• The Journal of Korea Robotics Society
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• v.9 no.2
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• pp.117-123
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• 2014

Localization is one of the essential tasks necessary to achieve autonomous navigation of a mobile robot. One such localization technique, Monte Carlo Localization (MCL) is often applied to a digital surface model. However, there are differences between range data from laser rangefinders and the data predicted using a map. In this study, commonly observed from air and ground (COAG) features and candidate selection based on the shape of sensor data are incorporated to improve localization accuracy. COAG features are used to classify points consistent with both the range sensor data and the predicted data, and the sample candidates are classified according to their shape constructed from sensor data. Comparisons of local tracking and global localization accuracy show the improved accuracy of the proposed method over conventional methods.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2005.11b
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• pp.253-257
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• 2005

This research aims to demonstrate the regional and site scale groundwater flow simulation for the high level radioactive disposal research site in Yu-seong. We used the Modflow by a finite difference method for groundwater flow simulation, and Modpath module in Modflow package for particle tracking simulation. The range of numerical domain for regional groundwater flow model is $16.32km{\times}20.16km$. And, the depth of numerical domain was expanded to 6,000m. The area of numerical domain for the site scale groundwater flow simulation is $1.6km{\times}1.6km$. Since 2005, the underground research tunnel(URT) is being constructed at KAERI(Korea Atomic Energy Research Institute) site. In the site scale groundwater flow model, the groundwater flow around the KAERI site is simulated. And the change of groundwater level with tunnel excavation is also predicted.

• Journal of Advanced Marine Engineering and Technology
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• v.20 no.4
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• pp.90-100
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• 1996

To maintain high spacial accuracy and rapid CPU time in interpolating data from grid to random position or inversely in PIV, proposed many technuques are compared and discussed mainly in terms of interpolating error and computing time. And artificial PIV atmosphere data is furnished by CFD result. First, for interpolation from grid to random position, multiquadric method gives the highest accuracy with the longest CPU time and Taylor series expansion methods give reasonable accuracy with less calculating load. Secondly, the sub-pixel resolution analysis in estimating the coordinates of the maximum correlation coefficients essential in the grey level correlation PIV reveal that 8-neighbours 2nd-order least square interpolation gives utmost accuracy in terms of the real flow conditions.

• Journal of Advanced Marine Engineering and Technology
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• v.20 no.4
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• pp.412-412
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• 1996

To maintain high spacial accuracy and rapid CPU time in interpolating data from grid to random position or inversely in PIV, proposed many technuques are compared and discussed mainly in terms of interpolating error and computing time. And artificial PIV atmosphere data is furnished by CFD result. First, for interpolation from grid to random position, multiquadric method gives the highest accuracy with the longest CPU time and Taylor series expansion methods give reasonable accuracy with less calculating load. Secondly, the sub-pixel resolution analysis in estimating the coordinates of the maximum correlation coefficients essential in the grey level correlation PIV reveal that 8-neighbours 2nd-order least square interpolation gives utmost accuracy in terms of the real flow conditions.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.33 no.1
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• pp.1-8
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• 2009

Recently microscale biofluid flows have been receiving large attention in various research areas. However, most conventional imaging techniques are unsatisfactory due to difficulties encountered in the visualization of microscale biological flows. Recent advances in optics and digital image processing techniques have made it possible to develop several advanced micro-PIV/PTV techniques. They can be used to get quantitative velocity field information of various biofluid flows from visualized images of tracer particles. In this paper, as new advanced micro-PIV techniques suitable for biofluid flow analysis, the basic principle and typical applications of the time-resolved micro-PIV and X-ray micro-PIV methods are explained. As a 3D velocity field measurement technique for measuring microscale flows, holographic micro-PTV method is introduced. These advanced PIV/PTV techniques can be used to reveal the basic physics of various microscale biological flows and will play an important role in visualizing veiled biofluid flow phenomena, for which conventional methods have many difficulties to analyze.

• Proceedings of the Korea Water Resources Association Conference
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• 2002.05b
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• pp.1027-1033
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• 2002

The solute transport in a two-dimensional heterogeneous porous medium is numerically studied by using a random walk particle tracking (RWPT) method. Lognormally isotropic hydraulic conductivity fields are generated by using the turning band methods with mean zero and four different values of standard deviation. The numerical transport experiments are carried out to investigate the large time and spatial effects of the variable pore velocity field on solute plumes. The behavior of the solute plume through numerical simulations is presented in terms of longitudinal and transverse spatial moments: displacement of center-of-mass, plume spread variance and skewness coefficient. It was observed that the dispersive behavior of the solute plume is strongly affected by the degree of heterogeneity in the flow domain.

