• Proceedings of the National Institute of Ecology of the Republic of Korea
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• 제4권1호
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• pp.9-15
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• 2023

We analyzed data of endangered mammals in the 1st grade zone of the Ecological and Natural Map of Korea that were obtained through 202 field surveys over six years. Five endangered mammal species were identified including otters, long-tailed gorals, martens, leopard cats, and flying squirrels. The total number of habitat traces collected was 918, of which 897 traces (97.7%) were excrement types. The total surveyed distance was 697.7 km and there were 2,184 grids of 250×250 m each. Of these grids, 441 or 20.2% were confirmed as habitats of endangered mammals. Moreover, we analyzed results of repeated surveys in the same area by converting them into individual one-time surveys, accounting for 23.1% of the total area. The flying squirrel showed a low correlation with the frequency of field surveys but showed many habitats in a specific season. Leopard cats and martens were correlated with the frequency of field surveys. Results of analysis confirm that the grid method used for establishing the Ecological and Natural Map is unsuitable for the habitat division of flying squirrels, otters, leopard cats, and martens, and it does not reflect the actual habitats of these four species. Therefore, we propose that the concept of the habitat grid of species must be reevaluated and improved, specifically for endangered mammals.

• Journal of Mechanical Science and Technology
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• 제16권3호
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• pp.302-309
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• 2002

This paper presents a technique for localization of a mobile robot using sonar sensors. Localization is the continual provision of knowledges of position that are deduced from its a priori position estimation. The environment of a robot is modeled by a two-dimensional grid map. We define a physically based sonar sensor model and employ an extended Kalman filter to estimate positions of the robot. Since the approach does not rely on an exact geometric model of an object, it is very simple and offers sufficient generality such that integration with concurrent mapping and localizing can be achieved without major modifications. The performance and simplicity of the approach are demonstrated with the results produced by sets of experiments using a mobile robot equipped with sonar sensors.

• Water Engineering Research
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• 제1권4호
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• pp.321-330
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• 2000

The grid-based KIneMatic wave STOrm Runoff Model(Kim, 1998; Kim, et al., 1998) which predicts temporal variation and spatial distribution of overland flow, subsurface flow and stream flow was evaluated at two watersheds. This model adopts the single overland flowpath algorithm and simulates surface and/or subsurface water depth at each cell by using water balance of hydrologic components. The model programmed by C-language uses ASCII-formatted map data supported by the irregular gridded map of the GRASS(Geographic Resources Analysis Support System) GIS and generates the spatial distribution maps of discharge, flow depth and soil moisture of the watershed.

• 한국정밀공학회지
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• 제15권11호
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• pp.180-188
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• 1998

Z-map is a special form of discrete nonparametric representation in which the height values at grid points on the xy-plane are stored as a 2D array z[i.j]. While z-map is the simplest form of representing sculptured surfaces and it is the most versatile scheme for modeling nonparametric objects, its practical application in industry (eg, tool-path generation) aroused much controversy over its weaknesses ; accuracy, singularity (eg, vertical wall), and some excessive storage needs. Although z-map has such limitations, much research on the application of z-map can be found in various articles. However, research on the systematic analysis of sculptured surface shape representation via z-map model is rather rare. Presented in this paper are the following: shape modeling power of the simple z-map model, exact (within tolerance) B-map representation of sculptured surfaces which have some feature-shapes such as vertical-walls and real sharp-edges by adopting some complementary B-map models, and some application examples.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송∙미디어공학회 2020년도 추계학술대회
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• pp.205-207
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• 2020

본 논문에서는 딥러닝 기반의 깊이 영상 초해상도 기술에 대해서 제안한다. 기존 깊이 영상의 초해상도 기술은 고해상도의 컬러 영상과 저해상도 깊이 영상을 이용하여 화소 값을 개선시켜 고해상도의 깊이 영상을 예측하였다. 하지만 이라한 방법들은 단순히 화소 값을 증가 또는 혹은 감소시키는 방법으로 언더슈팅 또는 오버슈팅과 문제를 발생시켜 성능 향상을 제한한다. 제안하는 기법에서는 이러한 한계를 극복하기 위해 화소의 위치를 이동하여 영상을 복원하는 격자 워핑 방식을 반복적으로 적용하여 고해상도 깊이 영상을 예측하였다. 실험 결과, 제안한 방식이 기존 방법들에 비해 정량적, 시각적 품질을 개선시켰음을 확인하였다.

