• Journal of IKEEE
• /
• v.9 no.1 s.16
• /
• pp.7-18
• /
• 2005

A key component of an autonomous mobile robot is to localize itself accurately and build a map of the environment simultaneously. In this paper, we propose a vision-based mobile robot localization and mapping algorithm using scale-invariant features. A camera with fisheye lens facing toward to ceiling is attached to the robot to acquire high-level features with scale invariance. These features are used in map building and localization process. As pre-processing, input images from fisheye lens are calibrated to remove radial distortion then labeling and convex hull techniques are used to segment ceiling region from wall region. At initial map building process, features are calculated for segmented regions and stored in map database. Features are continuously calculated from sequential input images and matched against existing map until map building process is finished. If features are not matched, they are added to the existing map. Localization is done simultaneously with feature matching at map building process. Localization. is performed when features are matched with existing map and map building database is updated at same time. The proposed method can perform a map building in 2 minutes on $50m^2$ area. The positioning accuracy is ${\pm}13cm$, the average error on robot angle with the positioning is ${\pm}3$ degree.

• Journal of Navigation and Port Research
• /
• v.43 no.1
• /
• pp.72-78
• /
• 2019

The second-hand ship market provides immediate access to the freight market for shipping investors. When introducing second-hand vessels, the precise estimate of the price is crucial to the decision-making process because it directly affects the burden of capital cost to investors in the future. Previous studies on the second-hand market have mainly focused on the market efficiency. The number of papers on the estimation of second-hand vessel values is very limited. This study proposes an artificial neural network model that has not been attempted in previous studies. Six factors, freight, new-building price, orderbook, scrap price, age and vessel size, that affect the second-hand ship price were identified through literature review. The employed data is 366 real trading records of Panamax second-hand vessels reported to Clarkson between January 2016 and December 2018. Statistical filtering was carried out through correlation analysis and stepwise regression analysis, and three parameters, which are freight, age and size, were selected. Ten-fold cross validation was used to estimate the hyper-parameters of the artificial neural network model. The result of this study confirmed that the performance of the artificial neural network model is better than that of simple stepwise regression analysis. The application of the statistical verification process and artificial neural network model differentiates this paper from others. In addition, it is expected that a scientific model that satisfies both statistical rationality and accuracy of the results will make a contribution to real-life practices.

• Journal of Bio-Environment Control
• /
• v.28 no.2
• /
• pp.95-103
• /
• 2019

Temperature and relative humidity are important factors in crop cultivation and should be properly controlled for improving crop yield and quality. In order to control the environment accurately, we need to predict how the environment will change in the future. The objective of this study was to predict air temperature and relative humidity at a future time by using a multilayer perceptron (MLP). The data required to train MLP was collected every 10 min from Oct. 1, 2016 to Feb. 28, 2018 in an eight-span greenhouse ($1,032m^2$) cultivating mango (Mangifera indica cv. Irwin). The inputs for the MLP were greenhouse inside and outside environment data, and set-up and operating values of environment control devices. By using these data, the MLP was trained to predict the air temperature and relative humidity at a future time of 10 to 120 min. Considering typical four seasons in Korea, three-day data of the each season were compared as test data. The MLP was optimized with four hidden layers and 128 nodes for air temperature ($R^2=0.988$) and with four hidden layers and 64 nodes for relative humidity ($R^2=0.990$). Due to the characteristics of MLP, the accuracy decreased as the prediction time became longer. However, air temperature and relative humidity were properly predicted regardless of the environmental changes varied from season to season. For specific data such as spray irrigation, however, the numbers of trained data were too small, resulting in poor predictive accuracy. In this study, air temperature and relative humidity were appropriately predicted through optimization of MLP, but were limited to the experimental greenhouse. Therefore, it is necessary to collect more data from greenhouses at various places and modify the structure of neural network for generalization.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.21 no.4
• /
• pp.509-517
• /
• 2020

