• Journal of the Institute of Convergence Signal Processing
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• v.5 no.4
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• pp.256-262
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• 2004

A key component of an autonomous mobile robot is to localize itself and build a map of the environment simultaneously. In this paper, we propose a vision-based localization and mapping algorithm of mobile robot using fisheye lens. To acquire high-level features with scale invariance, a camera with fisheye lens facing toward to ceiling is attached to the robot. These features are used in mP building and localization. As a preprocessing, input image from fisheye lens is calibrated to remove radial distortion and then labeling and convex hull techniques are used to segment ceiling and wall region for the calibrated image. At the initial map building process, features we calculated for each segmented region and stored in map database. Features are continuously calculated for sequential input images and matched to the map. n some features are not matched, those features are added to the map. This map matching and updating process is continued until map building process is finished, Localization is used in map building process and searching the location of the robot on the map. The calculated features at the position of the robot are matched to the existing map to estimate the real position of the robot, and map building database is updated at the same time. By the proposed method, the elapsed time for map building is within 2 minutes for 50㎡ region, the positioning accuracy is ±13cm and the error about the positioning angle of the robot is ±3 degree for localization.

• Journal of the Institute of Convergence Signal Processing
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• v.10 no.4
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• pp.274-279
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• 2009

The flow of a universal system-level design methodology consists of system specification, system-level hardware/software partitioning, co-design, co-verification using virtual or physical prototype, and system integration. In this paper, verification environments based-on SystemVerilog and SystemC, one is native-code co-verification environment which makes prompt functional verification possible and another is SystemVerilog layered testbench which makes clock-level verification possible, are implemented. In native-code co-verification, HW and SW parts of SoC are respectively designed with SystemVerilog and SystemC after HW/SW partitioning using SystemC, then the functional interaction between HW and SW parts is carried out as one simulation process. SystemVerilog layered testbench is a verification environment including corner case test of DUT through the randomly generated test-vector. We adopt SystemC to design a component of verification environment which has multiple inheritance, and we combine SystemC design unit with the SystemVerilog layered testbench using SystemVerilog DPI and ModelSim macro. As multiple inheritance is useful for creating class types that combine the properties of two or more class types, the design of verification environment adopting SystemC in this paper can increase the code reusability.

• Journal of the Korean Society for Library and Information Science
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• v.56 no.3
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• pp.313-334
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• 2022

This study examines the economic use value of Discover, an access service of research papers and a subsystem of the National Open Access Platform (AccessON). Based on previous literature on scholarly communications and in-depth interviews with 14 academic and industrial researchers, the service value of Discover was identified as the value of time savings. Administering a survey with 1,313 researchers, the following empirical data required for estimation were obtained: for an average Korean researcher, s/he publishes 2.84 papers per year and takes 30.13 minutes in searching and using one relevant research paper. Discover was found to save 5.64 minutes per paper, saving a total of 225 minutes and KRW 99,384 per researcher per year. Finally, a total economic value of Discover was estimated as KRW 82 billion for the entire 8-year business period. An additional value of KRW 11.3 billion was estimated with the legalization of mandatory deposit of OA research papers. The study demonstrates a sufficient economic value of the national OA platform project, and positive economic impact of the OA legalization, futher offering important domestic data for future research on economic value of scholarly communications.

• Journal of The Korean Association For Science Education
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• v.37 no.2
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• pp.323-334
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• 2017

Current science education aims to guide students as future responsible citizens to make informed decisions on socioscientific issues (SSI). In the authors' previous study, it was found that conceptions of nature of technology (NOT) were explicitly represented in various contexts of SSI with differentiated levels of understanding, and cases of the informed NOT understanding included the key features of well-reasoned SSI decision-making. Therefore, enhancing NOT understanding could be one of the elements to leverage students' informed SSI decision-making. In this study, we developed a rubric to assess NOT understanding in the context of SSI and applied it to evaluate the impact of SSI instruction. Participants were 58 college students who took an SSI course for 6 weeks. Before and after the SSI course, they were asked to write decision-making essays on the Golden Rice issue (a type of genetically modified food). As a result of analyzing the pre- and post decision-making essay using the rubric, it was found that NOT understanding was improved after the SSI course; in addition, the salient patterns of NOT changes were analyzed in detail in order to gauge the influence of the SSI classes. Implications for science education were discussed.

