• Journal of the Institute of Electronics Engineers of Korea SP
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• v.40 no.5
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• pp.312-321
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• 2003

In this paper, we implement robot which are ability to recognize obstacles and moving automatically to destination. we present two results in this paper; hardware implementation of image processing board and software implementation of visual feedback algorithm for a self-controlled robot. In the first part, the mobile robot depends on commands from a control board which is doing image processing part. We have studied the self controlled mobile robot system equipped with a CCD camera for a long time. This robot system consists of a image processing board implemented with DSPs, a stepping motor, a CCD camera. We will propose an algorithm in which commands are delivered for the robot to move in the planned path. The distance that the robot is supposed to move is calculated on the basis of the absolute coordinate and the coordinate of the target spot. And the image signal acquired by the CCD camera mounted on the robot is captured at every sampling time in order for the robot to automatically avoid the obstacle and finally to reach the destination. The image processing board consists of DSP (TMS320VC33), ADV611, SAA7111, ADV7l76A, CPLD(EPM7256ATC144), and SRAM memories. In the second part, the visual feedback control has two types of vision algorithms: obstacle avoidance and path planning. The first algorithm is cell, part of the image divided by blob analysis. We will do image preprocessing to improve the input image. This image preprocessing consists of filtering, edge detection, NOR converting, and threshold-ing. This major image processing includes labeling, segmentation, and pixel density calculation. In the second algorithm, after an image frame went through preprocessing (edge detection, converting, thresholding), the histogram is measured vertically (the y-axis direction). Then, the binary histogram of the image shows waveforms with only black and white variations. Here we use the fact that since obstacles appear as sectional diagrams as if they were walls, there is no variation in the histogram. The intensities of the line histogram are measured as vertically at intervals of 20 pixels. So, we can find uniform and nonuniform regions of the waveforms and define the period of uniform waveforms as an obstacle region. We can see that the algorithm is very useful for the robot to move avoiding obstacles.

• Journal of the Korean Institute of Landscape Architecture
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• v.35 no.1 s.120
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• pp.1-8
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• 2007

The purpose of this study is to suggest the minimum distance needed between landscape trees and apartment buildings. in order for the trees to grow soundly and maintain constant growth. Therefore, this study investigated and analyzed the present conditions of the green-spaces contiguous to apartment buildings and the trees inside the apartment complex. The following general problems were identified : (1) the tree growth conditions, (2) the planting intervals, and (3) the planting methods in the apartment complexes. The method of this study was to survey areas, measure the trees and analyze the results. Ten apartment complexes located in Seoul were randomly selected for this study. To analyze the greens contiguous to the building of each apartment complex, the greens were divided into three types, including the front greens, the side greens, and the rear greens. The study surveyed the width of all contiguous greens and the distance from trees to my given building. Four representative sites were specifically investigated to measure the crown widths, heights, and diameters of the trees. These investigations were carried out over 3 months from August to December 2006. According to the results of the study, it was found that the greens are narrower in width and the more closer to a building. The study identified a correlation between the tree and the passage of time after the completion of construction of an apartment complex, showing that the malformation of the trees worsened as time passed. As a result of measuring the right crown and left crown width with the tree trunk as the center, a broad difference was found between coniform trees and trees that tend to branch out more. For example, the ratio of the width of the Acer palmatum is 1:6. However, the ratio of the Metasequoia glyptostroboide is 1:1.7. Based on the overall analysis, it was concluded that the maintained minimum width must be greater than one meter over the green space according to the 'Landscape Standard 2000'. However, that is only applicable to cases such as apartment buildings that present no obstacles. In conclusion having greens placed within one meter of width to a building is not an appropriate environment for the healthy growth of trees. To create sound green spaces, sustainable, long-term growth rate and size should be considered. It is necessary to prepare new standards for the computation of planting trees and the measurement of square landscapes. Wall greenery and shrubberies could be an alternative in the case of a narrow-width green space.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.25 no.2
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• pp.23-38
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• 2022

