• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.4
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• pp.332-340
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• 2013

This paper reports a programming toolkit for implementing localization and navigation of a mobile robot both in real world and simulation. Many of the previous function libraries are difficult to use because of their complexity or lack of usability. The proposed toolkit consist of functions for dead reckoning, motion model, measurement model, and operations on directions or heading angles. The dead reckoning and motion model deals with differential drive robot and bicycle type robot driven by front wheel or rear wheel. The functions can be used for navigation in both real environment and simulation. To prove the feasibility of the toolkit, simulation results are shown along with the results in real environment. It is expected the proposed toolkit is used for test of algorithms for mobile robot navigation such as localization, map building, and obstacle avoidance.

• Proceedings of the Korea Information Processing Society Conference
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• 2020.11a
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• pp.1022-1024
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• 2020

본 논문에서는 구면 영상을 사용한 vSLAM에 의해 생성된 환경 지도에서 실내 공간을 인식하는 방법을 제안한다. 환경 지도는 오픈 소스 라이브러리 OpenVSLAM을 사용하여 생성했다. 카메라 방향과 위치를 기준으로 랜드 마크를 분류하고 허프 변환을 사용해서 실내 공간의 각 벽의 위치를 찾아냈다. 실험 결과 추정된 평면들이 실제 벽면과 유사한 위치에 나타남을 알 수 있었다. 제시하는 알고리즘은 현재의 AR 콘텐츠보다 진보된 AR 콘텐츠를 제작하는 데 사용할 수 있다.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.3
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• pp.421-432
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• 2013

This paper describes implementation of functions for mobile robot localization, which is one of the vital technologies for autonomous navigation of a mobile robot. There are several function libraries for mobile robot navigation. Some of them have limited applicability for practical use since they can be used only for simulation. Our research focuses on development of functions which can be used for localization of indoor robots. The functions implement deadreckoning and motion model of mobile robots, measurement model of range sensors, and frequently used calculations on angular directions. The functions encompass various types of robots and sensors. Also, various types of uncertainties in robot motion and sensor measurements are implemented so that the user can select proper ones for their use. The functions are tested and verified through simulation and experiments.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.6
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• pp.566-572
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• 2021

A methodology for the identification and coordinates estimation of air cavities under urban ground or sandy soil using its natural poles and natural resonant frequencies is presented. The potential of this methodology was analyzed. Simulation models of PEC (Perfect Electric Conductor)s with various shapes and dimensions were developed using an EM (Electromagnetic) simulator. The Cauchy method was applied to the obtained EM scattering response of various objects from EM simulation models. The natural poles of objects corresponding to its instinct characterization were then extracted. Thus, a library of poles can be generated using their natural poles. The generated library of poles provided the possibility of identifying a target by comparing them with the computed natural poles from a target. The simulation models were made assuming that there is an air cavity under urban ground or sandy soil. The response of the desired target was extracted from the electromagnetic wave scattering data from its simulation model. The coordinates of the target were estimated using the time delay of the impulse response (peak of the impulse response) in the time domain. The MP (Matrix Pencil) method was applied to extract the natural poles of a target. Finally, a 0.2-m-diameter spherical air cavity underground could be estimated by comparing both the pole library of the objects and the calculated natural poles and the natural resonant frequency of the target. The computed location (depth) of a target showed an accuracy of approximately 84 to 93%.

• Proceedings of the Korea Water Resources Association Conference
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• 2015.05a
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• pp.73-73
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• 2015

