• Proceedings of the KSR Conference
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• 2008.06a
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• pp.489-494
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• 2008

The measurement of magnetic field is performed about DC and AC magnetic field in electric railway line. The test point is cap, on the converter/inverter box, on the traction motor and on the SIV, the height of measurement is bottom and 60 cm height. In case of AC magnetic field, the selected specific frequency is measured on the converter/inverter box. The AC magnetic field is checked and analysis through BNC output, DAQ cad and notebook PC.

• KIPS Transactions on Software and Data Engineering
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• v.2 no.9
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• pp.595-602
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• 2013

WiFi fingerprinting is well known as an effective localization technique used for indoor environments. However, this technique requires a large amount of pre-built fingerprint maps over the entire space. Moreover, due to environmental changes, these maps have to be newly built or updated periodically by experts. As a way to avoid this problem, crowd-sourced fingerprint mapping attracts many interests from researchers. This approach supports many volunteer users to share their WiFi fingerprints collected at a specific environment. Therefore, crowd-sourced fingerprinting can automatically update fingerprint maps up-to-date. In most previous systems, however, individual users were asked to enter their positions manually to build their local fingerprint maps. Moreover, the systems do not have any principled mechanism to keep fingerprint maps clean by detecting and filtering out erroneous fingerprints collected from multiple users. In this paper, we present the design of a crowd-sourced fingerprint mapping and localization(CMAL) system. The proposed system can not only automatically build and/or update WiFi fingerprint maps from fingerprint collections provided by multiple smartphone users, but also simultaneously track their positions using the up-to-date maps. The CMAL system consists of multiple clients to work on individual smartphones to collect fingerprints and a central server to maintain a database of fingerprint maps. Each client contains a particle filter-based WiFi SLAM engine, tracking the smartphone user's position and building each local fingerprint map. The server of our system adopts a Gaussian interpolation-based error filtering algorithm to maintain the integrity of fingerprint maps. Through various experiments, we show the high performance of our system.

• Korean Journal of Construction Engineering and Management
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• v.17 no.3
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• pp.32-42
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• 2016

In Korea, the absence of BIM use in existing civil structures and buildings is driving a demand for as-built BIM. As-built BIMs are often created using laser scanners that provide dense 3D point cloud data. Conventional static laser scanning approaches often suffer from limitations in their operability due to the difficulties in moving the equipment, the selection of scanning location, and the requirement of placing targets or extracting tie points for registration of each scanned point cloud. This paper aims at reducing the manual effort using a kinematic 3D laser scanning system based on graph-based simultaneous localization and mapping (SLAM) for continuous indoor mapping. The robotic platform carries three 2D laser scanners: the front scanner is mounted horizontally to compute the robot's trajectory and to build the SLAM graph; the other two scanners are mounted vertically to scan the profiles of surrounding environments. To reduce the accumulated error in the trajectory of the platform through loop closures, the graph-based SLAM system incorporates AdaBoost loop closure approach, which is particularly suitable for the developed multi-scanner system providing more features than the single-scanner system for training. We implemented the proposed method and evaluated it in two indoor test sites. Our experimental results show that the false positive rate was reduced by 13.6% and 7.9% for the two dataset. Finally, the 2D and 3D mapping results of the two test sites confirmed the effectiveness of the proposed graph-based SLAM.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.17 no.5
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• pp.85-90
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• 2017

Indoor location-based services have been developed based on the Internet of Things technologies which measure and analyze users who are moving in their daily lives. These various indoor positioning technologies require separate hardware and have several disadvantages, such as a communication protocol which becomes complicated. Based on the fact that a reduction in signal strength occurs according to the distance due to the physical characteristics of the transmitted signal, RSSI technology that uses the received signal strength of the wireless signal used in this paper measures the strength of the transmitted signal and the intensity of the attenuated received signal and then calculates the distance between a transmitter and a receiver, which requires no separate costs and makes to implement simple measurements. It was applied calculating the value for the average RSSI and the RSSI filtering feedback. Filtering is used to reduce the error of the RSSI values that are measured at long distance.It was confirmed that the RSSI values through the average filtering and the RSSI values measured by setting the coefficient value of the feedback filtering to 0.5 were ranged from -61 dBm to - 52.5 dBm, which shows irregular and high values decrease slightly as much as about -2 dBm to -6 dBm as compared to general measurements.

