• Journal of Sensor Science and Technology
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• v.32 no.2
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• pp.75-81
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• 2023

The significance of gas sensors has been emphasized in various industries and applications, owing to the growing significance of environmental, social, and governance (ESG) management in corporate operations. In particular, the monitoring of hazardous gas leakages and detection of fugitive emissions have recently garnered significant attention across several industrial sectors. As industrial workplaces evolve to ensure the safety of their working environments and reduce greenhouse gas emissions, the demand for high-performance gas sensors in industrial sectors dealing with toxic substances is on the rise. However, conventional gas-sensing systems have limitations in monitoring fugitive gas leakages at both critical and subcritical concentrations in complex environments. To overcome these difficulties, recent studies in the field of gas sensors have employed techniques such as mobile robotic olfaction, remote optical sensing, chemical grid sensing, and remote acoustic sensing. This review highlights the significant progress made in various technologies that have enabled accurate and real-time mapping of gas distribution and localization of hazardous gas sources. These recent advancements in gas-sensing technology have shed light on the future role of gas-detection systems in industrial safety.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.101.1-101
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• 2001

This paper describes a grid mapping for a vision based mobile robot in uncertain indoor environment. The map building is a prerequisite for navigation of a mobile robot and the problem of feature correspondence across two images is well known to be of crucial Importance for vision-based mapping We use a stereo matching algorithm obtained by singular value decomposition of an appropriate correspondence strength matrix. This new correspondence strength means a correlation weight for some local measurements to quantify similarity between features. The visual range data from the reconstructed disparity image form an occupancy grid representation. The occupancy map is a grid-based map in which each cell has some value indicating the probability at that location ...

• Spatial Information Research
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• v.19 no.4
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• pp.73-79
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• 2011

With the recent increase in demand for geo-registered imagery, Mobile Mapping Systems(MMS), which can quickly construct geographic information, has become important. The main part of MMS is the high-precision observation system, which collects geographic information at a certain speed. MMS has a complex data generation process and requires a standard-specific vehicle for its use, limiting its application range. In this paper, lightweight MMS is proposed to overcome its complexity by replacing the time synchronizer with a high-speed camera and by stabilizing motion with MEMS IMU/GPS. The proposed low-cost, portable method is expected to produce of geo-registered imagery efficiently.

• Spatial Information Research
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• v.13 no.4 s.35
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• pp.373-380
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• 2005

Mobile Mapping Systems are effective systems to acquire the position and image data using vehicle equipped with the GPS (Global Positioning System), IMU (Inertial Measurement Unit), and CCD camera. They are used in various fields of road facility management, map update, and etc. In the general photogrammetry such as aerial photogrammetry, GCP (Ground Control Point)s are needed to compute the image exterior orientation elements (the position and attitude of camera). These points are measured by field survey at the time of data acquisition. But it costs much time and money. Moreover, it is not possible to make sufficient GCP as much as we want. However Mobile Mapping Systems are more efficient both in time and money because they can obtain the position and attitude of camera at the time of photographing. That is, Image Orientation Technique must use GCP to compute the image exterior orientation elements, but on the other hand Direct Georeferencing can directly compute the image exterior orientation elements by GPS/INS. In this paper, we analyze about the positional accuracy comparison of ground point using the Image Orientation Technique and Direct Georeferencing Technique.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.293-300
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• 2019

In this paper, an Embedded solution for fast navigation and precise positioning of mobile robots by floor features is introduced. Most of navigation systems tend to require high-performance computing unit and high quality sensor data. They can produce high accuracy navigation systems but have limited application due to their high cost. The introduced navigation system is designed to be a low cost solution for a wide range of applications such as toys, mobile service robots and education. The key design idea of the system is a simple localization approach using line features of the floor and delayed localization strategy using topological map. It differs from typical navigation approaches which usually use Simultaneous Localization and Mapping (SLAM) technique with high latency localization. This navigation system is implemented on single board Raspberry Pi B+ computer which has 1.4 GHz processor and Redone mobile robot which has maximum speed of 1.1 m/s.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1884-1887
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• 1997