자연 하천의 홍수 유량 측정은 매우 어렵고 많은 비용과 시간, 노력을 요하는 작업이다. 보다 안전하고 경제적인 유량 측정의 대안으로 제시된 것이 하천 표면의 영상 분석을 이용하는 표면영 상유속계이다. 본 연구는 안드로이드 기반의 스마트폰을 이용한 실시간 표면영상유속계를 개발하는 것이다. 스마트폰에 내장된 카메라, GPS, 방향 센서, CPU를 활용하여, 실시간으로 현장에서 하천의 표면유속을 측정하는 것이다. 먼저, 스마트폰의 GPS를 이용하여 측정 현장의 위치를 잡고, 경사계(방향 센서)를 활용하여 카메라와 촬영면의 기하적인 관계를 설정한다. 수표면과 카메라의 높이차만을 입력하고, 측정된 카메라의 경사에서 하천 수표면의 위치관계를 추정할 수 있는 카메라 모형을 작성하였다. 이 방법을 이용함으로써 기존 표면영상유속계의 단점 중 하나인 참조점 보정이 필요없도록 하였다. 내장된 카메라로 정해진 시간(3초) 동안 동영상을 촬영하고, 촬영된 동영상은 개방 소스의 영상처리 라이브러리인 JavaCV를 이용하여 프레임별로 분할하고, 이를 시공간 영상 분석하여 하천 표면의 2차원 유속장을 추정한다. 영상의 시공간 분석에는 상호상관 시공간분석법을 이용하였다. 모든 코드는 안드로이드 운영체제에서 실행되도록 Java로 작성하였다. 시판되는 안드로이드 스마트폰에 적용하여 현장 시험한 결과 3초간의 영상 처리에 5초 정도를 소요하여, 거의 실시간으로 유속을 측정할 수 있었다. 또한 유속 측정 오차는 일반적인 영상 처리의 오차인 5% 내외였다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.12
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• pp.1445-1452
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• 2013

In this paper, we propose a real-time algorithm for estimating the relative position of a person with respect to a robot (camera) using a monocular camera. The algorithm detects the head and shoulder regions of a person using HOG (Histogram of Oriented Gradient) feature vectors and an SVM (Support Vector Machine) classifier. The size and location of the detected area are used for calculating the relative distance and angle between the person and the camera on a robot. To increase the speed of the algorithm, we use a GPU and NVIDIA's CUDA library; the resulting algorithm speed is ~ 15 Hz. The accuracy of the algorithm is compared with the output of a SICK laser scanner.

• Journal of Broadcast Engineering
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• v.8 no.1
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• pp.54-62
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• 2003

This paper presents a Soccer Game 3D Reencatment System which reenact the Important scene like getting a goal with image processing and computer graphics technologies. KBS Research Institute of Technology has developed the 3D Reenactment System of Soccer Game called ‘VPlay' to provide TV viewers with fresh images in soccer games. Vplay generates the reenactment of exciting and important soccer scenes by using computer graphics. Vplay extracts legion of players from video with color information, and then computes precise positions of players on the ground by using global motion estimation model and playground axis transformation model. The results are applied to locomotion generation module that generates the locomotion of virtual characters automatically. Using predefined motion and model library, Vplay reenacts the important scene in a quick and convenient manner Vplay was developed for live broadcasting of soccer games that demands rapid producing time and was used efficiently during past WorldCup and Asian Game.

• Journal of Korea Water Resources Association
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• v.49 no.6
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• pp.469-480
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• 2016

The present study aims to develop a real-time surface image velocimeter (SIV) using an Android smartphone. It can measure river surface velocity by using its built-in sensors and processors. At first the SIV system figures out the location of the site using the GPS of the phone. It also measures the angles (pitch and roll) of the device by using its orientation sensors to determine the coordinate transform from the real world coordinates to image coordinates. The only parameter to be entered is the height of the phone from the water surface. After setting, the camera of the phone takes a series of images. With the help of OpenCV, and open source computer vision library, we split the frames of the video and analyzed the image frames to get the water surface velocity field. The image processing algorithm, similar to the traditional STIV (Spatio-Temporal Image Velocimeter), was based on a correlation analysis of spatio-temporal images. The SIV system can measure instantaneous velocity field (1 second averaged velocity field) once every 11 seconds. Averaging this instantaneous velocity measurement for sufficient amount of time, we can get an average velocity field. A series of tests performed in an experimental flume showed that the measurement system developed was greatly effective and convenient. The measured results by the system showed a maximum error of 13.9 % and average error less than 10 %, when we compared with the measurements by a traditional propeller velocimeter.

