• Title/Summary/Keyword: Location measurement

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A 2D / 3D Map Modeling of Indoor Environment (실내환경에서의 2 차원/ 3 차원 Map Modeling 제작기법)

  • Jo, Sang-Woo;Park, Jin-Woo;Kwon, Yong-Moo;Ahn, Sang-Chul
    • 한국HCI학회:학술대회논문집
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    • 2006.02a
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    • pp.355-361
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    • 2006
  • In large scale environments like airport, museum, large warehouse and department store, autonomous mobile robots will play an important role in security and surveillance tasks. Robotic security guards will give the surveyed information of large scale environments and communicate with human operator with that kind of data such as if there is an object or not and a window is open. Both for visualization of information and as human machine interface for remote control, a 3D model can give much more useful information than the typical 2D maps used in many robotic applications today. It is easier to understandable and makes user feel like being in a location of robot so that user could interact with robot more naturally in a remote circumstance and see structures such as windows and doors that cannot be seen in a 2D model. In this paper we present our simple and easy to use method to obtain a 3D textured model. For expression of reality, we need to integrate the 3D models and real scenes. Most of other cases of 3D modeling method consist of two data acquisition devices. One for getting a 3D model and another for obtaining realistic textures. In this case, the former device would be 2D laser range-finder and the latter device would be common camera. Our algorithm consists of building a measurement-based 2D metric map which is acquired by laser range-finder, texture acquisition/stitching and texture-mapping to corresponding 3D model. The algorithm is implemented with laser sensor for obtaining 2D/3D metric map and two cameras for gathering texture. Our geometric 3D model consists of planes that model the floor and walls. The geometry of the planes is extracted from the 2D metric map data. Textures for the floor and walls are generated from the images captured by two 1394 cameras which have wide Field of View angle. Image stitching and image cutting process is used to generate textured images for corresponding with a 3D model. The algorithm is applied to 2 cases which are corridor and space that has the four wall like room of building. The generated 3D map model of indoor environment is shown with VRML format and can be viewed in a web browser with a VRML plug-in. The proposed algorithm can be applied to 3D model-based remote surveillance system through WWW.

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Evaluation of Relative Corrosion Rate depending on Local Location and Installation of Structural Member in Steel Water Gate (강재 수문의 부재 위치 및 설치 방향에 따른 상대 부식속도 평가)

  • Ha, Min-Gyun;Jeong, Young Soo;Park, Seung hun;Ahn, Jin-Hee
    • Journal of the Korea institute for structural maintenance and inspection
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    • v.23 no.7
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    • pp.16-24
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    • 2019
  • The corrosion amounts of steel structures can be different depending on their installation condition and height. Thus, their corrosion maintenance should be considered depending on installation conditions of local structural members. In this study, an atmospheric exposure test was conducted to evaluate the corrosion amount and the corrosion rate depending on the installation condition and height of a steel water gate using monitoring steel plates and corrosion environment measuring sensors. The mean corrosion depth was evaluated using the weight loss method and the galvanic corrosion current was measured by corrosion environment measuring sensors. Local corrosion rate of local structural member in steel water gate was estimated using measured mean corrosion depths and galvanic corrosion currents. From this measurement results, the corrosion damage in horizontal member of the cross beam was highly evaluated than those of other structural member as skin plate, etc. The relative difference in the corrosion rate of a local structural member could be highly affected by local corrosion environments of steel water gate members. Therefore, an appropriate maintenance method should be considered for local corrosion damages of local structural members determined by local corrosion environments of a steel water gate.

