• International Journal of Control, Automation, and Systems
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• v.6 no.1
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• pp.62-75
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• 2008

Vision-based simultaneous localization and map building using a single camera, while compelling in theory, have not until recently been considered extensive in the practical realm of the real world. In this paper, we propose a simple framework for the monocular SLAM of an indoor mobile robot using natural line features. Our focus in this paper is on presenting a novel approach for modeling the landmark before integration in monocular SLAM. We also discuss data association improvement in a particle filter approach by using the feature management scheme. In addition, we take constraints between features in the environment into account for reducing estimated errors and thereby improve performance. Our experimental results demonstrate the feasibility of the proposed SLAM algorithm in real-time.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.11
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• pp.1044-1049
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• 2015

This paper proposes an autonomous navigation system of mobile robots for indoor corridor environment. The system uses a laser scanner but does not use reflectors. The laser scanner measures the distance between robot and structures such as wall, pillar, and fixtures. Adaptive breakpoint detector and modified IEPF (iterative endpoint fit) are developed to find mark points from the distance data. The robot path for corridor is then generated using the angle histogram of the mark points. The experimental results are finally presented to show the effectiveness of the proposed method.

• Korean Journal of Heritage: History & Science
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• v.43 no.1
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• pp.28-55
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• 2010

Currently, the natural monument system of Korea for naming and designation of natural monuments is based on "Chosun Natural Monument Conservation Acts for Treasure, Ancient Landmark, and Natural Beauty" enacted in 1934 during Japanese colonization period. The framework of natural monument system is still in effect, which is pointed out as a problem. The Dangsan forests and Bibo forests are Korean traditional cultural resources representing countryside of Korea. Cultural Heritage Administration follows and relies on the 'Limsu of Chosun' (1938), a report written by a Japanese, for naming and classification of natural monuments. A Dangsan forest at Yesong-ri was named "Yesong-ri evergreen forest" in 1938. They followed the naming system of "evergeen forest" until today. The objective of this study is to review the issues and problems of 'Limsu of Chosun' and natural monument naming system begun during Japanese occupation period, and suggest an alternative to the current situation where naming natural monument accordingly without discretion. Eighteen dangsan forests bibo forests were selected for examination and analysis. The names of the dangsan forests bibo forests were evaluated to find out whether various aspects of the forests are reflected in the name. The study suggests that many forests and old trees designated as natural monument should be named as "~Dangsan forest", "~Dangsan forest Bibo forest", or "~Dangsan tree" with consistency accordingly. The new names will bring a momentum to overcome the limitation of natural monument naming system continued since Japanese occupation period, and also enhance the value of Dangsan forests and Bibo forests as Korean traditional and cultural landscapes.

• Journal of the Korean Institute of Landscape Architecture
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• v.33 no.6 s.113
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• pp.127-139
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• 2006

Mt. Yokmang landscape design awarded first in [North container terminal site furtherance construction in Busan new port], design competition sponsoring in the Korea Container Terminal Authority in 2005. Design guideline was to propose the symbol of new port and to establish landscape plan in consideration of view and geological location. Because landscape plan required establishment of restoration plan for cutting slope, Mt. Yokmang became the major object. The purpose of planning are as follows. The first purpose is to minimize existent natural environment damage, and the second, to connect with ambit and create new image. The third is to provide place of rest and interchange for local resident. Reflecting stratum structure and landscape characteristics, cutting slope consisted of [utilization slope], [presentation slope], [landscape slope], and [ecological slope]. Vegetation design applied ecological restoration method through restoration of stratum, and eve environment-friendly afforestation, planned program that can connect area with existing ecosystem. In process that decides form of the cutting slope, analyze view structure and visual exposure in various access routes, sensitivity etc. was accomplished. Also, symbolic tower(Ocean Polaris) that presents in architecture and landscaping features, night landscape planning could gain synergy effect by keeping consistence with landscape and ecological planning. Passing through final design and construction process, I expect that the Mt. Yokmang will be a new landmark in Busan new port.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.4
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• pp.442-448
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• 2011

There are many research results about a self-localization technique of mobile robot. In this paper we present a self-localization technique based on the features of ceiling vision using a fisheye lens. The features obtained by SIFT(Scale Invariant Feature Transform) can be used to be matched between the previous image and the current image and then its optimal function is derived. The fisheye lens causes some distortion on its images naturally. So it must be calibrated by some algorithm. We here propose some methods for calibration of distorted images and design of a geometric fitness model. The proposed method is applied to laboratory and aile environment. We show its feasibility at some indoor environment.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.9 s.252
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• pp.1124-1133
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• 2006

This paper addresses the localization and navigation problem using invisible two dimensional barcodes on the floor. Compared with other methods using natural/artificial landmark, the proposed localization method has great advantages in cost and appearance, since the location of the robot is perfectly known using the barcode information after the mapping is finished. We also propose a navigation algorithm which uses the topological structure. For the topological information, we define nodes and edges which are suitable for indoor navigation, especially for large area having multiple rooms, many walls and many static obstacles. The proposed algorithm also has an advantage that errors occurred in each node are mutually independent and can be compensated exactly after some navigation using barcode. Simulation and experimental results. were performed to verify the algorithm in the barcode environment, and the result showed an excellent performance. After mapping, it is also possible to solve the kidnapped case and generate paths using topological information.

