• The Journal of the Korea Contents Association
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• v.8 no.1
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• pp.308-317
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• 2008

The objects real time rendered in the 3D cyber space can interact with each others according to the events which are happened when satisfying some conditions. But to representing the behaviors with these interactions, too many event conditions are considered because each behavior pattern and event must be corresponded in a one-to-one ratio. It leads to problems which increase the system complexity. So, in this paper, we try to physical method based on elasticity force for representing more realistic behaviors of AI fish and apply to the deformable multi-detection sensor, so we suggest the new method which can create the various behavior patterns responding to one evasion event.

• Spatial Information Research
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• v.13 no.1 s.32
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• pp.19-29
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• 2005

In this study, Real Time Kinematic GPS(RTK GPS) was conducted twice at the same site in two different seasons, respectively to check the possibility of it as the mapping tool, and how the factor affecting the accuracy of it. As a result, most parts of a small garden except f3r the worst environments surrounded with lots of tree canopy and several buildings were mapped using RTK GPS even in spring, full of a green foliage and winter as well. However, the mapping accuracy and the availability of RTK GPS were not so high. The study showed that it is recommended in RTK GPS mapping to utilize Total Station, etc. in the worst urban environments unable to track the satellite signals with ease.

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.10
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• pp.209-216
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• 2012

In this paper, we propose a novel tracking method which uses image features consisted of the area, average intensity, aspect ratio of a target image for the real-time IR surveillance system. The image features of the ground target can be modeled as a random process with exponential autocorrelation function mathematically. Finally, we derived a discrete target dynamic equation including kinematic states and geometric states of the target. Simulation results shows that the performance of the proposed method is better than that of the previous tracking method.

• International Journal of Aeronautical and Space Sciences
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• v.5 no.2
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• pp.1-8
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• 2004

Real-Time Kinematic GPS positioning is widely used for many applications.Resolving ambiguities is the key to precise positioning. Integer ambiguity resolution isthe process of resolving the unknown cycle ambiguities of double difference carrierphase data as integers. Two important issues of resolving are efficiency andreliability. In the conventional search techniques, we generally used chi-squarerandom variables for decision variables. Mathematically, a chi-square random variableis the sum of mutually independent, squared zero-mean unit-variance normal(Gaussian) random variables. With this base knowledge, we can separate decisionvariables to several normal random variables. We showed it with related equationsand conceptual diagrams. With this separation, we can improve the computationalefficiency of the process without losing the needed performance. If we averageseparated normal random variables sequentially, averaged values are also normalrandom variables. So we can use them as decision variables, which prevent from asudden increase of some decision variable. With the method using averaged decisionvalues, we can get the solution more quicklv and more reliably.To verify the performance of our proposed algorithm, we conducted simulations.We used some visual diagrams that are useful for intuitional approach. We analyzedthe performance of the proposed algorithm and compared it to the conventionalmethods.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2004.11a
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• pp.61-64
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• 2004

현재 GPS를 이용한 위성측위시스템은 기존의 DGPS에 의한 정밀도 향상 차원을 넘어 상시관측소를 활용한 기준국의 활용 증대 및 다양한 동시 사용자의 욕구를 충족시키기 위해 여러 가지 연구들이 진행되고 있다 현재 국내 연구동향으로 VRS-RTK (Virtual Reference Station Real Time Kinematic)에 대한 기초 연구가 진행 중에 있으며 해양수산부의 전파를 이용한 비콘 방식과 표준과학연구원 천문대에서는 MBC와 연계한 FM-DARC(Data Radio Channel)방식 등이 활용 방안으로 준비중에 있으며, 여러 기관과 대학 연구 기관에서 기초 연구가 진행 중에 있다. 따라서 이미 독일, 싱가폴, 일본 등에서 활용하고 있는 VRS의 연구를 보다 심화하여 현재 각기 다른 기관에서 보유하고 있는 70여개의 GPS 상시관측소의 효율적인 활용과 대 국민 서비스를 제공할 수 있는 시스템이 절실히 필요한 시기이다. 따라서 본 논문에서는 이런 가상관측의 결과를 산출할 수 있는 통계학적 모델링을 통한 가상관측 보정값을 산출할 수 있는 보정값을 제시할 수 있는 알고리즘 개발에 그 목적이 있다. 향후 알고리즘 개발이 완료되면 통계학적 모델링을 통해 단일 기준점에 의한 GPS 측량에서 불가능한 위치 결정 네트웍의 가상 관측을 가능하게 할 것이며, 신뢰성 있는 미지정수 해를 만들 수 있을 것이다.

