• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.159-162
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• 2002

This paper presents a modified localization scheme of a mobile robot. When it navigates, the position error of a robot is increased and doesn't go to a goal point where the robot intends to go at the beginning. The objective of localization is to estimate the position of a robot precisely. Many algorithms were developed and still are being researched for localization of a mobile robot at present. Among them, a localization algorithm named continuous localization proposed by Schultz has some merits on real-time navigation and is easy to be implemented compared to other localization schemes. Continuous Localization (CL) is based on map-matching algorithm with global and local maps using only ultrasonic sensors for making grid maps. However, CL has some problems in the process of searching the best-scored-map, when it is applied to a mobile robot. We here propose fast and powerful map-matching algorithm for localization of a mobile robot by experiments.

• Journal of Korea Water Resources Association
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• v.33 no.1
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• pp.61-72
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• 2000

The purpose of this study is to improve the method of evaluating groundwater recharge by using grid-based soil moisture routing technique. A model which predicts temporal variation and spatial distribution of soil moisture on a daily time step was developed. The model uses ASCII-formatted map data supported by the irregular gridded map of the GRASS(Geographic Resources Analysis Support System)-GIS and can generate daily and monthly spatial distribution map of surface runoff, soil moisture content, evapotranspiration within the watershed. The model was applied to Ipyunggyo watershed($75.6\;\textrm{km}^2$) located in the upstream of Bocheongchun watershed. Seven maps; DEM(Digital Elevation Mode]), stream, flow path, soil, land use, Thiessen network and free groundwater level, were used for input data. Predicted streamflows resulting from two years (l995, 1996) daily data were compared with the observed values at the watershed outlet. The results of temporal variations and spatial distributions of soil moisture are presented by using GRASS GIS. As a final result, the monthly predicted groundwater recharge was presented.sented.

• Journal of Korea Multimedia Society
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• v.25 no.11
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• pp.1557-1563
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• 2022

Currently Spatial Data is collected and processed in various methods, and its usability is very high. However, the existing Spatial Data analysis Software usually requires professional knowledge in the collection, refinement, and application of spatial Date, making it difficult to access and apply it. Therefore, this study established a new WebGIS platform with improved accessibility and usability to solve these problems. This platform supports various services such as master map sharing, spatial data generation, automatic coordinate system conversion, WMS issuance, grid generation, and grid analysis. These services increase operational convenience, such as simplifying repetitive tasks and automatically expressing text files. While it is believed that non-experts can easily and conveniently because of them to simplify and express the results. In addition, it is judged to have high accuracy and reliability compared to the analysis results using the existing Open Source-based GIS software.

• 한국태양에너지학회:학술대회논문집
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• 2008.11a
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• pp.337-340
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• 2008

As a 'Construction of Information System on GIS based and Resource Map', establish the strategic of design about construction of Spatial Data Warehouse for New & Renewable Energy For Construction of comfortable Spatial Data Warehouse, It suggested The Construction of Spatial Data Warehouse on Block(Grid) Based with Analyze into the old Data & Method of Study. For Decide the Block(Grid) Size, We need The Study of Data & Method. Also, we expect Standardize The Process of Change & Apply with Data. make the best use of New & Renewable Energy Part

• ETRI Journal
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• v.44 no.2
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• pp.183-193
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• 2022

Smart cities are expected to provide residents with convenience via various agents such as CCTV, delivery robots, security robots, and unmanned shuttles. Environmental data collected by various agents can be used for various purposes, including advertising and security monitoring. This study suggests a surveillance map data framework for efficient and integrated multimodal data representation from multi-agents. The suggested surveillance map is a multilayered global information grid, which is integrated from the multimodal data of each agent. To confirm this, we collected surveillance map data for 4 months, and the behavior patterns of humans and vehicles, distribution changes of elevation, and temperature were analyzed. Moreover, we represent an anomaly detection algorithm based on a surveillance map for security service. A two-stage anomaly detection algorithm for unusual situations was developed. With this, abnormal situations such as unusual crowds and pedestrians, vehicle movement, unusual objects, and temperature change were detected. Because the surveillance map enables efficient and integrated processing of large multimodal data from a multi-agent, the suggested data framework can be used for various applications in the smart city.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.15 no.2
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• pp.18-24
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• 2007

The high ionospheric spatial gradient during ionospheric storm is the most concern when applying GNSS(Global Navigation Satellite System) augmentation systems for aircraft precision approach. Since the ionospheric gradient level depends on geographical location as well as the storm, understanding the ionospheric gradient statistics over a specific regional area is necessary for operating the augmentation systems. This paper compares three ionosphere gradient computation methods, direct differentiation between two receivers' ionospheric delay signal for a common satellite, derivation from a grid ionosphere map, and derivation from a plate ionosphere map. The plate map method provides a good indication on the gradient variation behavior over a regional area with limited number of GNSS receivers. The residual analysis for the ionosphere storm detection is discussed as well.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.5
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• pp.1339-1355
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• 2023

