• IEMEK Journal of Embedded Systems and Applications
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• v.10 no.5
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• pp.281-296
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• 2015

This paper describes a novel disaster evacuation system using embedded systems such as smart devices for crisis and emergency management. In indoor environments deployed with the Bluetooth Low Energy(BLE) beacons, smart devices detect their indoor positions from beacon messages and interact with Map Server(MS) and Route Server(RS) in the Internet over the LTE and/or Wi-Fi functions. The MS and RS generate an optimal path to the nearest emergency exit based on a novel graph generation method for less route computation, called the Disaster Evacuation Graph(DEG), for each smart device. The DEG also enables efficient processing of some constraints in the computation of route, such as load balancing in situation of different capacities of paths or exits. All data interfaces among three system components, the MS, RS, smart devices, have been defined for modular implementation of our disaster evacuation system. Our experimental system has been deployed and tested in our building thoroughly and gives a good evidence that the modular design of the system and a novel approach to compute emergency route based on the DEG is competitive and viable.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.9
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• pp.1856-1864
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• 2015

In this paper, the localization algorithm for improving the accuracy of the positioning using the Wi-Fi fingerprint using the normal distribution probability and the built-in typed accelerometer sensor, the gyroscope sensor of smartphone in the indoor environment is proposed. The experiments for analyzing the performance of the proposed algorithm were carried out at the region of the horizontal and vertical 20m * 10m in the engineering school building of our university, and the performance of the proposed algorithm is compared with the fingerprint and the DR (dead reckoning) while user is moving according to the assigned region. As a result, the maximum error distance in the proposed algorithm was decreased to 2cm and 36cm compared with two algorithms, respectively. In addition to this, the maximum error distance was also less than compared with two algorithms as 16.64cm and 36.25cm, respectively. It can be seen that the fingerprint map searching time of the proposed algorithm was also reduced to 0.15 seconds compared with two algorithms.

• Journal of Korean Society for Geospatial Information Science
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• v.21 no.2
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• pp.99-105
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• 2013

In rapidly developing urban areas that include high-rise, large, and complex buildings, indoor and outdoor maps in GIS become a basis for utilizing and sharing information pertaining to various aspects of the real world. Although an indoor mapping has gained much attentions, research efforts are mostly in 2D and 3D modeling of terrain and buildings. Therefore, to facilitate fast and accurate construction of indoor GIS, this paper proposes a semi-automatic method consisting of preprocessing, 2D mapping, and 3D mapping stages. The preprocessing is designed to estimate heights of building interiors and to identify noise data from point clouds. In the 2D mapping, a floor map is extracted with a tracing grid and a refinement method. In the 3D mapping, a 3D wireframe model is created with heights from the preprocessing stage. 3D mesh data converted from noise data is combined with the 3D wireframe model for detail modeling. The proposed method was applied to point clouds depicting a hallway in a building. Experiment results indicate that the proposed method can be utilized to construct 2D and 3D maps for indoor GIS.

• Journal of Korean Society for Geospatial Information Science
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• v.8 no.1 s.15
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• pp.97-103
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• 2000

The main purpose of 1-1-9 Caller Location Information System is to identify and display the precise location of emergency incidents such as natural or man - made fires, medical emergencies and accidents. The state - of- the - art technologies such as Am (Automatic Number Identification), GIS(Geographical Information System) and GPS (Global Positioning System) were applied and integrated in the system for efficient and effective location identification. It displays a radius of 25M, 50M and 100M on the map after location identification. The system can also provide the shortest path to an incident location from a fire station or a fire engine. In case of a fire breakout in or near a building, the attribute information of the building, called a building attribute card, is displayed along with the map location. The system then matches the information with the fire situation and sends an alert to a responsible fire station by phone or fax in order to help promptly react to the problem. An attribute card includes the critical information of a premise such as building's location, number of stories, floor plans, capacity, construction history, indoor fire detection and Prevention facilities, etc.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.13 no.1
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• pp.30-38
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• 2014

The purpose of this study is to build and manage environment models with line segments from sonar range data on obstacles in unknown and varied environments. The proposed method therefore employs a two-stage data-transform process in order to extract environmental line segments from range data on obstacles. In the first stage, the occupancy grid extracted from the range data is accumulated to form a two-dimensional local histogram grid. In the second stage, a line histogram extracted from a local histogram grid is based on a Hough transform, and matching serves as a means of comparing each of the segments on a global line segments map against the line segments to detect the degree of similarity in the overlap, orientation, and arrangement. Each of these tests is formulated by comparing one of the parameters in the segment representation. After the tests, new line segments can be found at maximum-density cells in the line histogram, and they are composed onto the global line segment map. The proposed technique is demonstrated in experiments in an indoor environment.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.240-243
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• 2003