• Journal of the Korean Society of Marine Environment & Safety
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• v.23 no.2
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• pp.200-207
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• 2017

The purpose in having a control surface on ships is to control the motion of the ship. The control surface may be composed entirely of a single movable surface or of a combination of fixed and movable portions. A control surface has one sole function to perform in meeting its purpose, and that is to develop a control force in consequence of its orientation and movement relative to the water. The forces and moments generated as a result of this rotation and angle of attack then determine the manoeuvring characteristics of the ship. In this paper, two-dimensional flow characteristics of a flapped rudder and a water-blowing control rudder were accomplished respectively by PIV method in a circulating water channel. Model test has been carried out with different angles of attack of main foil (NACA 0012) and flap's deflection angles to predict the performance of the flapped rudder and the water-blowing control rudder. The 2-frame particle tracking method has been used to obtain the velocity distribution in the flow field. $Re{\fallingdotseq}3.0{\times}10^4$ has been used during the whole experiments and measured results have been compared with each other.

• Journal of the Korean Society for Marine Environment & Energy
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• v.11 no.1
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• pp.13-23
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• 2008

In coastal region, eutrophication, Do deficit and red tide are frequently occurred by influx of fresh water. When the fresh water containing pollutants is discharged into the sea, the surrounding water is contaminated by dispersion of freshwater flowing into coastal waters. The prediction and analysis about the dispersion process of the discharged fresh water should be conducted. A modeling system using GUI was developed to simulate hydrodynamic flow and fresh water dispersion in coastal waters and to analyze the results efficiently. The modeling module of the system includes a tide model using a finite element method and a fresh water dispersion model using a particle-tracking method. This system was applied to predict the tidal currents and fresh water dispersion in Mokpo coastal zone. To verify accuracy of the hydrodynamic model, the simulation results were compared with observed sea level and time variations of tidal currents showing a good agreement. The fresh water dispersion was verified with observed salinity distribution. The dispersion model also was verified with analytic solutions with advection-diffusion problems in 1-dimensional and 2-dimensional simple domain. The system is operated on GUI environment, to ease the model handling such as inputting data and displaying results. Therefore, anyone can use the system conveniently and observe easily and accurately the simulation results by using graphic functions included in the system. This system can be used widely to decrease the environmental disaster induced by inflow of fresh water into coastal waters.

• Journal of Korean Port Research
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• v.12 no.1
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• pp.95-104
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• 1998

Water pollution in a semi-enclosed sea area such as a bay due to stagnancy of water has been a serious water environmental problem. Recently, some kinds of new methods to activate the tidal exchange between an inner bay and an outer sea area by control of a tidal residual current have been proposed. However, these methods have several problems, that is, I). deterioration in a natural view due to building of huge structures, II). increase of risk of navigation in case of a submerged structure, III). limition of sea area where a tidal current can be controlled and IV). difficulty in removing those structures in case of occurrence of an unexpected impact on water environment. In this paper, a new method is proposed, which can solve all the above problems, to purify water quality in a semi-enclosed bay by creation and control of a pattern of a tidal residual current. The tidal residual current is controlled by unsymmetric structures, which change the properties of resistance according to the direction of flow, arranged on the sea bottom. In this study, several numerical and hydraulic experiments of tidal current and particle-tracking for various arrangements of bottom roughness in a semi-enclosed model bay were carried out. As a result of experiments, it becomes clear that it is possible to generate a new tidal residual current and to activate a tidal exchange by only operation of bottom roughness arrangement.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.3
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• pp.164-173
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• 2014

In underwater robotics, vision would be a key element for recognition in underwater environments. However, due to turbidity an underwater optical camera is rarely available. An underwater imaging sonar, as an alternative, delivers low quality sonar images which are not stable and accurate enough to find out natural objects by image processing. For this, artificial landmarks based on the characteristics of ultrasonic waves and their recognition method by a shape matrix transformation were proposed and were proven in Part 1. But, this is not working properly in undulating and dynamically noisy sea-bottom. To solve this, we propose a framework providing a selection phase of likelihood candidates, a selection phase for final candidates, recognition phase and tracking phase in sequence images, where a particle filter based selection mechanism to eliminate fake candidates and a mean shift based tracking algorithm are also proposed. All 4 steps are running in parallel and real-time processing. The proposed framework is flexible to add and to modify internal algorithms. A pool test and sea trial are carried out to prove the performance, and detail analysis of experimental results are done. Information is obtained from tracking phase such as relative distance, bearing will be expected to be used for control and navigation of underwater robots.