The increasing concern over radiation exposure in the nuclear industry has fostered agrressive efforts to reduce the levels of radiation exposure. One area of the effot to reduce the radiation exposure is the development of a remote radiation monitoring system. Remote radiation monitoring can serve many benificaial functions reduce exposure to radiation by plant personnel, impruve the quality of the data that is collected and recognize the radiation environment easily. Radiation mapping system gives a good information that represents radiation level distribution. The system we have developed consists of a data acquistion parts, mobile robot and remote control parts. Data acquisition parts consist of radiation detection module and vision acquistion module which collect radiation data, visiion data and distance information. In remote control parts, the acquision data are processed and displayed. We have constructed radiation mapping image by overlaying the vision and radiation data. The radiation mapping techniques for displaying the results of the survey in an easily comprehendable form will facilitate a better understanding of the radiation environment in the facility. This system can reduce workers radiation exposure and aid to help work plan, so it has significant benifits in cost and safety.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.11
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• pp.5392-5418
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• 2017

The primary aim of this paper is to propose a non-linear regression based technique for mapping different network Quality of Service (QoS) factors to an integrated end-user Quality of Experience (QoE) or Mean Opinion Score (MOS) value for an online video streaming service on a mobile phone. We use six network QoS factors for finding out the user QoE. The contribution of this paper is threefold. First, we investigate the impact of the network QoS factors on the perceived video quality. Next, we perform an individual mapping of the significant network QoS parameters obtained in stage 1 to the user QoE based upon a non-linear regression method. The optimal QoS to QoE mapping function is chosen based upon a decision variable. In the final stage, we evaluate the integrated QoE of the system by taking the combined effect of all the QoS factors considered. Extensive subjective tests comprising of over 50 people across a wide variety of video contents encoded with H.265/HEVC and VP9 codec have been conducted in order to gather the actual MOS data for the purpose of QoS to QoE mapping. Our proposed hybrid model has been validated against unseen data and reveals good prediction accuracy.

• Journal of Korean Society for Geospatial Information Science
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• v.20 no.1
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• pp.65-72
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• 2012

With the development of MEMS, small and low-priced sensors integrating IMU and GPS have produced and exploited for diverse field. In this research, we have judged that MEMS-based IMU/GPS sensor is suitable for light-weighted mobile mapping system and carried out experiments to analyze the characteristics of MTi-G, which was developed from XSens company. From a sensor which fixed to dashboard, coordinates results with no post-processing were achieved for test area. On the whole, the results show satisfactory performances but some errors also were discovered from parts of the road due to sensor properties, XKF characteristics and GPS reception environment. We could confirm the potential of light-weighted mobile mapping system. Experiments considering various GPS reception environments and road condition and more detailed level of accuracy analysis will be performed for further research.

• The Journal of Korea Robotics Society
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• v.18 no.2
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• pp.135-142
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• 2023

Light detection and ranging (LiDAR) sensors have been most widely used in terrestrial robotic applications because they can provide dense and precise measurements of the surrounding environments. However, the reliability of LiDAR measurements can considerably vary due to the different reflectivities of laser beams to the reflecting surface materials. This study presents a robust LiDAR-based mapping method for the varying laser reflectivities in indoor environments using the framework of simultaneous localization and mapping (SLAM). The proposed method can minimize the performance degradations in the SLAM accuracy by checking and discarding potentially unreliable LiDAR measurements in the SLAM front-end process. The gaps in point-cloud maps created by the proposed approach are filled by a Gaussian process regression method. Experimental results with a mobile robot platform in an indoor environment are presented to validate the effectiveness of the proposed methodology.

• Journal of KIISE:Computer Systems and Theory
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• v.28 no.1_2
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• pp.80-89
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• 2001

The development in the mobile computing systems have arisen new and previously unforeseen problems, such as problems in information management of mobile host, disconnection of mobile host and low bandwidths of wireless communications. Especially, location information management strategy of mobile host results in an increased overhead in mobile computing systems. Due to the mobility of the mobiles host, the changes in the mobile host's address depends on the mobile host's location, and is maintained by mapping physical address on virtual address, Since previously suggested several strategies for mapping method between physical address and virtual address did not tackle the increase of mobile host and distribution of location information, it was not able to support the scalability in mobile computing systems. Thus, to distribute the location inrormation, we propose an advanced n-depth LiST (Location information Search Tree) and the parallel location search and update strategy based on the advanced n-depth LiST. The advanced n-depth LiST is logically a hierarchical structure that clusters the location information server by ring structure and reduces the location information search and update cost by parallel seatch and updated method. The experiment shows that even though the distance of two MHs that communicate with each other is large, due to the strnctural distribution of location information, advanced n-depth LiST results in good performance. Moreover, despite the reduction in the location information search cost, there was no increase in the location information update cost.