• Journal of the Society of Disaster Information
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• v.17 no.3
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• pp.521-534
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• 2021

Purpose: In this paper, we propose an indoor positioning scheme based on pedestrian dead reckoning using inertial measurement unit. By minimizing the effects of the orientation error of smart-phone, the more accurate estimation for the direction, the step count, and the stride can be achieved. Method: The effectiveness and the performance of the proposed scheme is evaluated by experiments, and it is compared with the conventional scheme in the same conditions. Result: The results showed that the positioning error of the proposed scheme was 0.76m, while that of the conventional scheme was 1.84m. Conclusion: Sine most people carry his/her own smart-phone, the proposed scheme can be helpful to recognize where he/she was and was heading when the fast evacuation is needed in indoors.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.2
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• pp.381-389
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• 2012

This paper proposes a method which corrects location data of GPS for navigation of outdoor mobile robot. The method uses a Bayesian filter approach called the particle filter(PF). The method iterates two procedures: prediction and correction. The prediction procedure calculates robot location based on translational and rotational velocity data given by the robot command. It incorporates uncertainty into the predicted robot location by adding uncertainty to translational and rotational velocity command. Using the sensor characteristics of the GPS, the belief that a particle assumes true location of the robot is calculated. The resampling from the particles based on the belief constitutes the correction procedure. Since usual GPS data includes abrupt and random noise, the robot motion command based on the GPS data suffers from sudden and unexpected change, resulting in jerky robot motion. The PF reduces corruption on the GPS data and prevents unexpected location error. The proposed method is used for navigation of a mobile robot in the 2011 Robot Outdoor Navigation Competition, which was held at Gwangju on the 16-th August 2011. The method restricted the robot location error below 0.5m along the navigation of 300m length.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.2
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• pp.187-192
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• 2008

The Intelligent Space(ISpace) provides challenging research fields for surveillance, human-computer interfacing, networked camera conferencing, industrial monitoring or service and training applications. ISpace is the space where many intelligent devices, such as computers and sensors, are distributed. According to the cooperation of many intelligent devices, the environment, it is very important that the system knows the location information to offer the useful services. In order to achieve these goals, we present a method for representing, tracking and human Jollowing by fusing distributed multiple vision systems in ISpace, with application to pedestrian tracking in a crowd. This paper describes appearance based unknown object tracking with the distributed vision system in intelligent space. First, we discuss how object color information is obtained and how the color appearance based model is constructed from this data. Then, we discuss the global color model based on the local color information. The process of learning within global model and the experimental results are also presented.

• Proceedings of the Korea Information Processing Society Conference
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• 2013.11a
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• pp.526-528
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• 2013

최근 실내 측위 기술을 이용한 다양한 서비스 제공을 위해 많은 위치 인식 기법이 연구되고 있다. 기존의 실내 위치 인식 기법은 사전에 획득한 맵 정보나 미리 구축한 기반 시설이 필요하거나, 추가 장비를 착용 및 부착해야 하는 단점이 있었다. 이에 본 논문에서는 스마트폰 내부센서를 이용하여 실내에서 사용자의 위치를 측정하는 시스템을 제안하였다. 제안한 시스템은 가속도 센서를 이용하여 이동여부를 파악하고, 사용자의 평균적인 이동속도와 방향센서를 이용하여 획득한 이동방향을 이용하여 위치를 추정한다. 제안한 시스템을 안드로이드 스마트폰에 구현하여 실험한 결과 약 ${\pm}75cm$ 이내의 오차에서 위치 인식이 가능함을 확인하였다.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.5
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• pp.460-465
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• 2013

In this paper, we describe a security robot system to control human's behavior in the security area. In order to achieve these goals, we present a method for representing, tracking and human blocking by laserscanner systems in security area, with application to pedestrian tracking in a crowd. When it detects walking human who is for the security area, robot calculates his velocity vector, plans own path to forestall and interrupts him who want to head restricted area and starts to move along the estimated trajectory. While moving the robot continues these processes for adapting change of situation. After arriving at an opposite position human's walking direction, the robot advises him not to be headed more and change his course. The experimental results of estimating and tracking of the human in the wrong direction with the mobile robot are presented.

