• The Journal of the Korea institute of electronic communication sciences
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• v.6 no.1
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• pp.148-156
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• 2011

This paper presents an implementation of autonomous navigation of a mobile robot indoors. It explains methods for map building, localization, obstacle avoidance and path planning. Geometric map is used for localization and path planning. The localization method calculates sensor data based on the map for comparison with the real sensor data. Monte Carlo Localization(MCL) method is adopted for estimation of the robot position. For obstacle avoidance, an artificial potential field generates repulsive and attractive force to the robot. Dijkstra algorithm plans the shortest distance path from a start position to a goal point. The methods integrate into autonomous navigation method and implemented for indoor navigation. The experiments show that the proposed method works well for safe autonomous navigation.

• The Proceeding of the Korean Institute of Electromagnetic Engineering and Science
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• v.5 no.3
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• pp.22-35
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• 1994

To improve the bandwidth efficiency in the environment of digital mobile communications, a correlative coded FM system is designed. The signal of this system has continuous phase and high power efficiency due to the constant envelope. But this signal also has a little loss of the SNR and some degradation of the BER. In this paper, a modified MLSE method which uses correlative coded signal is adopted to improve the performance of the receiver. The MLSE method improved the BER performance in the used channel. Without the decision feedback, the receiver performance was improved by 2dB and with it, by 4dB Particularly, the MLSE method and the decision feedback showed better performance in bad channels than in a stable telephone channel.

• The Journal of the Acoustical Society of Korea
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• v.19 no.1
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• pp.61-66
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• 2000

In this paper, we are proposing an efficient 3D source localization algorithm using 3 uniform linear subarrays. The proposed algorithm replaces 3D search required in conventional 3D MUSIC algorithm with 3 1D searches, and thus reduces computational burden. The estimate of the 1D conic angle obtained from a subarray under the far-field assumption satisfies a nonlinear algebraic equation of the true source bearing angle, elevation angle, and range. The proposed algorithm estimates source location by solving 3 algebraic equations obtained from 3 subarrays. Comparing 3D MUSIC spectrums of the estimated source locations, the proposed algorithm solves pairing problem for multiple sources localization.

• Proceedings of the Population Association of Korea Conference
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• 2006.12a
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• pp.193-230
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• 2006

본 논문은 국가별 추계인구와 미래 9개년 인구관련 설명변수들의 추정값을 통하여 적정인구 모형을 구형하고 한국의 적정인구를 추정하는데 목적이 있다. 후생을 고려한 생산함수 확장모형, 세계 176개국의 표본자료 그리고 다중회귀분석을 이용하여 $2000{\sim}2300$년 한국의 적정인구를 추정하고 그 추세곡선을 나타내는 것이다. 모형의 종속변수는 UN에 의한 세계각국의 추계인구이고, 설명변수는 9개 변수 즉 PPP GDP, 인접지역 경제통합율, 교육수준, 영어구사비율, 국토유효면적, 에너지량, 기온, 수자원량, 무역거리이다. 연구결과는 다음과 같다. $2000{\sim}2300$년 한국의 적정인구는 $4,350{\sim}4,950$만명으로 추정되며, 2000년${\sim}$2050년은 $4,700{\sim}5,010$만명, 2050년${\sim}2100$년은 $4,770{\sim}4,400$만명이 된다. 2125년 최저점 4,350만명을 통과한 후 점진적으로 2300년의 4,870만명으로 접근해 갈 것으로 추정된다. 연구결과의 시사점은 네 가지이다. 첫째 한국의 적정인구가 2125년을 기준으로 이전은 감소 이후는 증가 추세일 것이므로 정책결정시 적정한 목표인구를 설정해야 한다는 점이다. 둘째 현 추세로 진행되면 2050년 이후 적정인구가 추계인구보다 $500{\sim}600$만명 더 많아진다는 점이다. 셋째 2125년 이전의 적정인구는 좁게 $4,770{\sim}4,545$만명으로서, 출산율 향상을 통한 적정인구의 유지 노력이 필요하다는 점이다. 넷째 적정인구 추세의 기복은 출산기피로 인한 인구감소 때문으로 출산지원과 입양 및 이민 유입의 정책에 따라 변화될 수 있다는 점이다.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.10
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• pp.142-149
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• 2013

In general, a color of an image is represented by using red, green, and blue channels in a RGB camera system. However, only information of three channels are limited to estimate a spectral reflectance of a real scene. Because of this, the RGB camera system can not accurately represent the color. To overcome this limitation and represent an accurate color, researches to estimate the spectral reflectance by using a multi-channel camera system are being actively proceeded. Recently, a reflectance estimation method adaptively constructing a similar training set from a traditional training set according to a camera response by using a spectral similarity was introduced. However, in this method, an accuracy of the similar training set is reduced because the spectral similarity based on an average and a maximum distances was applied. In this paper, a reflectance estimation method applied a spectral similarity based on a correlation coefficient is proposed to improve the accuracy of the similar training set. Firstly, the correlation coefficient between the similar training set and the spectral reflectance obtained by Wiener estimation method is calculated. Secondly, the similar training set is constructed from the traditional training set according to the correlation coefficient. Finally, Wiener estimation method applied the similar training set is performed to estimate the spectral reflectance. To evaluate a performance of the proposed method with previous methods, experimental results are compared. As a result, the proposed method showed the best performance.

