• Journal of Information Processing Systems
• /
• v.14 no.6
• /
• pp.1445-1456
• /
• 2018

Environment perception and three-dimensional (3D) reconstruction tasks are used to provide unmanned ground vehicle (UGV) with driving awareness interfaces. The speed of obstacle segmentation and surrounding terrain reconstruction crucially influences decision making in UGVs. To increase the processing speed of environment information analysis, we develop a CPU-GPU hybrid system of automatic environment perception and 3D terrain reconstruction based on the integration of multiple sensors. The system consists of three functional modules, namely, multi-sensor data collection and pre-processing, environment perception, and 3D reconstruction. To integrate individual datasets collected from different sensors, the pre-processing function registers the sensed LiDAR (light detection and ranging) point clouds, video sequences, and motion information into a global terrain model after filtering redundant and noise data according to the redundancy removal principle. In the environment perception module, the registered discrete points are clustered into ground surface and individual objects by using a ground segmentation method and a connected component labeling algorithm. The estimated ground surface and non-ground objects indicate the terrain to be traversed and obstacles in the environment, thus creating driving awareness. The 3D reconstruction module calibrates the projection matrix between the mounted LiDAR and cameras to map the local point clouds onto the captured video images. Texture meshes and color particle models are used to reconstruct the ground surface and objects of the 3D terrain model, respectively. To accelerate the proposed system, we apply the GPU parallel computation method to implement the applied computer graphics and image processing algorithms in parallel.

• Composites Research
• /
• v.35 no.4
• /
• pp.283-287
• /
• 2022

Stretchable strain sensors have been developed for potential future applications including wearable devices and health monitoring. For practical implementation of stretchable strain sensors, their stability and repeatability are one of the important aspects to be considered. In this work, we utilized 3D printed polymer structures having kirigami patterns to improve the stretchability and reduce the hysteresis. The polymer structures were coated with graphene/carbon nanofiber hybrids to make a robust electrical network. The stretchable strain sensors showed a high gauge of 36 at a strain of 32%. Because of the kirigami structures and the robust graphene/carbon nanofiber coating, the sensors also exhibited stable resistance responses at various strains ranging from 1% to 30%.

• Structural Engineering and Mechanics
• /
• v.89 no.6
• /
• pp.589-599
• /
• 2024

This study presents the usability of the high-rate single-frequency Precise Point Positioning (SF-PPP) technique based on 20 Hz Global Positioning Systems (GPS)-only observations in detecting dynamic motions. SF-PPP solutions were obtained from post-mission and real-time GNSS corrections. These include the International GNSS Service (IGS)-Final, IGS real-time (RT), real-time MADOCA (Multi-GNSS Advanced Demonstration tool for Orbit and Clock Analysis), and real-time products from the Australian/New Zealand satellite-based augmentation systems (SBAS, known as SouthPAN). SF-PPP results were compared with LVDT (Linear Variable Differential Transformer) sensor and single-frequency relative positioning (SF-RP) solutions. The findings show that the SF-PPP technique successfully detects the harmonic motions, and the real-time products-based PPP solutions were as accurate as the final post-mission products. In the frequency domain, all GNSS-based methods evaluated in this contribution correctly detect the dominant frequency of short-term harmonic oscillations, while the differences in the amplitude values corresponding to the peak frequency do not exceed 1.1 mm. However, evaluations in the time domain show that SF-PPP needs high-pass filtering to detect accurate displacement since SF-PPP solutions include trends and low-frequency fluctuations, mainly due to atmospheric effects. Findings obtained in the time domain indicate that final, real-time, and MADOCA-based PPP results capture short-term dynamic behaviors with an accuracy ranging from 3.4 mm to 8.5 mm, and SBAS-based PPP solutions have several times higher RMSE values compared to other methods. However, after high-pass filtering, the accuracies obtained from PPP methods decreased to a few mm. The outcomes demonstrate the potential of the high-rate SF-PPP method to reliably monitor structural and earthquake-induced ground motions and vibration frequencies of structures.

