• The Journal of Korea Robotics Society
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• v.4 no.4
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• pp.305-311
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• 2009

FastSLAM is a factored solution to SLAM problem using a Rao-Blackwellized particle filter. In this paper, we propose a practical FastSLAM implementation method using an infrared camera for indoor environments. The infrared camera is equipped on a Pioneer3 robot and looks upward direction to the ceiling which has infrared tags with the same height. The infrared tags are detected with theinfrared camera as measurements, and the Nearest Neighbor method is used to solve the unknown data association problem. The global map is successfully built and the robot pose is predicted in real time by the FastSLAM2.0 algorithm. The experiment result shows the accuracy and robustness of the proposed method in practical indoor environment.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.37 no.1
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• pp.33-43
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• 2004

A carbon budget model was constructed and analyzed for the Bangjukpo surf zone ecosystem in southern Korea by using the NETWRK. The model consists of 11 living and 1 non-living groups. Using boxes and arrows, a topological map was created to depict biomasses of each group and exchange rates between them. The system includes primary producers of phytoplankton and benthic algae, primary consumers of particle feeding zooplankton, carnivorous zooplankton, meiobenthos, malacostracans and bivalves, and top consumers of detrivorous, omnivorous, carnivorous and piscivorous fishes. The surf zone ecosystem was analyzed by means of network analysis, showing total system throughput of $574\;gCm^{-2}yr^{-1},$ development capacity of $1,876\;gCm^{-2}yr^{-1},$ ascendancy value of $768\;gCm^{-2}yr^{-1},$ Finn cycling index of $4.4\%$ and internal relative ascendancy of $27\%.$ These results were compared with similar data from other systems.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.12
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• pp.1253-1258
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• 2013

Ceramic particles as polishing abrasives are often used in a magnetic abrasive polishing process because they have strong wear resistance. Non-ferromagnetic ceramic abrasives should be mixed with ferromagnetic iron particles for controlling the mixture within a magnetic brush during the polishing process. This study describes the application of the ceramic particles for the magnetic abrasive polishing. The distribution of the magnetic abrasives attached on a tool varies with magnetic flux density and tool rotational speed. From the correlation between abrasive adhesion ratio in the tool and surface roughness produced on a workpiece, practical polishing conditions can be determined. A step-over for polishing a large sized workpiece is able to be selected by a S curve, and an ultrasonic vibration assisted MAP produces a better surface roughness and increases a polishing efficiency.

• 한국가시화정보학회:학술대회논문집
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• 2001.12a
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• pp.62-74
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• 2001

Present paper describes the principles of PIV measurement approaching from the analytical view, which enables to explain the general form of principles covering all the PIV measurement, and that gives theoretical basis for its higher measurement performances. The explanation of the measurement principles started from the definition of governing equation in differential form as same as the gradient method, and the integral along the particle path line was executed to show the principle of the correlation method with same basis. The integral processes clearly shows the analytical reason why the correlation peak gives the terminal point of path line, and how the effects of deformation and rotation of fluid appears in the correlation map. These results have no differences from our experiences and understandings of the conventional PIV measurement definition in final form. However, the analytical approach enable to understand those facts a priori, and it makes easy to achieve the innovative higher performances of measurement. Analytical explanation clearly shows the behavior of the residual errors caused by the fluid motion, and it enables to analyze the measurement uncertainty theoretically.

• 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.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.1
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• pp.40-47
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• 2010

This paper presents a simultaneous localization and mapping (SLAM) of an indoor hallway environment using Rao-Blackwellized particle filter (RBPF) along with a line segment as a landmark. Based on the fact that fluent line features can be extracted around the ceiling and side walls of hallway using vision sensor, a horizontal line segment is extracted from an edge image using Hough transform and is also tracked continuously by an optical flow method. A successive observation of a line segment gives initial state of the line in 3D space. For data association, registered feature and observed feature are matched in image space through a degree of overlap, an orientation of line, and a distance between two lines. Experiments show that a compact environmental map can be constructed with small number of horizontal line features in real-time.

