. 3) Aluminum equivalent values were increased after 1 week and the increase of 0.45±0.15㎜ was demanded to be detected by the visual examination. 4) Aluminum equivalent values were increased continuously for 7 or 9 weeks but there as only extremely small change after 10 weeks.