• International conference on construction engineering and project management
• /
• 2024.07a
• /
• pp.1283-1283
• /
• 2024

Recently, construction sites have faced significant challenges due to arbitrary changes and poor communication between general contractors and subcontractors. This study proposes a technological solution by integrating Unmanned Ground Vehicles (UGVs) into the existing workflow of apartment construction. By analyzing current processes, we identified a scenario where UGVs, equipped with LiDAR (Light Detection and Ranging) systems, can generate and provide real-time 3D models of construction sites. These models can be linked with extended reality (XR) technology or office PCs for intuitive comparisons between digital and actual site conditions as a digital twin of the construction site. The study suggests an improved construction process that enhances contractors' understanding and on-site efficiency and enables managers to monitor progress effectively. To address challenging terrain on construction sites, a caterpillar driven UGV was developed, equipped with stereo cameras, a LiDAR sensor for scanning and gathering environmental data, and an embedded PC for data processing. Utilizing SLAM (Simultaneous Localization and Mapping) technology, the UGV autonomously navigates and scans the site at night, minimizing disruptions. Additionally, an embedded system analyzes images from stereo cameras to assess the quality of construction, mapping the findings onto 3D models. This innovation allows site managers to efficiently verify construction quality and identify issues without manual inspections, significantly improving site management efficiency.

• Journal of IKEEE
• /
• v.15 no.1
• /
• pp.76-85
• /
• 2011

In this paper, we analysed RSS characteristics by external factors and presented an efficient algorithm for real-time location tracking and its hardware system. The proposed algorithm enhanced the ranging accuracy using Kalman Filter based on the RSS DB. The location tracking system that consists of the tag, AP(Access Point), a data collector(Data Receiver) with IEEE 802.15.4(ZigBee) network environment, and location tracking application that reveal locations of each tag is implemented for the test environment. The location tracking system presented in this paper is implemented with MSP430 microprocessor manufactured by TI(Texas Instrument), CC2420 RF chipset and the location tracking application. With the results of the experiment, the proposed algorithm and the system can achieve the efficiency and the accuracy of location tracking with the average error of 19.12cm, and its standard deviation of 5.31cm in outdoor circumstance. Also, the experimental result shows that exact tracking of position in indoor circumstance cannot achieve because of vulnerable RSS with external circumstance.

• Journal of the Korean Association of Geographic Information Studies
• /
• v.12 no.1
• /
• pp.106-118
• /
• 2009

Satellite imagery with high resolution of about one meter is used widely in commerce and government applications ranging from earth observation and monitoring to national digital mapping. Due to the expensiveness of IKONOS Pro and Precision products, it is attractive to use the low-cost IKONOS Geo product with vendor-provided rational polynomial coefficients (RPCs), to produce highly accurate mapping products. The imaging geometry of IKONOS high-resolution imagery is described by RFs instead of rigorous sensor models. This paper presents four different polynomial models, that are the offset model, the scale and offset model, the Affine model, and the 2nd-order polynomial model, defined respectively in object space and image space to improve the accuracies of the RF-derived ground coordinates. Not only the algorithm for RF-based ground coordinates but also the algorithm for accuracy improvement of RF-based ground coordinates are developed which is based on the four models, The experiment also evaluates the effect of different cartographic parameters such as the number, configuration, and accuracy of ground control points on the accuracy of geopositioning. As the result of a experimental application, the root mean square errors of three dimensional ground coordinates which are first derived by vendor-provided Rational Function models were averagely 8.035m in X, 10.020m in Y and 13.318m in Z direction. After applying polynomial correction algorithm, those errors were dramatically decreased to averagely 2.791m in X, 2.520m in Y and 1.441m in Z. That is, accuracy was greatly improved by 65% in planmetry and 89% in vertical direction.

