• The Journal of the Korea Contents Association
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• v.19 no.3
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• pp.72-79
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• 2019

Autonomous locomotion has two essential functionalities: mapping builds and updates maps by uncertain position information and measured sensor inputs, and localization is to find the positional information with the inaccurate map and the sensor information. In addition, obstacle detection, avoidance, and path designs are necessarily required for autonomous locomotion by combining the probabilistic methods based on uncertain locations. The sensory inputs, which are measured by a metric-based scanner, have difficulties of distinguishing moving obstacles like humans from static objects like walls in given environments. This paper proposes the low resolution grid map combined with reinforcement learning, which is compared with the conventional recognition method for detecting static and moving objects to generate obstacle avoiding path. Finally, the proposed method is verified with experimental results.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.6
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• pp.689-696
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• 2009

In this paper, a new user interface for unmanned combat vehicle(UCV) is developed based on the mission planning and global path planning. In order to complete a tactical mission given to an UCV, it is essential to design an effective interface scheme between human and UCV considering changing combat environment and characteristics of the mission. The user interface is mainly composed of two parts, mission planning and global path planning, since they are important factors to accomplish combat missions. First of all, mission types of UCV are identified. Based on mission types, the concept of mission planning for UCVs is presented. Then a new method for global path planning is devised. It is capable of dealing with multiple grid maps to consider various combat factors so that paths suitable for the mission be generated. By combining these two, a user interface method is suggested. It is partially implemented in the Dog-horse Robot of ADD and its effectiveness is verified.

• International Journal of Internet, Broadcasting and Communication
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• v.10 no.3
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• pp.42-50
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• 2018

The majority of existing falling recognition techniques provide service by recognizing only that the falling occurred. However, it is important to recognize not only the occurrence of falling but also the situation before and after the falling, as well as the location of the falling. In this paper, we design and propose the falling notification service system to recognize and provide service. This system uses the acceleration sensor of the smartphone to recognize the occurrence of a falling and the situation before and after the falling. In order to check the location of falling, GPS sensor data is used in the Google Map API to map to the map. Also, a crosswalk map converted into grid-based coordinates based on the longitude and latitude of the crosswalk is stored, and the locations before and after falling are mapped. In order to reduce the connection speed and server overload for real-time data processing, fog computing and cloud computing are designed to be distributed processing.

• Proceedings of the Korea Water Resources Association Conference
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• 2015.05a
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• pp.214-214
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• 2015

Rainfall induced landslides is one of the most devastating natural disasters acting on mountainous areas. In Korea, landslide damage areas increase significantly from 1990s to 2000s due to the increase of both rainfall intensity and rainy days in addition with haphazard land development. This study was carried out based on the application of TRIGRS unsaturated (Transient Rainfall Infiltration and Grid-based Regional Slope stability analysis), a Fortran coded, physically based, and numerical model that can predict landslides for areas where are prone to shallow precipitation. Using TRIGRS combining with the geographic information system (GIS) framework, the landslide incident happened on 27th, July 2011 in Mt. Umyeon in Seoul was modeled. The predicted results which were raster maps showed values of the factors of safety on every pixel at different time steps show a strong agreement with to the observed actual landslide scars in both time and locations. Although some limitations of the program are still needed to be further improved, some soil data as well as landslide information are lack; TRIGRS is proved to be a powerful tool for shallow landslide susceptibility zonation especially in great areas where the input geotechnical and hydraulic data for simulation is not fully available.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.112-121
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• 2021

Unlike a typical small-sized robot navigating in a free space, an autonomous vehicle has to travel in a designated road which has lanes to follow and traffic rules to obey. High-Definition (HD) maps, which include road markings, traffic signs, and traffic lights with high location accuracy, can help an autonomous vehicle avoid the need to detect such challenging road surroundings. With space constraints and a pre-built HD map, a new type of path planning algorithm can be conceived as a substitute for conventional grid-based path planning algorithms, which require substantial planning time to cover large-scale free space. In this paper, we propose an obstacle-avoiding, cost-based planning algorithm in a continuous space that aims to pursue a globally-planned path with the help of HD map information. Experimentally, the proposed algorithm is shown to outperform other state-of-the-art path planning algorithms in terms of computation complexity in a typical urban road setting, thereby achieving real-time performance and safe avoidance of obstacles.