• Proceedings of the Korea Water Resources Association Conference
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• 2016.05a
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• pp.430-430
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• 2016

범용토양유실공식(RUSLE)은 연간 토양유실량을 산정하기 위해 제시된 경험식이며, 강우침식인자(R factor)는 유실량을 결정하는 요소 중 강우강도의 특성을 고려하는 주요인자이다. 토지피복, 식생 등에 대한 타 인자의 경우 한정된 실험에 의해 도출된 경험치를 대상지역에 맞게 적용하는데 반해 강우침식인자는 강우강도 기반 강우에너지 산정법을 적용하여 계산과정이 비교적 복잡하고 다양하다. 국내에서도 강우침식인자 산정법이 개발된 바 있으나 현제까지 간편법을 비롯한 다양한 공식들이 적용되고 있다. 본 연구에서는 강우침식인자를 산정하는 과정에서 다른 강우 운동에너지식을 적용하거나 연평균 강수량 등을 대체지수로 활용한 간편법 적용시 결과의 결과의 다양성에 대해 분석하고자 하였다. 합리적인 30분 강우강도 산정을 위해 79개 기상청 종관기상관측 지점에 대한 분단위 강우자료(1997~2014)를 수집하고 기존의 국내외 강우운동에너지 식과 대체지수를 적용하여 산정된 결과를 비교 분석하였다. 연구결과 간편법을 사용한 결과가 대부분 지점에 대해 강우에너지식을 사용한 강우침식인자보다 과대산정(지점평균 약 74%)하였으며 다른 강우에너지식 적용에 따른 평균 변동계수가 약 0.12로 나타나 지점간 차이를 보였으나 적용방법에 따른 침식인자의 분포가 다소 다르게 나타남을 확인하였다. 관측자료가 부족한 토양유실량 예측에 있어 강우 침식인자 산정을 위한 최적 방법론 도출이 어려운 만큼 다중모델 결과를 조합하는 방법론 개발이 필요하다고 판단된다.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.18 no.5
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• pp.112-125
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• 2019

An acoustic signal-based, tunnel-incident detection system was developed and evaluated. The system was comprised of three components: algorithm, acoustic signal collector, and server system. The algorithm, which was based on nonnegative tensor factorization and a hidden Markov model, processes the acoustic signals to attenuate noise and detect incident-related signals. The acoustic signal collector gathers the tunnel sounds, digitalizes them, and transmits the digitalized acoustic signals to the center server. The server system issues an alert once the algorithm identifies an incident. The performance of the system was evaluated thoroughly in two steps: first, in a controlled tunnel environment using the recorded incident sounds, and second, in an uncontrolled tunnel environment using real-world incident sounds. As a result, the detection rates ranged from 80 to 95% at distances from 50 to 10 m in the controlled environment, and 94 % in the uncontrolled environment. The superiority of the developed system to the existing video image and loop detector-based systems lies in its instantaneous detection capability with less than 2 s.

• Journal of Advanced Navigation Technology
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• v.23 no.1
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• pp.36-43
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• 2019

In this paper, a novel channel access scheme for the next-generation vehicle to anything (V2X) system based on IEEE 802.11p standard which is applied to recent connected car technologies is suggested and analyzed. The proposed scheme proposes a channel access method utilizing OFDMA multi-user transmission for IEEE 802.11p based system. In this paper, the authors examine geographical distance and network area performance of IEEE 802.11p system and the proposed scheme. Results of this research show that the proposed scheme is quite suitable for improving conventional V2X standards and systems. This paper also provides mathematical analysis and simulation results of the conventional IEEE 802.11p system and the proposed scheme.