A Study on the Application of Drone Based Aeromagnetic Survey System to Iron Mine Site (드론 기반 항공자력탐사 시스템을 이용한 철광산 탐사 적용성 연구)

  • Min, Dongmin;Oh, Seokhoon
    • Journal of the Korean earth science society
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    • v.38 no.4
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    • pp.251-262
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    • 2017
  • The system of magnetic exploration with a drone flight was constructed and applied to the iron mine site. The magnetic probe system installed on the drone used a sensor as Bartington's fluxgate type magnetometer, Mag639 and the A/D converter to collect magnetic intensity values on the tablet PC. The drone flight control module is a highly expandable Pixhawk with allowing 15 minutes of flight by loading 3kg. Experiments on the magnetic field interference range were performed to remove the erroneous effect from the drone with applying RTK GPS to obtain the magnetic intensity value at the accurate position. The accurate location information enabled to obtain the gradient measurement of magnetic field by measuring twice at different altitudes. Also, by using the terrain information, we could eliminate the terrain effect by setting the flight path to fly along the terrain. These results are in line with the field experiments using the nuclear proton magnetometer G-858 of Geometrics Co., Ltd, which adds to the reliability of the drone based aeromagnetic survey system we constructed.

Evaluation of marginal and internal gap under model-free monolithic zirconia restoration fabricated by digital intraoral scanner (디지털 구강스캐너로 모형 없이 제작한 전부지르코니아 수복물의 변연 및 내면 적합도 평가)

  • Lee, Jong-Won;Park, Ji-Man
    • The Journal of Korean Academy of Prosthodontics
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    • v.54 no.3
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    • pp.210-217
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    • 2016
  • Purpose: The aim of this study was to evaluate the marginal and internal adaptation of monolithic zirconia restoration made without physical model by digital intraoral scanner. Materials and methods: A prospective clinical trial was performed on 11 restorations as a pilot study. The monolithic zirconia restorations were fabricated after digital intraoral impression taking by intraoral scanner (TRIOS, 3shape, Copenhagen, Denmark), computer-aided designing, and milling manufacturing process. Completed zirconia crowns were tried in the patients' mouth and a replica technique was used to acquire the crown-abutment replica. The absolute marginal discrepancy, marginal gap, and internal gap of axial, line angle, and occlusal part were measured after sectioning the replica in the mesiodistal and buccolingual direction. Statistical analysis was performed using Kruskal-Wallis and Mann-Whitney U test (${\alpha}=.05$). Results: From the adaptation analysis by replica, the statistically significant difference was not found between mesiodistal and buccolingual sections (P>.05), but there was significant difference among the measurement location (P<.01). The amount of absolute marginal discrepancy was larger than those of marginal gap and internal gap (P<.01). Conclusion: Within the limitations of this study, the adaptation accuracy of model-free monolithic zirconia restoration fabricated by intraoral scanner exhibited clinically acceptable result. However, the margin of zirconia crown showed tendency of overcontour and cautious clinical application and follow up is necessary.

Research of Non-integeral Spatial Interpolation for Precise Identifying Soybean Location under Plastic Mulching

  • Cho, Yongjin;Yun, Yeji;Lee, Kyou-seung;Oh, Jong-woo;Lee, DongHoon
    • Proceedings of the Korean Society for Agricultural Machinery Conference
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    • 2017.04a
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    • pp.156-156
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    • 2017
  • Most crop damages have been occurred by vermin(e.g., wild birds and herbivores) during the period between seeding and the cotyledon level. In this study, to minimize the damage by vermin and acquire the benefits such as protection against weeds and maintenance of water content in soil, immediately vinyl mulching after seeding was devised. Vinyl mulching has been generally covered with black color vinyl, that crop seeding locations cannot be detected by visible light range. Before punching vinyl, non-contact and non-destructive methods that can continuously determine the locations are necessary. In this study, a crop position detection method was studied that uses infrared thermal image sensor to determine the cotyledon position under vinyl mulch. The moving system for acquiring image arrays has been developed for continuously detecting crop locations under plastic mulching on the field. A sliding mechanical device was developed to move the sensor, which were arranged in the form of a linear array, perpendicular to the array using a micro-controller integrated with a stepping motor. The experiments were conducted while moving 4.00 cm/s speed of the IR sensor by the rotational speed of the stepping motor based on a digital pulse width modulation signal from the micro-controller. The acquired images were calibrated with the spatial image correlation. The collected data were processed using moving averaging on interpolation to determine the frame where the variance was the smallest in resolution units of 1.02 cm. For this study, the spline method was relatively faster than the other polynomial interpolation methods, because it has a lower maximum order of formulation when using a system such as the tridiagonal linear equation system which provided the capability of real-time processing. The temperature distribution corresponding to the distance between the crops was 10 cm, and the more clearly the leaf pattern of the crop was visually confirmed. The frequency difference was decreased, as the number of overlapped pixels was increased. Also the wave pattern of points where the crops were recognized were reduced.