• 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.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.3C
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• pp.143-155
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• 2006

SPT-Uphole tomography method was introduced for the evaluation of near subsurface shear wave velocity (Vs) distribution map. In SPT-Uphole method, SPT (Standard Penetration Test) which is common in geotechnical site investigation was used as a source and several surface geophones in line were used as receivers. Vs distribution map which is the triangular shape around the boring point can be developed by tomography inversion. To obtain the exact travel time information of shear wave component, a procedure using the magnitude summation of vertical and horizontal components was used based on the evaluation of particle motion at the surface. It was verified that proposed method could give reliable Vs distribution map through the numerical study using the FEM (Finite Element Method) model. Finally, SPT-Uphole tomography method was performed at the weathered soil site where several boring data with SPT-N values are available, and the feasibility of proposed method was verified in the field.

• Journal of Korean Society for Atmospheric Environment
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• v.32 no.2
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• pp.216-232
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• 2016

In present, the Seoul City is undergoing traffic congestion problems caused by rapid urbanization and population growth. Thus the City government has reorganized the mass transportation system since 2004 and the subway has become a very important means for public transit. Since the subway system is typically a closed environment, the indoor air quality issues have often raised by the public. Especially since a huge amount of PM (particulate matter) is emitted from ground tunnels passing through the subway train, it is now necessary to assess the characteristics and behaviors of fine PM inside the tunnel. In this study, the concentration patterns of $PM_1$, $PM_{2.5}$, and $PM_{10}$ in the Seoul subway line-2 were analyzed by real-time measurement during winter (Jan 13, 2015) and summer (Aug 7, 2015). The line-2 consisting of 51 stations is the most busy circular line in Seoul having the railway of 60.2 km length. The the one-day average $PM_{10}$ concentrations were $148{\mu}g/m^3$ in winter and $66.3{\mu}g/m^3$ in summer and $PM_{2.5}$ concentrations were $118{\mu}g/m^3$ and $58.5{\mu}g/m^3$, respectively. The $PM_{2.5}/PM_{10}$ ratio in the underground tunnel was lower than the outdoor ratio and also the ratio in summer is higher than in winter. Further the study examined structural types of underground subsections to explain the patterns of elevated PM concentrations in the line-2. The subsections showing high PM concentration have longer track, shorter curvature radius, and farther from the outdoor stations. We also estimated the outdoor PM concentrations near each station by a spatial statistical analysis using the $PM_{10}$ data obtained from the 40 Seoul Monitoring Sites, and further we calculated $PM_{2.5}/PM_{10}$ and $PM_1/PM_{10}$ mass ratios near the outdoor subway stations by using our observed outdoor $PM_1$, $PM_{2.5}$, and $PM_{10}$ data. Finally, we could develop pollution maps for outdoor $PM_1$ and $PM_{2.5}$ near the line-2 by using the kriging method in spatial analysis. This methodology may help to utilize existing $PM_{10}$ database when managing and control fine particle problems in Korea.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.27 no.4
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• pp.238-243
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• 2014

This paper dealt with the measurement and analysis of partial discharge (PD) under high voltage direct current (HVDC) in SF6 gas. Electrode systems such as a protrusion on conductor (POC), a protrusion on enclosure (POE), a crack on epoxy plate and a free particle (FP) were fabricated to simulate the insulation defects. The analysis system was designed with a Time-Frequency (T-F) map algorithm programed based on LabVIEW. This can arrange the acquired PD pulses into frequency and time domain. A HVDC power source is composed of a transformer (220 V/50 kV), a diode (100 kV) and a capacitor (50 kV, 0.5 ${\mu}F$). The gap between the electrodes is 3 mm, and the $SF_6$ gas was set at 5 bar. PD pulses were detected by a 50 ${\Omega}$ non-inductive resistor. In the analysis, PD pulses were distributed below 0.5 MHz and 20 ns ~ 35 ns for the POC, 0.7 MHz ~ 1.7 MHz, below 0.6 MHz and 10 ns ~ 40 ns and 60 ns ~125 ns for the POE, below 0.1 MHz and 135 ns ~ 215 ns for the crack, and below 1.6 MHz and 250 ns for the FP.