• 정보과학회 논문지
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• 제42권11호
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• pp.1303-1313
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• 2015

맵리듀스는 대용량 데이터 처리를 위한 시스템 안정성과 유용성을 제공한다. 맵리듀스 기반 k-최근접점 조인 질의처리 알고리즘은 두 데이터 집합 R과 S를 기반으로 R의 모든 레코드에 대해 S의 데이터 중 가장 인접한 k개의 레코드를 탐색하는 알고리즘으로써, 대용량 데이터 분석을 위한 중요한 질의 처리 알고리즘이다. 그러나 기존 k-최근접점 조인 질의처리 알고리즘은 높은 인덱스 구축비용 문제로 인해 대용량 데이터 처리에 적합하지 않은 문제점을 지닌다. 따라서, 본 논문에서는 그리드 기반 인덱스 생성 및 k-최근접점 질의 처리 알고리즘을 제안한다. 제안하는 기법은 질의 셀로부터 인접한 데이터만을 찾아 맵리듀스 테스크에 전송함으로써 데이터 전송 및 k-최근접점 연산 오버헤드를 줄인다. 성능평가를 통해, 제안하는 기법이 정확 매칭 질의를 제공하는 동시에 기존 기법에 비해 질의 처리 시간 측면에서 최대 7배의 성능을 개선함을 보인다.

• 제어로봇시스템학회논문지
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• 제21권8호
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• pp.773-780
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• 2015

Navigation in outdoor environments is a fundamental and challenging problem for unmanned ground vehicles. Detecting lane markings or boundaries on the road may be one of the solutions to make navigation easy. However, because of various environments and road conditions, a robust lane detection is difficult. In this paper, we propose a new approach for estimating virtual lanes on a traversable region. Estimating the virtual lanes consist of two steps: (i) we detect virtual road region through road model selection based on traversability at current frame and similarity between the interframe and (ii) we estimate virtual lane using the number of lane on the road and results of previous frame. To improve the detection performance and reduce the searching region of interests, we use a probability map representing the traversability of the outdoor terrain. In addition, by considering both current and previous frame simultaneously, the proposed method estimate more stable virtual lanes. We evaluate the performance of the proposed approach using real data in outdoor environments.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.400-403
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• 2005

The sonar sensors can be divided into a piezo type and an electrostatic type according to a principle of an operating system. The electrostatic type of a sonar sensor is used for map building in this paper. If we know the characteristics of sonar sensor, we can derive the ultrasonic pressure equation from an acoustics theory. We, therefore, developed Ultrasonic Pressure Probabilistic Model (UPPM) to consider the sound pressure in the probability updating process. In this paper, we found that the quality of the resulting probability map is considerably improved, through combining the UPPM with the grid-based mapping algorithm.

• International Journal of Precision Engineering and Manufacturing
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• 제3권1호
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• pp.49-56
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• 2002

The Z-map is a special farm of discrete non-parametric representation in which the height values at grid points on the xy-plane are stored as a 2D array z[ij]. While the z-map is the simplest farm of representing sculptured surfaces and is the most versatile scheme for modeling non-parametric objects, its practical application in industry (eg, tool-path generation) has aroused much controversy over its weaknesses, namely its inaccuracy, singularity (eg, vertical wall), and some excessive storage needs. Much research or the application of the z-map can be found in various articles, however, research on the systematic analysis of sculptured surface shape representation via the z-map model is rather rare. Presented in this paper are the following: shape modeling power of the simple z-map model, exact (within tolerance) z-map representation of sculptured surfaces which have some feature-shapes such as vertical-walls and real sharp-edges by adopting some complementary z-map models, and some application examples.

• 한국수자원학회논문집
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• 제31권2호
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• pp.199-208
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• 1998

유역의 지형특성에 근거를 두고 유출기여면적의 변화를 고려한 분포형 모형인 TOPMODEL을 이용하여 홍수유출해석에 대한 적용성을 연구하였다. 건설교통부에서 설치운영중인 위천대표시험유역의 소유역인 동곡 및 고로지점을 분석대상유역으로 선정하였으며, 1/25,000 지형도를 이용하여 수치고도지도를 작성하였고 지형인자분석은 지리정보 시스템 도구인 Arc/Info를 이용하였다. 두 소유역의 지형상수가 서로 비슷하였고 각 연도별 동일호우사상에 대한 모형매개변수도 서로 유사한 특성을 나타내었다. TOPMODEL을 이용한 홍수유출에 대한 첨두유량의 모의 결과는 관측치와 비교할 때 그 재현성이 매우 우수하였다. 격자의 크기별로 유역을 분할하고 그에 따른 첨두유량과 발생시각의 변화를 동곡소유역은 100,120,240m, 고로유역은 120,200,360m 격자로서 분석한 결과 두 유역 모두 격자 크기의 증가에 따라 첨두유량은 증가하고 발생시각은 격자의 크기와 관계없이 일정한 것으로 나타났다.