In this study, as the preliminary step far developing a multi-purpose Autonomous robust carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as sonar, IR sensor for map-building mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. Smart sensory systems are crucial for successful autonomous systems. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions recognizing environments updated, obstacle detection and motion assessment, with the first results from the simulations run.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.4
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• pp.167-174
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• 2018

Presently, the exploration of an unknown environment is an important task for the development of mobile robots and mobile robots are navigated by means of a number of methods, using navigating systems such as the sonar-sensing system or the visual-sensing system. To fully utilize the strengths of both the sonar and visual sensing systems, In mobile robotics, multi-sensor data fusion(MSDF) became useful method for navigation and collision avoiding. Moreover, their applicability for map building and navigation has exploited in recent years. In this paper, as the preliminary step for developing a multi-purpose autonomous carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as ultrasonic sensor, IR sensor for mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within indoor environments. Simulation results with a mobile robot will demonstrate the effectiveness of the discussed methods.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.6
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• pp.580-584
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• 2006

Material information for environment may be useful to accomplish mobile robot localization. A procedure to classify a set of indoor materials (glass, steel, wood, aluminum and concrete) with the reflected signal of ultrasonic sensor is proposed in this paper. The main idea is to use material-specific reflection characteristics for the recognition of material type. To achieve the classification task, we modeled reflected signal as a maximum amplitude with respect to distance. In this way, we can generate echo signal models for the given materials and these models are used to compare with the current sensor reading. The experimental results show that the proposed method may give material information during map building task of mobile robot.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.45 no.2
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• pp.310-318
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• 1996

It is very important for a mobile robot to estimate its current position With precise information about the current position, the mobile robot can do path-planning or environmental map building successfully. In this paper, a position estimation method using one color image is presented. The mobile robot(K2A) takes an image of a corridor and searches for the door and pillar, which are the given landmarks. The color information is used to distinguish the landmarks. In order to represent the presence of the landmarks, Image Mode is defined. This method adopts Kullback information distance. If a landmark is detected, with the color information, the mobile robot identifies the vertical line of the landmark and its crossing point and an experimental navigation is performed.

• International conference on construction engineering and project management
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• 2009.05a
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• pp.869-875
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• 2009

Safety is a big issue in the construction sites. For safe and secure management, tracking locations of construction resources such as labors, materials, machineries, vehicles and so on is important. The materials, machineries and vehicles could be controlled by computer, whereas the movement of labors does not have fixed pattern. So, the location and movement of labors need to be monitored continuously for safety. In general, Global Positioning System(GPS) is an opt solution to obtain the location information in outside environments. But it cannot be used for indoor locations as it requires a clear Line-Of-Sight(LOS) to satellites Therefore, indoor location monitoring system could be a convenient alternative for environments such as tunnel and indoor building construction sites. This paper presents a case study to investigate feasibility of Wi-Fi based indoor location monitoring system in construction site. The system is developed by using fingerprint map of gathering Received Signal Strength Indication(RSSI) from each Access Point(AP). The signal information is gathered by Radio Frequency Identification (RFID) tags, which are attached on a helmet of labors to track their locations, and is sent to server computer. Experiments were conducted in a shield tunnel construction site at Guangzhou, China. This study consists of three phases as follows: First, we have a tracking test in entrance area of tunnel construction site. This experiment was performed to find the effective geometry of APs installation. The geometry of APs installation was changed for finding effective locations, and the experiment was performed using one and more tags. Second, APs were separated into two groups, and they were connected with LAN cable in tunnel construction site. The purpose of this experiment was to check the validity of group separating strategy. One group was installed around the entrance and the other one was installed inside the tunnel. Finally, we installed the system inner area of tunnel, boring machine area, and checked the performance with varying conditions (the presence of obstacles such as train, worker, and so on). Accuracy of this study was calculated from the data, which was collected at some known points. Experimental results showed that WiFi-based indoor location system has a level of accuracy of a few meters in tunnel construction site. From the results, it is inferred that the location tracking system can track the approximate location of labors in the construction site. It is able to alert the labors when they are closer to dangerous zones like poisonous region or cave-in..