• Journal of Korean Society of Steel Construction
• /
• v.17 no.6 s.79
• /
• pp.681-688
• /
• 2005

This study investigates an existing steel plate girder railroad bridge after superstructure rehabilitation to monitor static and dynamic responses using Fiber Bragg Grating (FBG) sensors. This paper also presents an experimental technique to estimate the vertical deflection of the bridge using FBG sensors. Seven FBG sensors are multiplexed in a single optical fiber and installed in parallel pairs along the length of the bridge, with one set at the top flange and the other at the bottom flange. In addition to FBG sensors, a conventional electric strain gauge and anLVDT are installed at the mid-span of the bridge for comparison. A test train consisting of one locomotive is placed at the center of the bridge to produce the maximum static effect. The train is also made to pass over the bridge at different speeds ranging from 10 km/h to 90 km/h to monitor the dynamic response of the bridge. This study demonstrates that the measured strains using the FBG sensor compared well with the readings from the electric strain gauge. The results show that the proposed instrumentation technique is capable of estimating the vertical deflection of the bridge for various loading conditions, which is crucial in structural health monitoring. Several dynamic characteristics of the bridge were also identified.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.13 no.6
• /
• pp.2484-2490
• /
• 2012

This study reports on the development and performance verification of cell simulation boards of simulator and the embedded program for board control of the battery management system (BMS) of electric vehicle (EV) cars, which manages the next-generation automotive lithium-ion battery pack. Here, we have improved the speed of the simulator by using operational (OP) amplifier and transistors that were connected in series. In addition, using a digital analog converter (DAC) in each channel, we have improved the performance by channel-to-channel isolation (isolation) as compared to the traditional methods. Furthermore, by constructing a current-limiting protection circuit, one can be protected from disturbance and, by utilizing a precision shunt resistor for the current sensor, we have increased the precision of the current control. In order to verify the performance of the developed simulator, we have performed the experiment 10 times, with values ranging from 0.5 V to 5 V, and a voltage drop step of 0.5 V. Significance analysis of experimental data, and repeatability tests were performed, showing an average standard deviation of 0.001~0.004 V, indicating high repeatability and high statistical significance of the current method and system.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.26 no.3
• /
• pp.227-239
• /
• 2008

Processing LiDAR (Light Detection And Ranging) data obtained from ALS (Airborne Laser Scanning) systems mainly involves organization and segmentation of the data for 3D object modeling and mapping purposes. The ALS systems are viable and becoming more mature technology in various applications. ALS technology requires complex integration of optics, opto-mechanics and electronics in the multi-sensor components, Le. data captured from GPS, INS and laser scanner. In this study, digital image processing techniques mainly were implemented to gray level coded image of the LiDAR data for building extraction and superstructures segmentation. One of the advantages to use gray level image is easy to apply various existing digital image processing algorithms. Gridding and quantization of the raw LiDAR data into limited gray level might introduce smoothing effect and loss of the detail information. However, smoothed surface data that are more suitable for surface patch segmentation and modeling could be obtained by the quantization of the height values. The building boundaries were precisely extracted by the robust edge detection operator and regularized with shape constraints. As for segmentation of the roof structures, basically region growing based and gap filling segmentation methods were implemented. The results present that various image processing methods are applicable to extract buildings and to segment surface patches of the superstructures on the roofs. Finally, conceptual methodology for extracting characteristic information to reconstruct roof shapes was proposed. Statistical and geometric properties were utilized to segment and model superstructures. The simulation results show that segmentation of the roof surface patches and modeling were possible with the proposed method.

• Journal of Sensor Science and Technology
• /
• v.7 no.2
• /
• pp.131-139
• /
• 1998

$CdS_{0.67}Se_{0.33}$ single crystal was grown by vertical sublimation method of closed tube physical vapour deposition. The (0001) growth plane of oriented single crystals was confirmed from the back-ref1ection Laue patterns. From the Hall effects by van der Pauw method, the as-grown $CdS_{0.67}Se_{0.33}$ single crystals were found to be n-type semiconductors. The mobility appeared to be decreased by lattice scattering at temperature range from 150K to 293K and by impurity scattering at temperatures ranging from 30K to 150K In order to explore its applicability in photoconductive cells, we measured the ratio of photo-current to dark-current (pc/dc), maximum allowable power dissipation (MAPD), spectral response and response time respectively. The results indicated that for the samples annealed in Cu vapour the photoconductive characteristics are best. We obtained sensitivity of 0.99, the value of pc/de of $1.84{\times}10^{7}$, the MAPD of 323mW and the rise and decay time of 9.3 ms and 9.7 ms, respectively.