This study investigates the characteristics and physical habitat requirements for each Bufo gargarizans life history through a literature survey. After deriving variables for each component of Bufo gargarizans, in order to reduce regional deviations from eight previously studied literature research areas for deriving the criteria for variables, a total of 12 natural habitats of Bufo gargarizanss are selected as spatial ranges by selecting four additional sites such as Umyeonsan Ecological Park in Seoul, Wonheungibangjuk in Cheongju in the central region, Changnyeong Isan Reservoir in the southern region, and Mangwonji in Daegu. This study presents Bufo gargarizans SI, a species endemic to Korea, whose population is rapidly declining due to large-scale housing site development and road development, and develops a Bufo gargarizans HSI model accordingly to improve the function of the damaged Bufo gargarizans habitat and to present an objective basis for site selection of alternative habitat. At the same time, it provides basic data for adaptive management and follow-up monitoring. The three basic habitat requirements of amphibians, the physical habitat requirements of Bufo gargarizans, synthesized with shelter, food, and water, and the characteristics of each life history, are classified into five components by adding space and threats through literature research and expert advice. Variables are proposed by synthesizing and comparing the general characteristics of amphibians, among the previously studied single species of amphibians, the components of HSI of goldfrogs and Bufo gargarizans, and the ecological and physical environmental characteristics of Bufo gargarizans. Afterwards, through consultation with an amphibian expert, a total of 10 variables are finally presented by adjacent forest area(ha), the distance between spawning area and the nearest forest land(m), the soil, the distance from the wetland(m), the forest layered structure, the low grassland space, the permanent wetland area(ha), shoreline slope(%), PH, presence of predators, distance from road(m), presence or absence of obstacles. n order to derive the final criteria for each of the 10 variables, the criteria(alternative) for each variable are presented through geographic information analysis of the site survey area and field surveys of the previously studied literature research area. After a focus group interview(FGI) of 30 people related to the Bufo gargarizans colony in Cheongju, a questionnaire and in-depth interviews with three amphibians experts are conducted to verify and supplement the criteria for each final variable. Based on the finally developed Bufo gargarizans HSI, the Bufo gargarizans habitat model is presented through the SI graph model and the drawing centering on the Bufo gargarizans spawning area

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.10a
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• pp.224-226
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• 2016

With the technical development and rapid increase of private demand, the new market for unmanned vehicle combined with the characteristics of 'unmanned automation' and 'vehicle' is rapidly growing. Even though the pilot driving is currently allowed in some countries, there is no country that has institutionalized the formal driving of self-driving cars. In case of the existing vehicles, safety incidents are frequently happening due to the frequent malfunction of the rear sensor, blind spot of the rear camera, or drivers' carelessness. Once such minor flaws are complemented, the relevant regulations for the commercialization of self-driving car and small drone could be relieved. Contrary to the ultrasonic and laser sensors used for the existing vehicles, this paper aims to attempt the distance measurement by using the depth sensor. A depth camera calculates the distance data based on the TOF method calculating the time difference by lighting laser or infrared light onto an object or area and then receiving the beam coming back. As this camera can obtain the depth data in the pixel unit of CCD camera, it can be used for collecting depth data in real-time. This paper suggests to solve problems mentioned above by using depth data in real-time and also to design the obstacle avoidance system through distance measurement.

• Fire Science and Engineering
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• v.33 no.3
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• pp.138-142
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• 2019

By securing golden time, this study analyzed the effects of an emergency vehicle priority system in Cheongju, North Chungcheong province. Until the scene of a fire is reached, severe obstacles in the street, such as traffic congestion, cars coming forward, non-cooperative vehicles etc., are significant. To solve these problems of road obstacles, it is essential to adopt an emergency vehicle priority system. From April 2017 to June 2018 (1 year and 2 months, 426 days), the dispatch time and date, fire truck moving distance and required time, traffic signal control section and pass time, and shortening time, were measured. This study selected 140 cases consisting of five heavy traffic and frequent dispatch routes out of 293 cases. The effects of the emergency vehicle priority system were excellent. Overall, it took 3 min 3 s to pass 1 km on an uncontrolled traffic signal section. On the other hand, it took 1 min 23 s to pass 1 km on the same section that was controlled. The shortening time to pass 1 km was 1 min 40 s, showing a 45.4% reduction. This means that the 15 min driving time can be reduced to 6 min and 49 s. From this result, an emergency vehicle priority system should be implemented nationwide as soon as possible.