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Coordinate Transform Method of Surface Image Velocimetry with a Calibrated Camera (보정된 카메라를 이용한 표면영상유속계의 좌표변환방법)

  • Yu, Kwon-Kyu;Jung, Beom-Seok;Yoon, Byung-Man
    • Journal of Korea Water Resources Association
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    • v.41 no.7
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    • pp.701-709
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    • 2008
  • Surface Image Velocimetry (SIV) is an instrument to measure water surface velocity by using image processing techniques. It gives us one of the easiest ways to measure water velocity. However, since it requires a set of plane survey data to estimate the velocity, it may give us some kind of misconcept that its usage would be difficult or cumbersome in spite of its handiness. If it has a feature that can estimate the plane survey data easily, it may be treated as like one of the conventional propeller velocimetries and its applicability would be improved so high. The present study is to propose a method to estimate the plane geometry of the physical coordinate with a calibrated camera. With the feature we can half-automatize the estimating procedure for the whole water velocity field. Photogrammetric technique to calculate the plane coordinates of the reference points with a calibrated camera was studied, which has originally studied for long time in the field of computer vision. By applying this technique to SIV, it is possible to estimate the location of reference coordinates for projective transform without plane survey. With this procedure the cumbersome plane survey for the reference points is omitted. One example application of the developed method showed fairly good results with insignificant errors.

Relationship between NVOCs Concentration and Korean Red Pine (Pinus densiflora S. et Z.) Forest Environment in Spring Season (봄철 소나무숲의 NVOC 농도와 숲환경과의 상관관계)

  • Kim, GeonWoo;Kwon, ChiWon;Yeom, DongGeol;Joung, Dawou;Choi, Yoon Ho;Park, Bum-Jin
    • Journal of Korean Society of Forest Science
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    • v.103 no.3
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    • pp.483-489
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    • 2014
  • This study aimed at a scientific examination of the relationship between NVOCs concentration and the physical environment of red pine forest in spring season. Atmospheric NVOC samples in red pine forest was collected through five trials conducted from March to May 2013, using Tanax-Ta-charged disposable tubes and mini-pumps. At each trial, measurements were taken at three different points in daytime (sunrise, southing and sunset). For maximum accuracy, two tubes were used for each measurement at the same location, and the mean value was used for analysis. Compound analysis on the NVOC samples was done using the HS-SPME method and GC-MS. Analysis of the relationship between NVOC and the physical forest environment found higher concentrations of most substances, including ${\alpha}$-pinene and ${\beta}$-pinene, with higher temperature, dew point, and lower concentrations with higher wind velocity. The findings of this study offer scientific evidence which can inform the creation of 'healing forests' and 'recreational forests' as well as forest environment in general, helping to promote public health and recreational activities.

Study on the Deep Stead Fire Spread Temperature by the Change of the Wood Flour Density (목분의 밀도변화에 따른 온도전이에 관한 실험적 연구)

  • Kim, Jin Su;Rie, Dong Ho
    • Fire Science and Engineering
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    • v.29 no.3
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    • pp.1-5
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    • 2015
  • The productivity and demand of porous material has been increasing by development of industry and increasing income. In particular, the fire caused by using wood flour risks wood processing industry and stock farm. The heat transfer of wood flour is carried into the depth direction by effect of oxidizer around flame, flame sometimes is progressed as smoldering. In the case of progressing as combustion fire, identifying the location of fire is difficult, and it leads to failing fire aid fire fighting. Therefore potential cause is acted as raising additional damage. This paper conducts experiments of downward deep seated fire of natural convection conditions. The samples is New Zealand wood flour that is demanded much in the domestic and oversea market. In this experiment, temperature of deep seated side is measure by changing wood flour density in holder The densities used in experiment are 3%, 5%, 10%, 15%. As a result, the tendency of temperature inside decreases as wood flour density increases. But, in the case of density which is above $0.2140g/cm^3$, the phenomenon, decreasing temperature, is not shown. The result of measurement show that average flame spread speed of wood flour is 0.249 mm/min.