• Proceedings of the Korea Society for Energy Engineering kosee Conference
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• 2008.04a
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• pp.69-75
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• 2008

기포반응도는 월성발전소를 비롯한 CANDU형 원자로의 주된 안전성 쟁점사안으로 끊임없이 논의되어 왔다. 이는 설계기준사고가 노심에서 열에너지 불균형이 원인이 되어 기준이상의 핵연료 파손과 방사성물질 누출로 발전할 위험이 있는 사건들로 정의될 때, 사건 진행 과정에 기포반응도 증가는 조기에 운전중단을 실패할 경우 출력폭주로 이어지므로 사건의 결말이 중대사고로 전환될 위험이 크기 때문이다. 본 연구는 공개된 최신 핵자료인 ENDF/B-VII.0를 NJOY.99로 처리한 연속에너지 반응단면적 라이브러리를 구축하고 MCNP-4C에 접속하여 37봉 천연우라늄 핵연료다발의 표준노심격자에 대한 기포반응도를 시뮬레이션하여, 지금까지 각종문헌에 제시된 값들과 비교, 종합하므로 내제된 불확실성을 추정하는 내용이다. ENDF/B-VII.0 기반 MCNP-4C의 CANDU 노심격자 모델은 동일한 핵자료와 핵종농도를 사용한 WIMS-IAEA 모델과 비교할 때, 초기 노심의 임계도 오차 약 3.51mk가 연소 진행에 따라 $7.5\times10^{-4}mk$/MWD/teU의 비율로 감소하는 것으로 나타났다. 또한 MCNP-4C 예측기포반응도는 초기노심에서 기포율 50% 및 100%에 대해 각각 8.38 및 15.96mk, 평형노심에서 7.68 및 14.72mk로 계산된다. 이는 월성 2, 3, 4 FSAR의 초기노심 및 평형노심에서 100% 기포상태에 대한 값, 약15.0 및 10.6mk와 비교할 때, 초기노심은 약 1.0mk 평형노심은 약4, 1mk 보수적이지만, 다른 연구결과들과는 최대오차 ${\pm}1{\sim}2mk$ 이내에서 잘 일치하는 것으로 평가되었다. 본 연구는 CANDU 노심의 기포반응도 불확실성 요인의 규명 및 영향평가를 위한 노력의 일부로서 앞으로 감속재의 붕산농도 변화, 감속재 및 냉각재의 중수 순도 변화, 기기노화에 의한 격자 구조 및 물성 변화, 중성자속 및 출력 분포 불균형, 반응도조절장치의 위치, 등 주요 설계변수의 변화에 대한 반응도영향 분석연구를 계속할 계획이다.

• Journal of Korean Society of Forest Science
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• v.112 no.1
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• pp.40-56
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• 2023

Tree species within the Populus genus grow rapidly and have an excellent capacity to absorb carbon, conferring substantial ability to effective purify the environment. Poplar breeding can be achieved rapidly and efficiently if a genetic linkage map is constructed and quantitative trait loci (QTLs) are identified. Here, a high-density genetic linkage map was constructed for the control pollinated progeny using the genotyping-by-sequencing (GBS) technique, which is a next-generation sequencing method. A search was also performed for the genes associated with quantitative traits located in the genetic linkage map by examining the variables of height and diameter at root collar, and resilience to insect damage. The height and diameter at root collar were measured directly, while the ability to recover from insect damage was scored in a 4-year-old breeding population of aspen hybrids (Odae19 × Bonghyeon4 F1) established in the research forest of Seoul National University. After DNA extraction, paternity was confirmed using five microsatellite markers, and only the individuals for which paternity was confirmed were used for the analysis. The DNA was cut using restriction enzymes and the obtained DNA fragments were prepared using a GBS library and sequenced. The analyzed results were sorted using Populus trichocarpa as a reference genome. Overall, 58,040 aligned single-nucleotide polymorphism (SNP) markers were identified, 17,755 of which were used for mapping genetic linkages. The genetic linkage map was divided into 19 linkage groups, with a total length of 2,129.54 cM. The analysis failed to identify any growth-related QTLs, but a gene assumed to be related to recovery from insect damage was identified on linkage group (chromosome) 4 through genome-wide association study.