• Proceedings of the Korean Society of Computer Information Conference
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• 2022.01a
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• pp.323-324
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• 2022

본 논문에서는 사람의 개입 없이 실내 환경에서 마스크 미 착용자를 스스로 발견한 후 방역수칙위반 사실에 대한 경고와 함께 마스크 착용을 권고하는 인공지능 기반의 자율주행 서비스 로봇을 개발한다. 제안한 시스템에서 로봇은 동시적 위치 추적 지도 작성 기법인 SLAM(Simultaneous Localization and Mapping)기술을 이용하여 지도를 작성한 후 사용자가 제공한 웨이포인트(Waypoint)를 기반으로 자율주행한다. 또한, YOLO(You Only Look Once) 알고리즘을 이용한 실시간 객체 인식 기술을 활용하여 보행자의 마스크 착용 여부를 판단한다. 실험을 통해 사전에 작성된 지도에 지정된 웨이포인트를 따라 로봇이 자율주행하는 것을 확인하였다. 또한, 충전소로 이동할 경우, 영상 처리 기법을 활용하여 충전소에 부착된 표식에 근접하도록 이동하여 충전이 진행됨을 확인하였다.

• Proceedings of the Korea Water Resources Association Conference
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• 2006.05a
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• pp.972-976
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• 2006

비점오염은 일정한 오염원 없이 광범위한 지역에 쌓여 있는 오염물질이 강우 등에 의해 산발적으로 유출되는 비정형적인 오염을 말한다. 비점오염물질의 유출은 강우나 해빙에 의해 일시에 다량 발생되어 수계로 빠른 시간 내에 도달되게 되므로 인근 수계환경의 수질에 악영향을 미치게 되며, 이러한 오염물질을 효율적으로 처리하기 위해서는 발생원 가까이에서 수계에 도달하기 전에 저감하거나 유출과정에서 집수 처리하는 것이 가장 바람직하다. 본 연구에서는 이러한 비점오염물질의 저감을 위해 반응조를 이용한 실내실험을 실시하였다. 실내 실험장치는 아크릴로 제작 되었으며, 제원은 $1,000mm(L){\times}150mm(W){\times}300mm(H)$였다. 유입수는 시약을 이용하여 질소와 인의 농도를 고농도와 저농도로 조제하여 사용하였고, 유입은 미량 유량펌프를 이용하여 유입하였다. 토양의 오염물질의 처리 효율이 표면유출보다 하부유출에서 더 좋은 것으로 나타났기 때문에 하부유출의 양을 늘이기 위해 인위적으로 물의 흐름을 막는 정류벽을 설치한 계단형으로 구성하여 직선형과 비교하였다. 연구 결과, 단기간 저농도의 경우T-N, T-P부분에서 보면 직선형과 계단형의 표면유출 에서의 저감 효율이 T-N은 각각 -2.6 %, 2.4 %, T-P는 각각 -11.0 %, 52.9 %로 표면유출수의 오염저감효과가 개선되는 것으로 나타났다. 이는 방류벽 앞에 하부로 침투되었던 물이 표면으로 유출되면서 오염물질의 저감이 일어났기 때문으로 판단된다. 반면, 단면 및 하부유출수의 오염물질 농도는 증가한 것으로 나타났는데, 이는 토양내의 입경이 작은 silt나 clay보다 입경이 큰 모래나 자갈을 경유 하면서 오염물의 저감효과가 감소한 것으로 판단된다. 그러나 유입유량의 대부분이 표면으로 유출된다는 점을 고려할 때 표면유출수의 오염도를 낮추는 것이 유입오염물 저감효과에 보다 큰 효과가 있을 것으로 판단된다.문에 자료의 이상적 유지 관리가 이루어지며 복잡한 2차원 수질해석 모형을 수월하게 운영할 수 있는 시스템으로 개발하였다.제외하면, 부자측정 방법에 의한 유량산정시 가장 큰 오차원인은 홍수시 측정된 유속측선의 위치와 홍수 전후로 측정된 횡단면상의 위치가 일치하지 않는 점과, 대부분 두 측정 구간의 평균값을 대푯값으로 사용한다는 점이다. 본 연구는 다년간의 유량 측정 및 검증 경험과 자료를 토대로 현장에서 부자를 이용하여 측정된 측정성과를 정확도 높은 유량자료로 산정하는데 있어서의 문제점을 도출하고, 이로 인해 발생하는 오차를 추정하여 그 개선방안을 제시해 보고자한다. 더불어 보다 정확한 유량 산정을 위한 기준과 범주를 제시하고자 한다.리적 특성을 잘 반영하며, 도시지역의 복잡한 배수시스템 해석모형과 지표범람 모형을 통합한 모형 개발로 인해 더욱 정교한 도시지역에서의 홍수 범람 해석을 실시할 수 있을 것으로 판단된다. 본 모형의 개발로 침수상황의 시간별 진행과정을 분석함으로써 도시홍수에 대한 침수위험 지점 파악 및 주민대피지도 구축 등에 활용될 수 있을 것으로 판단된다. 있을 것으로 판단되었다.4일간의 기상변화가 자발성 기흉 발생에 영향을 미친다고 추론할 수 있었다. 향후 본 연구에서 추론된 기상변화와 기흉 발생과의 인과관계를 확인하고 좀 더 구체화하기 위한 연구가 필요할 것이다.게 이루어질 수 있을 것으로 기대된다.는 초과수익률이 상승하지만, 이후로는 감소하므로, 반전거래전략을 활용하는 경우 주식투자기간은 24개월이하의 중단기가 적합함을 발견하였다. 이상의 행태적 측면과 투자성과측면의 실증결과를 통하여 한국주식시장에 있어서 시장수익률을 평균적으로 초과할 수 있는 거래전략은 존재하므로 이러한 전략을 개발 및 활용할 수 있으며, 특히, 한국주식시장에 적합한 거래전략은 반전거래전략이고, 이 전략의 유용성은 투자자가 설정한 투자기간보다 더욱 긴 분석기간의 주식가격정보에 의하여 최대한 발휘될 수 있음을 확인하