• Journal of Climate Change Research
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• v.6 no.4
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• pp.331-344
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• 2015

A long-term gridded historical data at 3 km spatial resolution has been generated for practical regional applications such as hydrologic modelling. However, overly high or low values have been found at some grid points where complex topography or sparse observational network exist. In this study, the Inverse Distance Weighting (IDW) method was applied to properly smooth the overly predicted values of Improved GIS-based Regression Model (IGISRM), called the IDW-IGISRM grid data, at the same resolution for daily precipitation, maximum temperature and minimum temperature from 2001 to 2010 over South Korea. We tested various effective distances in the IDW method to detect an optimal distance that provides the highest performance. IDW-IGISRM was compared with IGISRM to evaluate the effectiveness of IDW-IGISRM with regard to spatial patterns, and quantitative performance metrics over 243 AWS observational points and four selected stations showing the largest biases. Regarding the spatial pattern, IDW-IGISRM reduced irrational overly predicted values, i. e. producing smoother spatial maps that IGISRM for all variables. In addition, all quantitative performance metrics were improved by IDW-IGISRM; correlation coefficient (CC), Index Of Agreement (IOA) increase up to 11.2% and 2.0%, respectively. Mean Absolute Error (MAE) and Root Mean Square Error (RMSE) were also reduced up to 5.4% and 15.2% respectively. At the selected four stations, this study demonstrated that the improvement was more considerable. These results indicate that IDW-IGISRM can improve the predictive performance of IGISRM, consequently providing more reliable high-resolution gridded data for assessment, adaptation, and vulnerability studies of climate change impacts.

• Spatial Information Research
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• v.7 no.1
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• pp.1-12
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• 1999

The DTM(Digital Terrain Model) in GIS(Geographical Information System) shows the elevation from interpolation using data points surveyed. In panoramic flat landform, pixel size, resolution of source data may not be the problem in using DTM However, in mountainous landform like Korea, appropriate resolution accuracy of source data are important factors to represent the topography concerned. In this study, the difference in contour interval of source data, the resolution after interpolation, and different data structures were compared to figure out the accuracy of slope calculation using DTM from the topographic maps of Togyusan National Park Two types of GIS softwares, Idrisi(grid) ver. 2.0 using the altitude matrices and ArcView(TIN) ver. 3.0a using TIN were used for this purpose. After the analysis the conclusions are as follows: 1) The coarser resolution, the more smoothing effect inrepresenting the topography. 2) The coarser resolution the more difference between the grid-based Idrisi and the TIN-based ArcView. 3) Based on the comparison analysis of error for 30 points from clustering, there is not much difference among 10, 20, 30 m resolution in TIM-based Airview ranging from 4.9 to 6.2n However, the coarser resolution the more error for elevation and slope in the grid-based Idrisi. ranging from 6.3 to 10.9m. 4) Both Idrisi and ArcView could net consider breaklines of lanform like hilltops, valley bottoms.

• Journal of Intelligence and Information Systems
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• v.20 no.1
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• pp.195-211
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• 2014