• Wind and Structures
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• v.32 no.2
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• pp.143-159
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• 2021

The 246.8-m-tall Beijing Olympic Tower (BOT) is a new landmark in Beijing City, China. Its unique architectural style with five sub-towers and a large tower crown gives rise to complex dynamic characteristics. Thus, it is wind-sensitive, and a double-stage pendulum tuned mass damper (DPTMD) has been installed for vibration mitigation. In this study, a finite-element analysis of the wind-induced responses of the tower based on full-scale measurement results was performed. First, the structure of the BOT and the full-scale measurement are introduced. According to the measured dynamic characteristics of the BOT, such as the natural frequencies, modal shapes, and damping ratios, an accurate finite-element model (FEM) was established and updated. On the basis of wind measurements, as well as wind-tunnel test results, the wind load on the model was calculated. Then, the wind-induced responses of the BOT with the DPTMD were obtained and compared with the measured responses to assess the numerical wind-induced response analysis method. Finally, the wind-induced serviceability of the BOT was evaluated according to the field measurement results for the wind-induced response and was found to be satisfactory for human comfort.

• Journal of the Korean Institute of Landscape Architecture
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• v.35 no.3
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• pp.71-81
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• 2007

This study focused on the one and only temple of on the coastline of the West Sea, Kimje's Manghae Temple and Mt. Jinbong. The purpose of this study was to research the unique sense of place of the area by researching the location and view that clearly shapes the identity of the landscape. The following are the results. 1. The cultural landscape of Manghae Temple and the natural landscape of Mt. Jinbong have characteristics which take in the coastline and skyline, respectively. Specifically, from the existential vertical-horizontal images of "sky - land - Mt. Jinbong" and "moon - cloud - sea", an ascending reflection of the landscape surroundings can be found. 2. The "Sea - Manghae temple - Mt. Jinbong - sky" is the representation of the moderate 'inside-space' which belongs to the particular landscape area and which also shows the topophilia to Manghae Temple. Through this kind of interpretation, the sense of place of Manghae Temple and Mt. Jinbong reveals an intra-structure of an Imaging Landscape implying harmony and moderation, which is a unified organization of the surrounding phenomena(Temple and Mountain) and the essence (the doctrine of Buddhism) that matches Jin-muk's asceticism and lifestyle. 3. While the cultural landscape of Manghae Temple has a strong religious reference, the natural landscape Mt. Jinbong emphasizes the geography of the landscape. In other words, the motivating factor of Manghae Temple is a metaphorical sense of place such as through the "prospect of the sea" or "the Western Sea Paradise" and Mt. Jinbong, the landmark of the Kimje-Mankyung Plains and the focal point of the West Sea sunset, is highlighted as a simile for this sense of place. 4. Keeping this sense of place and territory respectively and showing the. bond with the sense of place which develops rhythmically and continuously, Manghae Temple and Mt. Jinbong are sublimated into a unified intra-structure, which reflects the Imaging landscape characteristics of "Mt. Jinbong, a focal point of the Mankyung Plains facing the West Sea" and "Manghae Temple, looking out to sea".

• Journal of the Korean Institute of Traditional Landscape Architecture
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• v.32 no.2
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• pp.55-67
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• 2014

The historic cultural landscape of East lake in Kyung river area during Joseon dynasty was very outstanding that it had many attractions of scenic beauty, however, the Han river of today is being recognized as a natural landscape and as a place with low cultural and historical traits. This study applied landscape characteristics of the cultural space of Joseon Dynasty on visual image elements of Lynch to research the landscape characteristics. The research results are as follows. When East lake was applied to visual image elements, it was recognized as a 'superb' 'paths,' and the 'edge' which signifies the boundary showed its 'superb' clarity of the East lake. For the 'node,' a turning point of direction, Dumopo represented the 'superb' awareness. As East lake, Apgujung, and Jecheonjung represented the 'superb' awareness when 'landmark' among visual image elements of Lynch was applied to the cultural space, the awareness level and reputation were proportional to the visual image elements. When pattern, structure, and meaning of the cultural space were clear and had definite identity, the 'landmark' and 'district' elements were 'superb.' It was also identified that when awareness level of space was higher, the awareness of historic cultural landscape was high as well. Therefore, considering visual awareness level of the historic cultural landscape of Han river during restoration to investigate and to conduct case studies is considered to increase the awareness level of historicity and cultural character as well as restoration of the place.

• International conference on construction engineering and project management
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• 2009.05a
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• pp.525-536
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• 2009

The current residential process adheres to a traditional method of construction involving wood framing on-site on poured concrete foundations which has been widely applied in North America. A conventional residential construction process can include seventeen distinct stages ranging from stake-out to pre-occupancy inspection. The current practice possesses short comings including high construction material wastes, long scheduling timelines, adverse weather conditions, poor quality, low efficiencies and negative environmental impacts from transportation and equipment use. Over CAN $5 billion dollars was spent in the construction sector during 2007 in Canada. Previous findings in CO₂ emissions during the construction process of a conventional dwelling emphasize more than 45 tonnes of CO₂ emissions. Hence, in Alberta alone during 2007, almost 50,000 residential units would release more than two million tonnes of CO₂. These numbers demonstrate the economical and environmental impact in building construction and its relationship with CO₂ emissions. The aim of this paper is to quantify the CO₂ emissions from the current residential construction process in order to establish the baseline for CO₂ emission reduction opportunities. The quantification collection methodology will be approached by identifying the seventeen various stages of construction and quantifying the contributions of CO₂ from specific activities and their impacts of work for each stage. The approach of separating these into separate stages for collection will allow for independent opportunities for analysis from various independent contractors from the entire scope of work. The use of BIM will be implemented to efficiently quantify CO₂ emissions. Based on the CO₂ quantification baseline, emission reduction opportunities such as an industrialized construction process will be introduced that allows homebuilders to reduce the environmental and economical impact of home construction while enabling them to produce higher quality, more energy efficient homes in a safer and shorter period of time.