• Proceedings of the Korea Water Resources Association Conference
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• 2019.05a
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• pp.75-75
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• 2019

첨두홍수량 자료는 홍수예경보 및 치수계획수립 등 하천관리에 있어서 매우 중요한 요소이다. 그러나 대규모 홍수가 발생 시 악천후가 동반된 기상상황이나, 현장 접근이 어려운 환경적 조건과 예산 및 인력 부족 등에 의한 불가피한 문제로 첨두홍수량을 측정하는데 어려움 있다. 따라서 일반적으로 수위-유량관계곡선식을 이용하여 첨두홍수량을 산정하지만 단순 고수위 외삽 추정을 통해 개발된 곡선식을 이용한 첨두홍수량 산정에 있어서는 주의가 필요하다. 이러한 경우 홍수가 지나간 후 현장조사를 통해 획득한 위치, 표고, 횡단면적 등 홍수흔적(flood marks)을 가지고 경사면적법(slope-area method)과 같은 간접적인 방법으로 첨두홍수량을 추정할 수 있다. 본 연구에서는 2018년 큰 호우사상이 발생한 내성천의 지류인 서천의 영주시(월호교) 지점과 남강의 산청군(하촌리) 지점에서 홍수흔적 조사를 통해 지점별 두 개의 단면을 선정하였다. 영주시(월호교) 지점의 두 단면 간 거리는 약 90m, 높이차는 약 0.21m로 조사되었고, 산청군(하촌리) 지점의 두 단면 간 거리는 약 330m, 높이차는 약 0.47m로 조사되었다. 경사면적법을 이용한 첨두 홍수량 추정에 적용된 조도계수는 '서천 하천기본계획(2014)', '남강 하천기본계획(2013)'에서 계획 홍수량 산정에 적용된 조도계수 0.029와 0.025를 적용하였다. 영주시(월호교) 지점은 2018년 9월 4일 발생한 호우사상의 첨두수위 5.59m에서 수위-유량관계곡선식을 이용하여 산정된 유량은 $1,127.8m^3/s$이고 경사면적법을 이용하여 추정된 유량은 $1,105.9m^3/s$로 약 -1.98%의 편차율이 발생하였다. 산청군(하촌리) 지점은 2018년 8월 26일 발생한 호우사상의 첨두수위 6.75m에서 수위-유량관계곡선식을 이용하여 산정된 유량은 $3,435.0m^3/s$이고 경사면적법을 이용하여 추정된 유량은 $3,233.3m^3/s$로 약 -6.24%의 편차율이 발생하였다. 경사면적법을 이용하여 추정된 첨두홍수량은 수위-유량관계곡선식을 이용하여 산정된 유량과 편차율이 지점별 ${\pm}10%$ 이내의 근사한 범위로 산정되었다. 따라서 경사면적법을 이용한 첨두홍수량 추정 방법의 적용에 있어서 적절한 것으로 판단된다.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.19 no.3
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• pp.52-61
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• 2020

This study developed a legibility distance(LD) model for three colors used in VMS according to luminance under foggy conditions through experiments. For this, a simulated environment was created, and LD values of red, green, and yellow color were collected by increasing the luminance. From the test results, the LDs for red at luminance levels of 2,000 cd/㎡ and 20,000 cd/㎡ and a visibility distance of 10m were 10.2m and 18.8m, respectively, which was an improvement of 84%. The LD was improved by 34% and 17% at a visibility distance of 20 m and 30 m, respectively. For green, the LD was improved by 69%, 63%, and 19% at visibility distance of 10m, 20m, 30m, respectively. For yellow, the LD was improved by 100%, 47%, and 36% at visibility distance of 10m, 20m, 30m, respectively. The LD models for three colors were developed by using two independent variables, luminance value and visibility distance. The adjusted coefficients of the red, green, and yellow model equations were calculated as 0.982, 0.978, and 0.915, respectively, and the explanatory power of all models was very high.

• The KIPS Transactions:PartB
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• v.14B no.7
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• pp.493-502
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• 2007

An on-line registration technique is presented to register multi-view range images for the 3D reconstruction of real objects. Using a range camera, we first acquire range images and photometric images continuously. In the range images, we divide object and background regions using a predefined threshold value. For the coarse registration of the range images, the centroid of the images are used. After refining the registration of range images using a projection-based technique, we use a modified KLT(Kanade-Lucas-Tomasi) tracker to match photometric features in the object images. Using the modified KLT tracker, we can track image features fast and accurately. If a range image fails to register, we acquire new range images and try to register them continuously until the registration process resumes. After enough range images are registered, they are integrated into a 3D model in offline step. Experimental results and error analysis show that the proposed method can be used to reconstruct 3D model very fast and accurately.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.79-80
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• 2010

• Magazine of the Korea Institute for Structural Maintenance and Inspection
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• v.16 no.2
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• pp.22-31
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• 2012