Cloud computing services provide IT resources as services on demand. This is considered a key concept, which will lead a shift from an ownership-based paradigm to a new pay-for-use paradigm, which can reduce the fixed cost for IT resources, and improve flexibility and scalability. As IT services, cloud services have evolved from early similar computing concepts such as network computing, utility computing, server-based computing, and grid computing. So research into cloud computing is highly related to and combined with various relevant computing research areas. To seek promising research issues and topics in cloud computing, it is necessary to understand the research trends in cloud computing more comprehensively. In this study, we collect bibliographic information and citation information for cloud computing related research papers published in major international journals from 1994 to 2012, and analyzes macroscopic trends and network changes to citation relationships among papers and the co-occurrence relationships of key words by utilizing social network analysis measures. Through the analysis, we can identify the relationships and connections among research topics in cloud computing related areas, and highlight new potential research topics. In addition, we visualize dynamic changes of research topics relating to cloud computing using a proposed cloud computing "research trend map." A research trend map visualizes positions of research topics in two-dimensional space. Frequencies of key words (X-axis) and the rates of increase in the degree centrality of key words (Y-axis) are used as the two dimensions of the research trend map. Based on the values of the two dimensions, the two dimensional space of a research map is divided into four areas: maturation, growth, promising, and decline. An area with high keyword frequency, but low rates of increase of degree centrality is defined as a mature technology area; the area where both keyword frequency and the increase rate of degree centrality are high is defined as a growth technology area; the area where the keyword frequency is low, but the rate of increase in the degree centrality is high is defined as a promising technology area; and the area where both keyword frequency and the rate of degree centrality are low is defined as a declining technology area. Based on this method, cloud computing research trend maps make it possible to easily grasp the main research trends in cloud computing, and to explain the evolution of research topics. According to the results of an analysis of citation relationships, research papers on security, distributed processing, and optical networking for cloud computing are on the top based on the page-rank measure. From the analysis of key words in research papers, cloud computing and grid computing showed high centrality in 2009, and key words dealing with main elemental technologies such as data outsourcing, error detection methods, and infrastructure construction showed high centrality in 2010~2011. In 2012, security, virtualization, and resource management showed high centrality. Moreover, it was found that the interest in the technical issues of cloud computing increases gradually. From annual cloud computing research trend maps, it was verified that security is located in the promising area, virtualization has moved from the promising area to the growth area, and grid computing and distributed system has moved to the declining area. The study results indicate that distributed systems and grid computing received a lot of attention as similar computing paradigms in the early stage of cloud computing research. The early stage of cloud computing was a period focused on understanding and investigating cloud computing as an emergent technology, linking to relevant established computing concepts. After the early stage, security and virtualization technologies became main issues in cloud computing, which is reflected in the movement of security and virtualization technologies from the promising area to the growth area in the cloud computing research trend maps. Moreover, this study revealed that current research in cloud computing has rapidly transferred from a focus on technical issues to for a focus on application issues, such as SLAs (Service Level Agreements).

• Korean Journal of Agricultural and Forest Meteorology
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• v.25 no.4
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• pp.404-414
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• 2023

In this study, digital climate maps with high-resolution (1km, daily) for the period of 1981 to 2020 were produced for the use as reference data within the procedures for statistical downscaling of climate change scenarios. Grid data for the six climate variables including maximum temperature, minimum temperature, precipitation, wind speed, relative humidity, solar radiation was created over Korean Peninsula using statistical downscaling model, so-called IGISRM (Improved GIS-based Regression Model), using global reanalysis data and in-situ observation. The digital climate data reflects topographical effects well in terms of representing general behaviors of observation. In terms of Correlation Coefficient, Slope of scatter plot, and Normalized Root Mean Square Error, temperature-related variables showed satisfactory performance while the other variables showed relatively lower reproducibility performance. These digital climate maps based on observation will be used to downscale future climate change scenario data as well as to get the information of gridded agricultural weather data over the whole Korean Peninsula including North Korea.

• Journal of KIISE
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• v.43 no.1
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• pp.40-46
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• 2016

Digital road map generation is primarily based on artificial satellite photographing or in-site manual survey work. Therefore, these map generation procedures require a lot of time and a large budget to create and update road maps. Consequently, people have tried to develop automated map generation systems using GPS trajectory data sets obtained by public vehicles. A fundamental problem in this road generation procedure involves the extraction of representative trajectory such as main roads. Extracting a representative trajectory requires the base data set of piecewise line segments(GPS-trajectories), which have close starting and ending points. So, geometrically similar trajectories are selected for clustering before extracting one representative trajectory from among them. This paper proposes a new divide- and-conquer approach by partitioning the whole map region into regular grid sub-spaces. We then try to find similar trajectories by sweeping. Also, we applied the $Fr{\acute{e}}chet$ distance measure to compute the similarity between a pair of trajectories. We conducted experiments using a set of real GPS data with more than 500 vehicle trajectories obtained from Gangnam-gu, Seoul. The experiment shows that our grid partitioning approach is fast and stable and can be used in real applications for vehicle trajectory clustering.