This study evaluated the importance of technical characteristics in manufacturing street furniture using 3D printing technology to suggest the direction of development of high priority 3D printing technology. The importance was analyzed by the QFD, quantified by scores and the priority of the items was summarized. As a result, the 'output size', 'shrinkage of material', and 'output angle' were derived as technical elements that should be prioritized in development and research. For verification, the design of atypical street furniture was made into a large 3D printed output and the development direction was suggested by applying the technical elements of priority during the manufacturing process. Street furniture should be designed based on functionality and stability, as well as economic efficiency, productivity, and aesthetics. Therefore, the 'output size' ensured stability by minimizing the division of parts, and the 'contractability of materials' satisfied the aesthetic and productivity by minimizing the error of form. Finally, the 'output angle' was verified by improving the quality of the output and selecting an angle with efficient and structural stability through various output angles.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.25 no.4
• /
• pp.468-475
• /
• 2019

An end-line flame arrester allows free venting in combination with flame protection for vertical vent applications. End-line flame arresters are employed in various fields, especially in shipping. In flame arresters, springs are essential parts because the spring load and the spring's elasticity determine the hood opening moment. In addition, the spring has to work under a high-temperature condition because of the burning gas flame. Therefore, it is necessary to analyze the mechanical load and elasticity of the spring when the flame starts to appear. Based on simulations of the working process of a specific end-line flame arrester, a thermal and structural analysis of the spring is performed. A three-dimensional model of a burned spring is built using computational fluid dynamics (CFD) simulation. Results of the CFD analysis are input into a finite element method simulation to analyze the spring structure. The research team focused on three cases of spring loads: 43, 93, and 56 kg, correspondingly, at 150 mm of spring deflection. Consequently, the spring load was reduced by 10 kg after 5 min under a $1,000^{\circ}C$ heat condition. The simulation results can be used to predict and estimate the spring's load and elasticity at the burning time variation. Moreover, the obtained outcome can provide the industry with references to optimize the design of the spring as well as that of the flame arrester.

• Korean Journal of Heritage: History & Science
• /
• v.42 no.3
• /
• pp.66-87
• /
• 2009

The definition of the structure of wooden chamber tomb(piled stone-type) is as follows. It is a tomb with wooden chamber, and stones were piled on top of the wooden chamber, and then a wooden structure was placed on top of the piled stones, and more stones were piled on top of the wooden structure, and sealed with clay. Of course this definition can vary according to periods, the buried, etc. Gyeongju-style piled stone type wooden chamber tombs have some distinguished characteristics compared to general definition of piled stone type wooden chamber tombs. Outside the wooden chamber, either stone embankments or filled-in stones were layed out, and pilet-in stones are positioned right above the wooden chamber, and almost every class used this type, and finally, it is exclusively found in Gyeongju area. First generations of this Gyeongju-style piled stone type wooden chamber tombs appeared in first half of 5th century. These tombs inherited characteristics like ground plan, wooden chamber, double chamber(inner chamber and outer chamber), piled stones, burial of the living with the dead, piled stones, from precedent wooden chamber tombs. However these tombs have explicit new characteristics which are not found in the precedent wooden chamber tombs such as stone embankments, wooden pillars, piled stones(above ground level), soil tumuluses. stone embankments and wooden pillars are exclusively found on great piled stone type above-ground level wooden chamber tombs such as the Hwangnamdaechong(皇南大塚). Stone embankments, wooden pillars, piled stones(above ground level) are all elements of building process of soil tumuluses. stone embankments support outer wall of above-ground level wooden chambers and disperse the weight of tumuluses. Wooden pillars functioned as auxiliary supports with wooden structures to prevent the collapse of stone embankments. Piled stones are consists of stones of regular size, placed on the wooden structure. And after the piled stones were sealed with clay, tumulus was built with soil. Piled stones are unique characteristics which reflects the environment of Gyeongju area. Piled stone type wooden chamber tombs are located on the vast and plain river basin of Hyeongsan river(兄山江). Which makes vast source of sands and pebbles. Therefore, tumulus of these tombs contains large amount of sands and are prone to collapse if soil tumulus was built directly on the wooden structure. Consequently, to maintain external shape of the tumulus and to prevent collapse of inner structure, piled stones and clay-sealing was made. In this way, they can prevent total collapse of the tombs even if the tumulus was washed away. The soil tumulus is a characteristic which emerges when a nation or political entity reaches certain growing stage. It can be said that after birth of a nation, growing stage follows and social structure will change, and a newly emerged ruling class starts building new tombs, instead of precedent wooden chamber tombs. In this process, soil tumulus was built and the size and structure of the tombs differ according to the ruling class. Ground plan, stone embankments, number of the persons buried alive with the dead, quantity and quality of artifacts reflect social status of the ruling class. In conclusion, Gyeongju-style piled stone type wooden chamber tombs emerged with different characteristics from the precedent wooden chamber tombs when Shilla reached growing stage.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.23 no.4
• /
• pp.375-384
• /
• 2005