• KEPCO Journal on Electric Power and Energy
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• v.4 no.2
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• pp.115-123
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• 2018

Various types of robots running on power transmission lines have been developed for the purpose of line patrol monitoring. They usually have complex mechanism to run and avoid obstacles on the power line, but nevertheless did not show satisfactory performance for going over the obstacles. Moreover, they were so heavy that they could not be easily installed on the lines. To compensate these problems, flying robots have been developed and recently, multi-copter drones with flight stability have been used in the electric power industry. The drones could be remotely controlled by human operators to monitor power distribution lines. In the case of transmission line patrol, however, transmission towers are huge and their spans are very long, and thus, it is very difficult for the pilot to control the patrol drones with the naked eye from a long distance away. This means that the risk of a drone crash onto electric power facilities always resides. In addition, there exists another danger of electromagnetic interference with the drones on autopilot waypoint tracking under ultra-high voltage environments. This paper presents a patrol monitoring plan of autopilot drones for power transmission lines and its field tests. First, the magnetic field effect on an autopilot patrol drone is investigated. Then, how to build the flight path to avoid the magnetic interference is proposed and our autopilot drone system is introduced. Finally, the effectiveness of the proposed patrol plan is confirmed through its field test results in the 154 kV, 345 kV and 765 kV transmission lines in Chungcheongnam-do.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.7
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• pp.605-613
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• 2013

This research proposes a vibration pattern algorithm to implement the haptic joystick to control a mobile robot at the remote site without watching the navigation environment. When the user cannot watch the navigation environment of the mobile robot, the user may rely on the haptic joystick solely to avoid obstacles and to guide the mobile robot to the target. To generate vibration patterns, there is a vibration motor at the bottom of the joystick which is held by the user to control the motion direction of the mobile robot remotely. When the mobile robot approaches to an obstacle, a pattern of vibration is generated by the motor, and by feeling the vibration pattern which is determined by the relative position of the mobile robot to the obstacle, the user can move the joystick to avoid the collision to the obstacle for the mobile robot. To generate the vibration patterns to convey the relative location of the obstacle near the mobile robot to the user, Fuzzy interferences have been utilized. To measure the distance and location of the obstacle near the mobile robot, ultrasonic sensors with the ring structure have been adopted and they are attached at the front and back sides of the mobile robot. The precise location of the obstacle is obtained by fusing the multiple data from ultrasonic sensors. Effectiveness of the proposed algorithm has been verified through the real experiments and the results are demonstrated.

• Journal of Navigation and Port Research
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• v.34 no.6
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• pp.405-415
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• 2010

To assess the possible collision risk between Mokpo Harbour Bridge, which is under construction, and passing vessels, we proposed Real-Time Bridge-Vessel Collision Model (RT-BVCM) in this paper. The mathematical model of RT-BVCM consists of the causation probability by the vessel aberrancy due to navigation environments, the geometric probability by the structural feature of a bridge relative to a ship size and, the failure probability by the ship collision track and the stopping distance which is not to come to a stop before hitting the obstacles. Then, the probabilistic mathematical model represented as risk index with the risk level from 1 to 5. The merit of the proposed model to the collision model proposed by AASHTO (American Association of State Highway and Transportation Officials) is that it can provide enough time to take adequate collision avoiding action. Through the simulation tests to the two kinds of test ships, 3,000 GT and 10,000 GT, it is cleary found that the proposed model can be used as a collision evaluation model to the passing vessel and Mokpo Harbour Bridge.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.41 no.6
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• pp.640-651
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• 2016

We propose an effective ToA-based localization method considering accuracy in indoor environments. The purpose of the localization system is to estimate the coordinates of the geographic location of target device. In indoor environments, accurately estimating the location of a target device is not easy due to various errors. The accuracy of wireless localization is influenced by NLOS errors. ToA-based localization measures the location of a target device using the distances between a mobile device and three or more base stations. However, each of the NLOS errors along a distance estimated from a target device to a base station is different because of dissimilar obstacles. To accurately estimate the target's location, an optimized localization process is needed in indoor environments. In this paper, effective ToA-based localization method process is proposed for improving accuracy in wireless sensor networks. Performance evaluations are presented, and the experimental localization system results are proved through comparisons of various localization methods with the proposed methods.

• Journal of Satellite, Information and Communications
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• v.8 no.4
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• pp.43-46
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• 2013

Active use of images in the same place as the religion according to the height of the screen is determined by the height of the main speakers. This causes the 'sound image mismatch' and 'bass boost' sound like a failure occurs. Front seats are good seats in visual acoustics is a bad place. To minimize these obstacles acoustical speakers to actively apply the front fill needed. Higher sound pressure difference between the main speaker and the distance must be determined in accordance with the appropriate capacity. Actively using the front speakers to the sound image field by implementing the agreement to increase the concentration of sound. The relatively high inflow enhance alto lacking the front seat can be implemented evenly in the frequency response. Column in front of the main seat of the main speakers to supplement the deficiencies can be implemented more comfortable acoustic environment. Front fill speaker needs to be actively introduced, thereby presenting a detailed estimate, is needed.