• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2325-2330
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• 2005

A potential field method for solving the problem of path planning based on global and local information for a mobile robot moving among a set of stationary obstacles is described. The concept of various method used path planning is used design a planning strategy. A real human living area is constructed by many moving and imminence obstacles. Home service mobile robot must avoid many obstacles instantly. A path that safe and attraction towards the goal is chosen. The potential function depends on distance from the goal and heuristic function relies on surrounding environments. Three additional combined methods are proposed to apply to human living area, calibration robots position by measured surrounding environment and adapted home service robots. In this work, we proposed the application of various path planning theory to real area, human living. First, we consider potential field method. Potential field method is attractive method, but that method has great problem called local minimum. So we proposed intermediate point in real area. Intermediate point was set in doorframe and between walls there is connect other room or other area. Intermediate point is very efficiency in computing path. That point is able to smaller area, area divided by intermediate point line. The important idea is intermediate point is permanent point until destruction house or apartment house. Second step is move robot with sensing on front of mobile robot. With sensing, mobile robot recognize obstacle and judge moving obstacle. If mobile robot is reach the intermediate point, robot sensing the surround of point. Mobile robot has data about intermediate point, so mobile robot is able to calibration robots position and direction. Third, we gave uncertainty to robot and obstacles. Because, mobile robot was motion and sensing ability is not enough to control. Robot and obstacle have uncertainty. So, mobile robot planed safe path planning to collision free. Finally, escape local minimum, that has possibility occur robot do not work. Local minimum problem solved by virtual obstacle method. Next is some supposition in real living area.

• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2007년도 학술발표회 논문집
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• pp.855-859
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• 2007

It is essential to obtain accurate and highly reliable streamflow data for water resources planning, evaluation and management as well as design of hydraulic structures. A new discharge estimation method, which is named 'non-dimensional velocity distribution and index-velocity method,' was proposed in this research. This method showed very close channel discharges which were calculated with the exiting velocity-area method. When velocity-area method is used to estimate channel discharge, it is required to observe point velocities at every desired point and vertical using a current meter like Price-AA. However 'non-dimensional velocity distribution and index-velocity method' is used, it become optional to observe point velocities at every desired point and vertical. But this method can not be applied for the cases of very complex and strongly asymmetric channel cross-sections because non-dimensional velocity distribution by entropy concept may be quite biased from that of natural rivers.

• 한국측량학회:학술대회논문집
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• 한국측량학회 2010년 춘계학술발표회 논문집
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• pp.387-388
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• 2010

There is no generalized and systematic method yet to data pre-processing for point cloud data classification even if there have been lots of previous studies such as local maxima filter, morphology filter, slope based filter and so on. Main focus of this study is to present classification method for bare ground information from LiDAR data for the mountainous area.

• 한국물환경학회지
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• 제26권5호
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• pp.761-767
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• 2010

This study introduces a model of territorial analysis on Chungcheongnam-do Nonsan-chun valley area, which gives an example of a method of selecting the management area for non-point pollution source from land use to help eliminate its source. High discharge load per unit area signify high level of land ratio with high level of basic unit of development load (including factory sites, school sites, roadways), which mean that there are a significant level of urbanization. It is these areas with the examination of the water quality of the nearby river that should be considered as the management area for non-point pollution source. Thus, the management area for non-point pollution source should be sought in areas with high discharge load per unit area and high density of water pollution area. When level of drainage is high the pollution density level is relatively lower, and when the level of drainage is low the density level is relatively higher. The level of pollution from non-point pollution source is much lower with more water flowing through. The possible non-point pollution source areas that were selected with these standards were then examined with the distance from the river, the slope angle, land usage, elevation, BOD discharge density load, T-N discharge density load, T-P discharge density load, and were given a level one through five. Out of the possible areas Nonsan-si Yeonmu-eup Anshim-li was the densest area, and it was given level one. The level one area should be examined further with the field analysis to be selected as the actual management area for non-point pollution source.

• ETRI Journal
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• 제36권6호
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• pp.942-952
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• 2014

This paper presents a novel test point insertion (TPI) method for a pseudo-random built-in self-test (BIST) to reduce the area overhead. Recently, a new TPI method for BISTs was proposed that tries to use functional flip-flops to drive control test points instead of adding extra dedicated flip-flops for driving control points. The replacement rule used in a previous work has limitations preventing some dedicated flip-flops from being replaced by functional flip-flops. This paper proposes a logic cone analysis-based TPI approach to overcome the limitations. Logic cone analysis is performed to find candidate functional flop-flops for replacing dedicated flip-flops. Experimental results indicate that the proposed method reduces the test point area overhead significantly with minimal loss of testability by replacing the dedicated flip-flops.

• 로봇학회논문지
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• 제10권1호
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• pp.9-15
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• 2015

We present a robust power transmission lines detection method based on vanishing point estimation. Vanishing point estimation can be helpful to detect power transmission lines because parallel lines converge on the vanishing point in a projected 2D image. However, it is not easy to estimate the vanishing point correctly in an image with complex background. Thus, we first propose a vanishing point estimation method on power transmission lines by using a probabilistic voting procedure based on intersection points of line segments. In images obtained by our system, power transmission lines are located in a fan-shaped area centered on this estimated vanishing point, and therefore we select the line segments that converge to the estimated vanishing point as candidate line segments for power transmission lines only in this fan-shaped area. Finally, we detect the power transmission lines from these candidate line segments. Experimental results show that the proposed method is robust to noise and efficient to detect power transmission lines.

