• Journal of information and communication convergence engineering
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• v.7 no.3
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• pp.281-285
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• 2009

Mobile robot has various sensors for describing the external world. The ultrasonic sensor widely applied to the most mobile robot to detect the obstacle and environment owing to low cost, its easy to use. However, ultrasonic sensor has major problems: the uncertainty information of sensor, false readings caused by specular reflection, multi path effect, low angular resolution and sensitivity to changes in temperature and humidity. This paper describes a sensor system for map building of mobile robot. It was made of low cost PSD (Position Sensitive Detector) sensor array and high speed RISC MPU. PSD sensor is cost effective and light weighting but its output signal has many noises. We propose heuristic S/W filter to effectively remove these noises. The developed map building sensor system was equipped on a mobile robot and was compared with ultrasonic sensor through field test.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.31 no.1
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• pp.79-87
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• 2013

This study proposed a method to analyze the economic benefit of the national map revision program using the replacement cost method. The replacement cost method measures the benefit of a project as the minimum cost to replace functions of the project with those of alternative goods or services in an existing market. Thus, the demands on 1/5,000 topographic map revision in 18 administrative tasks such as city and district management planning were surveyed in three local autonomous entities. Then the cost to alternatively fulfill the demands was estimated with the standard construction estimating system for the field surveying and surveying results in commercial GIS companies for the site investigation. With this cost estimation model, the benefit of the current national map revision program to the local autonomous entities was estimated as 265,960,999 won. And cost benefit ratios according to several revision frequencies from 0.5 to 4 year were also compared to find the optimal frequency.

• The KIPS Transactions:PartC
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• v.11C no.2
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• pp.213-218
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• 2004

Recently MIP becomes more important for the macro mobility support in the emergence of the global system such as IMT-2000. However this Protocol suffers from many weaknesses on the location management. MIPv4 regional registration is presented for the local registration of MNs. MIPv6 can benefit from the reduced mobility signaling with external networks by employing a local MAP, that is called HMIPv6. The total signaling cost of HMIPv6 is rapidly increased by the number of CNs of an MN when the MN moves around between MAPs. In this paper, we propose a new location management scheme in MIPv6 that reduces the total signaling cost in the location update based on HMIPv6 Here the MN does not send the BU to CNs and HA when it moves around between MAPs. Instead it informs the current location by transferring the modified BU to the previous MAP. According to the results of the performance analysis, we determine the upper bound for the number of forwarding links allowed among adjacent MAPs without the BU information.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.11B
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• pp.945-952
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• 2006

In hierarchical mobile IPv6 networks, when an inter-domain handover occurs, mobile nodes suffer from excessive signaling traffic and long handover latency, resulting in possible disruption of ongoing connections. Further, the selection of MAP and its load status critically affect the overall system performance. Therefore, we propose a dynamic MAP selection scheme that seeks to distribute load among MAPs as well as reduces inter-domain handovers. Performance is evaluated from not only an analytic model of average signaling cost but also simulation. The analytical and simulation results show that our proposed scheme improves load distributedness and reduces inter-domain handovers and signaling cost compared to another existing IETF based approach.

• Journal of information and communication convergence engineering
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• v.7 no.4
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• pp.525-529
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• 2009

On the limited urban area meteorological data are hard to be collected because of the cost problem. The facilities collecting the data require high installment cost. Recently, the sensor network technique comes to the fore as a solution. Furthermore a mobile phone also becomes to be recognized as a sensor. This paper studies an application to service the meteorological map using mobile phone sensor. A design results for system implementation are introduced in this paper.

• Journal of Korean Society for Geospatial Information Science
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• v.15 no.1 s.39
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• pp.67-73
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• 2007

Recently, three-dimensional (3D) GI (Geospatial Information) using LiDAR system has been used various fields such as the production of digital map, the modeling of 3D building and urban area, and analysis of communication network and environmental effect. In this study, the production cost of digital map by aerial LiDAR surveying were compared with the cost by aerial photograph surveying for analysis of economical efficiency. It is expected that the results of this study will be used base data for production, update, revision of digital map and curtail effect of national budget.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.4
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• pp.539-547
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• 2011

In this paper, a method of generating path planning map is developed using digitalized geographic information such as FDB(Feature DataBase). FDB is widely used by the Army and needs to be applied to all weapon systems of newly developed. For the autonomous navigation of a robot, it is necessary to generate a path planning map by which a global path can be optimized. First, data included in FDB is analyzed in order to identify meaningful layers and attributes of which information can be used to generate the path planning map. Then for each of meaningful layers identified, a set of values of attributes in the layer is converted into the traverse cost using a matching table in which any combination of attribute values are matched into the corresponding traverse cost. For a certain region that is gridded, i.e., represented by a grid map, the traverse cost is extracted in a automatic manner for each gird of the region to generate the path planning map. Since multiple layers may be included in a single grid, an algorithm is developed to fusion several traverse costs. The proposed method is tested using a experimental program. Test results show that it can be a viable tool for generating the path planning map in real-time. The method can be used to generate other kinds of path planning maps using the digitalized geographic information as well.