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.17 no.1
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• pp.69-76
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• 2017

Bluetooth Low Energy (BLE), also known as Bluetooth Smart, has ultra-low power consumption; in fact, BLE-enabled devices can run on a single coin cell battery for several years. In addition, BLE can estimate the approximate distance between two devices using the Received Signal Strength Indication (RSSI) feature, enabling relatively precise navigation in indoor and small outdoor areas where GPS is not an option. In this paper, an experimental setup is presented in which BLE is used for navigation within a small outdoor area. BLE-based beacons are installed in fixed positions, which periodically transmit a universally unique identifier (UUID). A smart device receives the UUID and sends it to a database server using cellular or Wi-Fi technology. The server returns fixed position information corresponding to the received UUID codes, and the smart device uses that information to compute its current position based on relative signal strengths, and display it on a map. These results demonstrate the successful application of BLE technology for navigation in small outdoor areas. This system can be implemented for indoor navigation as well.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.19 no.1
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• pp.94-106
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• 2020

Recently, the radio navigation method utilizing the GPS(Global Positioning System) satellite information is widely used as the method to measure the position of objects. As GPS applications become wider and fields based on various positioning information emerge, new methods for achieving higher accuracy are required. In the case of autonomous vehicles, the INS(Inertial Navigation System) using the IMU(Inertial Measurement Unit), and the DR(Dead Reckoning) algorithm using the in-vehicle sensor, are used for the purpose of preventing degradation of accuracy of the GPS and to measure the position in the shadow area. However, these positioning methods have many elements of problems due not only to the existence of various shaded areas such as building areas that are continually enlarged, tunnels, underground parking lots and but also to the limitations of accumulation-based location estimation methods that increase in error over time. In this paper, an efficient positioning method in a large underground parking space using Fingerprint method is proposed by placing the AP(Access Points) and directional antennas in the form of four anchors using WLAN, a popular means of wireless communication, for positioning the vehicle in the GPS shadow area. The proposed method is proved to be able to produce unchanged positioning results even in an environment where parked vehicles are moved as time passes.

• Journal of Advanced Marine Engineering and Technology
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• v.37 no.1
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• pp.114-120
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• 2013

Recently, navigation systems based on wireless communication have been applied to the internal structures such as building or ship. If a stable azimuth information is obtained, these systems can effectively guide the direction of the user's progress through the information and then can improve the performance of guidance. Since conventional method which has acquired an azimuth information using geomagnetic and acceleration sensor(azimuth sensor hereafter) is sensitive to the effects of the magnetic field, it has unstable error range according to the surrounding environment. In order to improve these problems, this paper presents a new relative azimuth estimation algorithm using the displacement of a mobile node and its rotation angle based on Wireless communication. For the performance assessment of the proposed algorithm, experiments using rotating arm are performed and the results are confirmed that the proposed system can estimate the relative azimuth without using additional sensors.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.12 no.1
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• pp.44-49
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• 2001

In this paper, we propose a new technique to compensate for the VCO nonlinearity using only the returned beat signal whose spectrum contains the internal reflections and the targets simultaneously. In the case of a distance measurement system using single antenna, the reflections from the circulator and the antenna are much larger than the return signal from target. The beat signal by these reflections is at much lower frequency than that of the target, and the VCO nonlinearity can be compensated for using these signals. Indoor experiments were carried out and the results show marked improvement in the shape of range profile and the range resolution.