• Journal of Platform Technology
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• v.11 no.2
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• pp.26-38
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• 2023

This paper is a study on a transport robot capable of autonomously driving to a destination using a QR code in an indoor environment. The transport robot was designed and manufactured by attaching a lidar sensor so that the robot can maintain a certain distance during movement by detecting the distance between the camera for recognizing the QR code and the left and right walls. For the location information of the delivery robot, the QR code image was enlarged with Lanczos resampling interpolation, then binarized with Otsu Algorithm, and detection and analysis were performed using the Zbar library. The QR code recognition experiment was performed while changing the size of the QR code and the traveling speed of the transport robot while the camera position of the transport robot and the height of the QR code were fixed at 192cm. When the QR code size was 9cm × 9cm The recognition rate was 99.7% and almost 100% when the traveling speed of the transport robot was less than about 0.5m/s. Based on the QR code recognition rate, an experiment was conducted on the case where the destination is only going straight and the destination is going straight and turning in the absence of obstacles for autonomous driving to the destination. When the destination was only going straight, it was possible to reach the destination quickly because there was little need for position correction. However, when the destination included a turn, the time to arrive at the destination was relatively delayed due to the need for position correction. As a result of the experiment, it was found that the delivery robot arrived at the destination relatively accurately, although a slight positional error occurred while driving, and the applicability of the QR code-based destination self-driving delivery robot was confirmed.

• Journal of Environmental Impact Assessment
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• v.30 no.1
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• pp.13-23
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• 2021

In this study, we performed a Random Walker analysis to predict the Major Movement Paths of otters. The scope of the research was a simulation analysis with a radius of 7.5 km set as the final range centered on the Ansim-wetland in Daegu City, and a field survey was used to verify the model. The number of virtual otters was set to 1,000, the number of moving steps was set to 1,000 steps per grid, and simulations were performed on a total of 841 grids. As a result of the analysis, an average of 147.6 objects arrived at the boundary point under the condition of an interval of 50 m. As a result of the simulation verification, 8 points (13.1%) were found in the area where the movement probability was very high, and 9 points (14.8%) were found in the area where the movement probability was high. On the other hand, in areas with low movement paths probabilities, there were 8 points (13.1%) in low areas and 4 points (6.6%) in very low areas. Simulation verification results In areas with high otter values, the actual otter format probability was particularly high. In addition, as a result of investigating the correlation with the otter appearance point according to the unit area of the evaluation star of the movement probability, it seems that 6.8 traces were found per unit area in the area where the movement probability is the highest. In areas where the probability of movement is low, analysis was performed at 0.1 points. On the side where otters use the major movement paths of the river area, the normal level was exceeded, and as a result, in the area, 23 (63.9%), many form traces were found, along the major movement paths of the simulation. It turned out that the actual otter inhabits. The EN-Simulator analysis can predict how spatial properties affect the likelihood of major movement paths selection, and the analytical values are used to utilize additional habitats within the major movement paths. It is judged that it can be used as basic data such as to grasp the danger area of road kill in advance and prevent it.