• 정보처리학회논문지:소프트웨어 및 데이터공학
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• 제2권6호
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• pp.413-422
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• 2013

본 논문에서는 영상의 카메라 파라미터가 필요 없는 역 투시변환 기술 및 제안한 차선필터를 사용하여 경사진 도로 환경에서도 강인한 실시간 차선 검출방법을 제안한다. 영상의 시작 프레임에서 소실점을 찾은 후, 소실점 주변의 일정영역을 템플릿(TA: Template Area)으로 저장하며, 소실점을 기준으로 하단으로 내려가면서 차선을 예측하고, 예측된 차선을 기반으로 역 투시변환계수를 추출하여 추출된 계수로 원근감이 제거된 영상을 얻으며, 바로 그 영상에 제안한 차선필터를 적용하여 차선을 검출한다. 경사진 도로환경에서도 강인한 차선 검출을 위하여 입력영상으로 부터 TA와 유사한 영역(SA: Similar Area)을 템플릿 매칭으로 추적하여 소실점을 재계산하여 차선을 검출한다. 제안한 방법은 경사진 도로 환경에서도 차선검출이 견고하며, 처리영역을 축소하고 처리과정을 단순화함으로서 초당 40 frames 정도의 양호한 차선검출 결과를 보였다.

• 한국지리정보학회지
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• 제17권3호
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• pp.68-81
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• 2014

본 연구에서는 지점강우를 면적평균강우로 변환하는데 이용되는 DA(Depth-area)관계를 보다 효율적이고 정확하게 구축할 수 있는 자동 DAD분석기법을 국내의 유역에 적용하고 그 성능을 평가하는데 목적이 있다. 우선, 제안된 자동 DAD분석기법에는 격자기반의 공간강우분포를 호우중심으로부터 추적하는 방법으로 Box-tracking, Point-tracking, Advanced point-tracking으로 구분된다. 세 가지 방법을 용담댐 유역에서 발생한 호우 중 대표적인 10개의 호우사상에 대하여 적용한 결과, Advanced point-tracking을 적용하였을 경우가 다중호우중심을 가진 각 호우분포 형상을 정확히 고려하고, 보다 정확한 누적 시간별 누적 면적별 면적최대강우량(MAAR)을 산정할 수 있음을 확인하였다. 게다가, Advanced point-tracking이 선정된 여러 개의 호우중심으로부터 면적증가에 따른 각각의 MAAR을 동시에 산정하고 비교할 수 있어, 이에 따른 오차를 효과적으로 감소시킬 수 있음을 확인하였다. 마지막으로, 용담댐 유역의 10개의 호우사상에 대한 DAD 분석을 토대로 해당 유역의 DAD곡선을 누적시간별로 추출하였다.

• 대한원격탐사학회지
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• 제38권6_1호
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• pp.1025-1034
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• 2022

본 논문에서는 건물의 포인트 클라우드를 추출할 때 발생하는 홀 영역의 보간을 통한 후처리 방안을 제안한다. 스테레오 영상 데이터에서 영상 매칭을 수행할 경우 차폐 및 건물 벽면 등의 영향으로 홀이 발생한다. 이런 영역은 추후 포인트 클라우드를 기반으로 하는 부가 산출물의 생성에 장애 요인이 될 수 있으므로, 이에 대한 효과적인 처리 기법의 적용이 필요하다. 먼저 영상 매칭을 적용하여 생성된 시차맵을 기반으로 초기 포인트 클라우드를 추출한다. 포인트 클라우드를 격자화 시키면 차폐영역 및 건물 벽면의 영향으로 발생하는 홀 영역을 확인할 수 있다. 홀 영역에 삼각망을 생성하고 삼각망 내부 값을 영역의 최소값으로 처리하는 과정을 반복하는 것으로 건물 주변의 지표면과 건물 간에 어색함 없는 보간의 수행이 가능하다. 격자화 된 데이터에서 보간 된 영역에 해당하는 위치정보를 포인트로 추가하여 새로운 포인트 클라우드를 생성한다. 보간과정 중 불필요한 점의 추가를 최소화하기 위해 초기 포인트 클라우드 영역에서 벗어나는 영역으로 보간 된 데이터는 처리하지 않았으며, 보간 된 포인트 클라우드에 적용되는 RGB 밝기값은 매칭에 사용된 스테레오 영상 중 촬영중심과 해당 픽셀이 가장 근접한 영상으로 설정하여 처리하였다. 실험 결과 제안 기법을 통해 대상영역의 포인트 클라우드 생성 후 발생하는 음영 영역이 효과적으로 처리되는 것을 확인할 수 있었다.

• 대한한의학원전학회지
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• 제25권4호
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• pp.105-113
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• 2012

Objectives : Acquiring information from symptoms is one of the important method to gain clinically available information in korean medicine. Therefore, up to now, study of symptom terms was frequently implemented in promotion of various information project. In data extraction methods using symptom information from DB, information search using synonym and method using ontology is studied and utilized. However, considering concept of symptom has essential information of appeared body area and phenomenon we think that extending synonym and ontology relationship in symptom terms can be useful for search and set to this study. Methods : We collect terms relevant to human body area and structure described in Donguibogam. Synonymous relationship between collected terms is organized. Relationship between collected terms is build to human-body-knowledge table which has form of Concept+Relation+Concept. Type of relationship is limited on a range of expressing content about parts of human body. Result & Conclusion : Search condition is generated automatically using relationship of the upper area in knowledge table contents. Information of next and previous acupuncture point, upper and lower acupuncture point, left and right acupuncture point can be searched using information of acupuncture point location, order, relative position in area, direction in knowledge table contents.