Three dimensional urban models are being increasingly applied for various purposes such as city planning, telecommunication cell planning, traffic analysis, environmental monitoring and disaster management. In recent years, technologies from CAD and GIS are being merged to find optimal solutions in three dimensional modeling of urban buildings. These solutions include modeling of the interior building space as well as its exterior shape visualization. Research and development effort in this area has been performed by scientists and engineers from Computer Graphics, CAD and GIS. Computer Graphics and CAD focussed on precise and efficient visualization, where as GIS emphasized on topology and spatial analysis. Complementary research effort is required for an effective model to serve both visualization and spatial analysis purposes. This study presents an efficient way of using the CAD plans included in the building register documents to reconstruct the internal space of buildings. Topological information was built in the geospatial database and merged with the geometric information of CAD plans. as well as other attributal data from the building register. The GIS network modeling method introduced in this study is expected to enable an effective 3 dimensional spatial analysis of building interior which is developing with increasing complexity and size.

• Proceedings of the Korean Information Science Society Conference
• /
• 2004.10c
• /
• pp.631-633
• /
• 2004

본 논문에서는 유비쿼터스 홈 네트워킹 환경에서 사용자의 위치 이동을 실시간 추적하고 가정 내 주거 활동의 편의를 제공하는 정보가전기기들을 제어할 수 있는 능동형 홈 서비스 시스템을 제안한다. 본 시스템은 다계층의 분산시스템 환경으로 구성된다. 즉, 물리 센서와 정보가전기기 등이 존재하는 물리층과 유/무선 지원 인터넷/인트라넷 통신 플랫폼을 포함하는 시스템층, 그리고 물리적 장치들로부터 시스템층을 통해 들어오는 정보를 처리하는 응용층으로 구성되며 실 생활 공간 및 시간을 응용 시뮬레이션 환경으로 반영시킨다. 능동형 홈 서비스 시스템의 개발 목적은 실버아파트에서 독거노인의 위치기반 건강관리 정보 서비스 및 아파트 내 정보가전기기들의 맞춤형 제어를 제공하기 위함이다. 이와 같은 시스템을 구축하기 위해서는 홈 네트워크 내에서 사용자의 이동 위치를 파악하는 실시간 위치추적 기술과 정보가전기기들의 동작을 실시간 제어하기 위한 기술이 요구된다. 제안한 시스템에서는 UC at Irine의 DREAM Lab.에서 개발한 TMO(Time-triggered Message -triggered Objecl) 스킴을 적용하여 각 물리 센서와 정보가전기기들을 응용의 구성요소로 개발했다. 이를 통해 가정 내에 이동하는 TMO로 매핑된 이동객체를 추적하고 또한 홍 네트워크로 연결된 정보가전기기들을 정보가전 TMO 동작객체로 매핑하여 이들 사이의 능동적인 상호동작을 통해 맞춤형 서비스 및 실시간 제어가 가능하도록 했다. 마지막으로, 실시간 위치추적 및 정보가전제어 응용 시뮬레이션을 통해 능동형 홈 서비스 시스템을 구성하는 개별 동작객체들의 기능성과 수행성을 검증했다.황에 대하여 소개한다.이스는 실험정보가 저장된 데이터베이스, 분석결과가 저장된 데이터베이스, 그리고 유전자 정보 탐색을 위한 데이터베이스로 분류해 데이터를 효율적으로 관리할 수 있게 하였다. 본 시스템은 LiNUX를 운영체계로 하고 데이터베이스는 MYSQL로 하여 JSP, Perl. 통계처리 언어인 R로 구현되었다.프트웨어를 사용하지 않고도 국내의 순수 솔루션인 리눅스 기반의 LonWare 3.0 다중 바인딩 기능을 통해 저 비용으로 홈 네트워크 구성 관리 서버 시스템 개발에 대한 비용을 줄일 수 있다. 기대된다.e 함량이 대체로 높게 나타났다. 점미가 수가용성분에서 goucose대비 용출함량이 고르게 나타나는 경향을 보였고 흑미는 알칼리가용분에서 glucose가 상당량(0.68%) 포함되고 있음을 보여주었고 arabinose(0.68%), xylose(0.05%)도 다른 종류에 비해서 다량 함유한 것으로 나타났다. 흑미는 총식이섬유 함량이 높고 pectic substances, hemicellulose, uronic acid 함량이 높아서 콜레스테롤 저하 등의 효과가 기대되며 고섬유식품으로서 조리 특성 연구가 필요한 것으로 사료된다.리하였다. 얻어진 소견(所見)은 다음과 같았다. 1. 모년령(母年齡), 임신회수(姙娠回數), 임신기간(姙娠其間), 출산시체중등(出産時體重等)의 제요인(諸要因)은 주산기사망(周産基死亡)에 대(對)하여 통계적(統計的)으로 유의(有意)한 영향을 미치고 있어 $25{\sim}29$세(歲)의 연령군에서, 2번째 임신과 2번째의 출산에서 그리고 만삭의 임신 기간에, 출산시체중(出産時體重) $3.50{\