• Journal of the Korea Society of Computer and Information
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• v.27 no.2
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• pp.187-194
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• 2022

This study is to encourage physical activity and exercise in people with spinal cord disabilities so that they can have a positive effect on health outcomes. Current evidence shows that IT-based muscle strength and muscle endurance, cardiopulmonary exercise, electrical stimulation exercise, and robot exercise can all improve physical components, reduce the risk of secondary health complications, and have a positive impact on the overall health of people with chronic physical disabilities. To improve muscle strength and muscle endurance, exercise frequency should be conducted twice and three sets a week, <5 Reps to improve muscle strength, general strength should be repeated 6 to 15 times, and 15 to 30 times to improve muscle endurance. In order to improve cardiopulmonary ability, it should be conducted 3-5 times a week, 20-60 minutes, and 50-80% of the maximum heart rate. Therefore, higher resource investment is needed to realize various IT-based exercise benefits and access professional equipment, facilities and trainers.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.36 no.1
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• pp.57-65
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• 2023

A vibration response-based detection system was used to investigate the adhesive areas of single-lap joints using a nonlinear transformation approach for deep learning. In industry or engineering fields, it is difficult to know the condition of an invisible part within a structure that cannot easily be disassembled and the conditions of adhesive areas of adhesively bonded structures. To address these issues, a detection method was devised that uses nonlinear transformation to determine the adhesive areas of various single-lap-jointed specimens from the vibration response of the reference specimen. In this study, a frequency response function with nonlinear transformation was employed to identify the vibration characteristics, and a virtual spectrogram was used for classification in convolutional neural network based deep learning. Moreover, a vibration experiment, an analytical solution, and a finite-element analysis were performed to verify the developed method with aluminum, carbon fiber composite, and ultra-high-molecular-weight polyethylene specimens.

• Proceedings of the Korea Water Resources Association Conference
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• 2022.05a
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• pp.415-415
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• 2022

IPCC 제5차 보고서('14) 및 세계위험보고서('15) 등에서 기후변화에 대한 과학적 근거를 제시하였으며, 상위 위험요소로 '수자원 위기'를 꼽았다. 전 세계적으로 기후변화로 인한 이상 기상현상이 발생하고 있으며, 국내에서도 최근 기후변화에 따른 수문사상의 변화로 극한홍수 및 극한가뭄 등으로 인한 피해가 지속적으로 발생하고 있다. 물 관리에서 기후변화는 가장 큰 리스크 요인이므로 물관리 계획 수립 과정에서 기후변화 영향을 고려한 대책을 수립할 필요가 있다. 기후변화에 대한 댐 취약성 평가 관련 연구가 이루어지고 있으나, 미래 기후변화의 불확실성을 충분히 고려했다고 보기 어렵기 때문에 현업에서 의사결정 도구로 활용하기에는 한계가 있다고 볼 수 있다. 이에 따라 과거 수문자료 및 특정 기후모델에 의존하지 않고 댐 인프라의 취약성을 평가할 수 있는 새로운 방법론이 필요하다고 판단된다. 따라서 본 연구를 통해 기후변화의 불확실성에 대비한 댐 취약성 평가 방법론을 정립하고자 한다. 본 연구에서는 기존에 진행된 IPCC 기후변화 시나리오에 따른 댐 취약성 평가 연구사례 및 한반도의 기후변화 영향 및 수문변화를 조사하였다. 그리고 기후 스트레스 시나리오 기반 취약성 평가 체계 및 방법론을 정립한 뒤, 월 강우량을 4분위로 나누어 각 분위별 강우량과 기온을 변경하여 기후 스트레스 시나리오를 생성하였다. 생성된 기후 스트레스 시나리오와 IPCC 기후변화 시나리오 기반 취약성 평가를 유출 및 저수지 모형을 결합하여 충주댐, 용담댐, 합천댐, 섬진강댐에 실시하였다. 그 결과 기후 스트레스에 따른 유출 취약성 평가는 20분위 수 갈수량을 이용해 연중 보장확률을 나타내는 것이 효율적이며, 온도의 영향보다는 강우의 변동이 댐 이수안전도 취약성 평가에 더 큰 영향을 주는 것을 확인할 수 있었다.