• Journal of Korean Society for Geospatial Information Science
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• v.14 no.3 s.37
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• pp.23-30
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• 2006

The case of a forest area has tome limitations of adopting a ground surveying like as TS (Total Station) and RTK-GPS (Real Time Kinematic-GPS) due to the specificity of the forest area. Therefore, the new method, is different from exist the cadastral re-surveying method in a metro area and a cropland, is applicably considered in the forest area. In this paper, we suggest the applicability of the digital cadastral map of forest which is used at KLIS. According to the result of study, the most important area error value for adopted in the cadastral re-surveying is almost contained the error tolerance. Therefore, KLIS data, if it is related with the actual reference data for adjusting the location boundary, is suitable to be adopted in the cadastral re-surveying.

• International Journal of Automotive Technology
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• v.8 no.5
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• pp.583-591
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• 2007

This paper describes the development of the $H_{\infty}$ lateral control system for an autonomous ground vehicle operating a limited area using the RTK-DGPS(Real Time Kinematic-Differential Global Positioning System). Before engaging in autonomous driving, map data are acquired by the RTK-DGPS and used to construct a reference trajectory. The navigation system contains the map data and computes the reference yaw angle of the vehicle using two consecutive position values. The yaw angle of the vehicle is controlled by the $H_{\infty}$ controller. A prototype of the autonomous vehicle by the navigation method has been developed, and the performance of the vehicle has been evaluated by experiment. The experimental results show that the $H_{\infty}$ controller and the RTK-DGPS based navigation system can sufficiently track the map at low speed. We expect that this navigation system can be made more accurate by incorporating additional sensors.

• Journal of Korean Society for Geospatial Information Science
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• v.10 no.1 s.19
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• pp.67-76
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• 2002

At a recent, with an increase of traffic demand and a spread of automobile culture, the safety, convenience and speed of highway is required. On this study, using the real time kinematic GPS, observation value at a center line of ready-built road is obtained and then design specification of highway, IP, IA and R are obtained by least square method. Using those IP, IA and R, we analysed the risk factor of highway alignment by the standard for structure and facility of the road. With using RTK GPS, we could analyse dangerous element of highway alignment rapidly and cope with dangerous area of the existing road. It is also proved to apply availably whether we determine alignment improvement is needed or not or analyze source of accident related with alignment in the region having a high traffic accident rate.

• Journal of The Geomorphological Association of Korea
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• v.24 no.1
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• pp.1-12
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• 2017

Planting trees is a very common practice in the coastal dunefields of South Korea as a way to stabilize dune landscapes and protect inland residential areas from strong winds and blown sands. On the other hand, disturbing the original foredune environment may deteriorate the ability of coastal landsto recover from coastal erosion after storms, causing a retreat of coastline. However, there is little information of this sort on the surface of forested dunefields. Airborne LiDAR or drone-based mapping is not easily applicable in such areas. In this study, we developed a digital terrain model of Dasari dunefields, Chungnam Province, based on direct topographic surveys with real-time kinematic GPS and total stations. We also analyzed previous two aerial photographs taken in 1947 and 1966, in order to detect an older landforms of the dunefields. Results suggested that there have been little changes in geomorphology of the Dasari dunefields for the last 50 years, despite continued tree plantings. Today, there are remains of U-shaped structures such as blowouts and parabolic dunes in the dunefields.

• Advances in robotics research
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• v.1 no.1
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• pp.81-99
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• 2014

This paper contributes towards the development of a computer vision system for telemonitoring of industrial articulated robotic arms. The system aims to provide precision real time measurements of the joint angles by employing low cost cameras and visual markers on the body of the robot. To achieve this, a mathematical model that connects image features and joint angles was developed covering rotation of a single joint whose axis is parallel to the visual projection plane. The feature that is examined during image processing is the varying area of given circular target placed on the body of the robot, as registered by the camera during rotation of the arm. In order to distinguish between rotation directions four targets were used placed every $90^{\circ}$ and observed by two cameras at suitable angular distances. The results were deemed acceptable considering camera cost and lighting conditions of the workspace. A computational error analysis explored how deviations from the ideal camera positions affect the measurements and led to appropriate correction. The method is deemed to be extensible to multiple joint motion of a known kinematic chain.