• KIISE Transactions on Computing Practices
• /
• v.21 no.6
• /
• pp.393-402
• /
• 2015

Human resources are one of the most essential elements of an organization. In particular, the more closed a group is, the higher the value each member has. Previous studies have focused on personal attributes of individual, such as medical history, and have depended upon self-diagnosis to manage structures. However, this method has weak points, such as the timeconsuming process required, the potential for concealment, and non-disclosure of participants' mental states, as this method depends on self-diagnosis through extensive questionnaires or interviews, which is solved in an interactive way. It also suffers from another problem in that relations among people are difficult to express. In this paper, we propose a multi-faced diagnosis model based on social network analysis which overcomes former weaknesses. Our approach has the following steps : First, we reveal the states of those in a social network through 9 questions. Next, we diagnose the social network to find out specific individuals such as victims or leaders using the proposed algorithm. Experimental results demonstrated our model achieved 0.62 precision rate and identified specific people who are not revealed by the existing methods.

• Journal of the Korea Society of Computer and Information
• /
• v.11 no.6 s.44
• /
• pp.69-78
• /
• 2006

In the field of the bioinformatics, it plays an important role in predicting functional information or structure information to search similar sequence in biological DB. Biolrgical sequences have been increased dramatically since Human Genome Project. At this point, because the searching speed for the similar sequence is highly regarded as the important factor for predicting function or structure, the SMP(Sysmmetric Multi-Processors) computer or cluster is being used in order to improve the performance of searching time. As the method to improve the searching time of BLAST(Basic Local Alighment Search Tool) being used for the similarity sequence search, We suggest the nBLAST algorithm performing on the cluster environment in this paper. As the nBLAST uses the MPI(Message Passing Interface), the parallel library without modifying the existing BLAST source code, to distribute the query to each node and make it performed in parallel, it is possible to easily make BLAST parallel without complicated procedures such as the configuration. In addition, with the experiment performing the nBLAST in the 28 nodes of LINUX cluster, the enhanced performance according to the increase in the number of the nodes has been confirmed.