Characteristics of Nutrients Distribution in Summer and Winter in the South Sea (여름과 겨울철 남해의 영양염 분포 특성)

  • Lee, Tong-Sup
    • The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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    • v.4 no.4
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    • pp.371-382
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    • 1999
  • This paper presents the results of recent nutrients measurement and analysis in relation to other environmental parameters such as temperature, salinity, AOU and pH in the South Sea, Korea. In summer, temperature showed stronger correlation with nutrients than salinity and also did the parameters related to biological activities such as pH and AOU. Implications of above results exemplify that primary producers in the vicinity of salt front actively consumed nutrients so that nutrients-salinity correlation is strongly modified in the salt front. Nutrient in winter showed significant correlation only with temperature. Nutrient distribution seems governed by the location of thermal front between vertically mixed cold water in northern area and warm waters flowing north. Due to weak biological activity in winter pH-nutrients correlation, which was strongest in summer ($R^2$ >0.6) dropped sharply in winter ($R^2$ <0.5). Depth integrated nitrate+nitrite, phosphate and silicate values are 321 $mmol{\cdot}m^{-2}$, 23 $mmol{\cdot}m^{-2}$, 637 $mmol{\cdot}m^{-2}$ in summer and 261 $mmol{\cdot}m^{-2}$, 31 $mmol{\cdot}m^{-2}$, 742 $mmol{\cdot}m^{-2}$ in winter, respectively. NIP values in summer exhibit phosphorus deficiency, however, winter situation is reversed for nitrogen. Nitrogen input via precipitation and riverine discharge in wet season seems potentially critical for maintaining the South Sea ecosystem.

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Effect of Relaxin Expressing Adenovirus for Rat Skin Flap Viability (Relaxin을 분비하는 아데노바이러스가 피판의 생존에 미치는 영향)

  • Yun, In-Sik;Park, Yong-Sun;Cheon, Young-Woo;Jeon, Yeo-Reum;Lee, Won-Jai;Yun, Chae-Ok;Rah, Dong-Kyun
    • Archives of Plastic Surgery
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    • v.37 no.5
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    • pp.519-525
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    • 2010
  • Purpose: Of various effects of relaxin, we assumed that anti-fibrotic effects, neovascularization effects and vasodilatation effects of relaxin might enhance the survival rate of skin flap. In the current study, we used adenovirus expressing relaxin genes to examine whether these genes could enhance the survival rate of a skin flap. Methods: A total of 30 Sprangue-Dawley rats were divided into three groups: RLX group (10; relaxin virus injected group), CTR group (10; no gene coded virus injection group), and PBS group (10; PBS injected group). Each group was intradermally injected with the virus ($10^7$ PFU) and PBS 48 hours before and immediately before the flap elevation. A distally based flap $3{\times}9\;cm$ in size was elevated on the dorsal aspect of each rat. Following this, a flap was placed in the original location and then sutured using a #4-0 Nylon. A surviving area of the flap was measured and then compared on postoperative days 3, 7 and 10. Using a laser Doppler, the amount of blood flow was measured. On postoperative day 10, tissues were harvested for histologic examination and the number of blood vessels was counted. Results: There was a significant increase in the area of the flap survival in the RLX group on postoperative days 3 and 7. The Doppler measurement also showed significantly increased blood flow immediately after the operation and on postoperative days 7 and 10. The number of blood vessels was significantly greater in the RLX group in the tissue harvested on postoperative day 10. The VEGF concentration was significantly higher in the RLX group than others in the tissues harvested on postoperative day 10. Conclusion: Following an analysis of the effects of relaxin-secreting adenovirus on the survival of a flap, the surviving area of the flap and the blood flow also increased. A histopathology also showed an increase in the number of blood vessels and the concentration of VEGF.