Localization is a hot research spot for many areas, especially in the mobile robot field. Due to the weak signal of the global positioning system (GPS), the alternative schemes in an indoor environment include wireless signal transmitting and receiving solutions, laser rangefinder to build a map followed by a re-localization stage and visual positioning methods, etc. Among all wireless signal positioning techniques, Wi-Fi is the most common one. Wi-Fi access points are installed in most indoor areas of human activities, and smart devices equipped with Wi-Fi modules can be seen everywhere. However, the localization of a mobile robot using a Wi-Fi scheme usually lacks orientation information. Besides, the distance error is large because of indoor signal interference. Another research direction that mainly refers to laser sensors is to actively detect the environment and achieve positioning. An occupancy grid map is built by using the simultaneous localization and mapping (SLAM) method when the mobile robot enters the indoor environment for the first time. When the robot enters the environment again, it can localize itself according to the known map. Nevertheless, this scheme only works effectively based on the prerequisite that those areas have salient geometrical features. If the areas have similar scanning structures, such as a long corridor or similar rooms, the traditional methods always fail. To address the weakness of the above two methods, this work proposes a coarse-to-fine paradigm and an improved localization algorithm that utilizes Wi-Fi to assist the robot localization in a geometrically similar environment. Firstly, a grid map is built by using laser SLAM. Secondly, a fingerprint database is built in the offline phase. Then, the RSSI values are achieved in the localization stage to get a coarse localization. Finally, an improved particle filter method based on the Wi-Fi signal values is proposed to realize a fine localization. Experimental results show that our approach is effective and robust for both global localization and the kidnapped robot problem. The localization success rate reaches 97.33%, while the traditional method always fails.

• International Journal of Computer Science & Network Security
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• v.22 no.12
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• pp.51-56
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• 2022

In space based constellation network, users are allowed to enter or leave the network arbitrarily. Hence, the number, identities and transmitted data of active users vary with time and have considerable impacts on the receiver's performance. The so-called problem of multiuser detection means identifying the identity of each active user and detecting the data transmitted by each active user. Traditional methods assume that the number of active users is equal to the maximum number of users that the network can hold. The model of traditional methods are simple and the performance are suboptimal. In this paper a Maximum A Posteriori Probability (MAP) based multiuser detection method is proposed. The proposed method models the activity state of users as Markov chain and transforms multiuser detection into searching optimal path in grid map with BCJR algorithm. Simulation results indicate that the proposed method obtains 2.6dB and 1dB E_b/N₀ gains respectively when activity detection error rate and symbol error rate reach 10^-3, comparing with reference methods.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.6
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• pp.14-22
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• 2014

An autonomous vehicle requires a technology of generating maps by recognizing surrounding environment. The recognition of the vehicle's environment can be achieved by using distance information from a 2D laser scanner and color information from a camera. Such sensor information is used to generate 2D or 3D maps. A 2D map is used mostly for generating routs, because it contains information only about a section. In contrast, a 3D map involves height values also, and therefore can be used not only for generating routs but also for finding out vehicle accessible space. Nevertheless, an autonomous vehicle using 3D maps has difficulty in recognizing environment in real time. Accordingly, this paper proposes the technology for generating 2D maps that guarantee real-time recognition. The proposed technology uses only the color information obtained by removing height values from 3D maps generated based on the fusion of 2D laser scanner and camera data.

• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.2
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• pp.679-687
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• 2019

This paper presents the autonomous swimming technology developed for an Autonomous Underwater Vehicle (AUV) operating in the underwater jacket structure environment. To prevent the position divergence of the inertial navigation system constructed for the primary navigation solution for the vehicle, we've developed kinds of marker-recognition based underwater localization methods using both of optical and acoustic cameras. However, these two methods all require the artificial markers to be located near to the cameras mounted on the vehicle. Therefore, in the case of the vehicle far away from the structure where the markers are usually mounted on, we may need alternative position-aiding solution to guarantee the navigation accuracy. For this purpose, we develop a sonar image processing based underwater localization method using a Forward Looking Sonar (FLS) mounted in front of the vehicle. The primary purpose of this FLS is to detect the obstacles in front of the vehicle. According to the detected obstacle(s), we apply an Occupancy Grid Map (OGM) based path planning algorithm to derive an obstacle collision-free reference path. Experimental studies are carried out in the water tank and also in the Pohang Yeongilman port sea environment to demonstrate the effectiveness of the proposed autonomous swimming technology.