• Journal of Auto-vehicle Safety Association
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• v.14 no.2
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• pp.39-44
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• 2022

This paper presents LiDAR static obstacle map based vehicle position correction algorithm for urban autonomous driving. Real Time Kinematic (RTK) GPS is commonly used in highway automated vehicle systems. For urban automated vehicle systems, RTK GPS have some trouble in shaded area. Therefore, this paper represents a method to estimate the position of the host vehicle using AVM camera, front camera, LiDAR and low-cost GPS based on Extended Kalman Filter (EKF). Static obstacle map (STOM) is constructed only with static object based on Bayesian rule. To run the algorithm, HD map and Static obstacle reference map (STORM) must be prepared in advance. STORM is constructed by accumulating and voxelizing the static obstacle map (STOM). The algorithm consists of three main process. The first process is to acquire sensor data from low-cost GPS, AVM camera, front camera, and LiDAR. Second, low-cost GPS data is used to define initial point. Third, AVM camera, front camera, LiDAR point cloud matching to HD map and STORM is conducted using Normal Distribution Transformation (NDT) method. Third, position of the host vehicle position is corrected based on the Extended Kalman Filter (EKF).The proposed algorithm is implemented in the Linux Robot Operating System (ROS) environment and showed better performance than only lane-detection algorithm. It is expected to be more robust and accurate than raw lidar point cloud matching algorithm in autonomous driving.

• Corrosion Science and Technology
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• v.10 no.2
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• pp.52-59
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• 2011

Corrosion of metallic materials occurs by the reaction with corrosive environment such as atmosphere, marine, soil, urban, high temperature etc. In general, reduction of thickness and cracking and degradation are resulted from corrosion. Corrosion in all industrial facilities and infrastructure causes large economic losses as well as a large number of accidents. Economic loss by corrosion has been reported to be nearly 1-6% of GNP or GDP. In order to reduce corrosion damage of industrial facilities, corrosion map as well as a systematic investigation of the loss of corrosion in each industrial sector is needed. The Corrosion Science Society of Korea in collaboration with 15 universities and institutes has started to survey on the cost of corrosion and corrosion map of Korea since 2005. This work presents the results of the survey on cost of corrosion by Uhlig, Hoar, and input-output methods, and the evaluation of atmospheric corrosion rate of carbon steel, weathering steel, galvanized steel, copper, and aluminum in Korea. The total corrosion cost was estimated in terms of the percentage of the GDP of industry sectors and the total GDP of Korea. According to the result of Input/output method, corrosion cost of Korea was calculated as 2.9% to GDP (2005). Time of wetness was shown to be categories 3 to 4 in all exposure areas. A definite seasonal difference was observed in Korea. In summer and fall, time of wetness was higher than in other seasons. Because of short exposure period (12 months), significant corrosion trends depending upon materials and exposure corrosion environments were not revealed even though increased mass loss and decreased corrosion rate by exposure time.

• Journal of Auto-vehicle Safety Association
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• v.12 no.2
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• pp.33-39
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• 2020

This paper presents an Around View Monitoring (AVM) stop-line detection based longitudinal position correction algorithm for automated driving on urban roads. Poor positioning accuracy of low-cost GPS has many problems for precise path tracking. Therefore, this study aims to improve the longitudinal positioning accuracy of low-cost GPS. The algorithm has three main processes. The first process is a stop-line detection. In this process, the stop-line is detected using Hough Transform from the AVM camera. The second process is a map matching. In the map matching process, to find the corrected vehicle position, the detected line is matched to the stop-line of the HD map using the Iterative Closest Point (ICP) method. Third, longitudinal position of low-cost GPS is updated using a corrected vehicle position with Kalman Filter. The proposed algorithm is implemented in the Robot Operating System (ROS) environment and verified on the actual urban road driving data. Compared to low-cost GPS only, Test results show the longitudinal localization performance was improved.