• The Journal of the Acoustical Society of Korea
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• v.18 no.2
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• pp.25-31
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• 1999

An array aperture synthesis technique is proposed. The proposed method does not require the condition that the overlapped hydrophones have the identical position in space to estimate the phase correction factors. while the existing ETAM algorithm does. Therefore the proposed method increases the available data applied to extend the effective aperture length of the towed array. From the numerical experiments, the proposed method can reduce the mean square error in estimating the direction of a target signal.

• The Journal of the Petrological Society of Korea
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• v.21 no.4
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• pp.397-403
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• 2012

Fe-REE deposits occurred in Jaeunri, Hongcheon formed by carbonatitic melts consist of 3 parts such as northern, middle and southern ore bodies showing discontinuous distribution, and extension shape of ore bodies can be figured through field survey and geometric analysis. Foliations in gneiss around northern and middle ore bodies represent NNE, whereas toward south its direction changes gradually from NE to ENE and finally N-S direction appears in southern ore body. From Jaeungyo to Saemaeulgyo geometric analysis from field work gives that fold shape in this area is open synclinal fold concavely and gently to NW with $45^{\circ}$ northwestward plunging axis, in contrast small scale anticline with $45^{\circ}$ northwestward plunging axis in Yagsooteo area near western part of Saemaeulgyo. Dragging effect could be occurred on these folds by WNW trending dextral strike-slip fault from Yagsooteo to Saemaeulgyo. New ore body can be confirmed from folding structure estimated by trend of foliation, and thus unidentified ore body may be exist under alluvial surface from middle to southern ore body and its distribution could show reversed "ㄱ", one of Korean consonants, considering with estimated strike and dip of foliations. This estimated extension of ore body figured out by structural analysis in the studied area works an important role for measuring of ore reserve and selecting of drilling site to find new ore body.

• Journal of Soil and Groundwater Environment
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• v.8 no.3
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• pp.1-7
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• 2003

A modified model was developed for solute transport in porous media that can consider the movement of an LNAPL above the water table. From the results of sensitivity analyses with and without considering LNAPL movement, there are some differences according to the hydraulic gradient, the quantity of oil leakage and dispersivity. The mean deviation between the model in this study and a conventional model without LNAPL movement increases as the hydraulic gradient decreases and the quantity of oil leakage increases. Variation of dispersivity has no influence on the magnitude of the mean deviation. However, the spatial distribution of the deviation between the two models is wider as dispersivity increases. Furthermore, groundwater is at high risk of contamination in the vertical direction in the case that transverse dispersion value is large. A conventional model underestimates the concentration of solute in an aquifer where the movement of an LNAPL cannot be negligible: Based on the study results, it is important to understand how fast the LNAPL moves on the water table for realistic prediction of solute transport in an aquifer with the movable LNAPL on the water table.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.126-129
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• 2002

도우미로봇은 혼자 힘으로 걷기 어려운 노약자를 보조하는 보행 보조 기능과 다양한 오락 기능을 수행하는 로봇이다. 이 로봇은 음원 위치 추정기법에 의해서 어느 방향에서 소리가 발생하였는지 알아내고 그 방향으로 머리를 회전한다. 로봇의 머리에는 CCD카메라가 장착되어 있어서 카메라로부터 들어오는 영상에서 사람의 얼굴을 찾고 그 사람이 있는 곳까지 자율 주행기능에 의해서 장애물을 회피하며 이동한다. 사용자의 앞까지 이동하면 로봇은 이동을 멈추고 사용자로부터 명령을 받을 때까지 대기한다. 노약자는 로봇의 전반부에 부착되어 있는 터치스크린을 이용하여 로봇에게 다양한 명령을 내릴 수 있다. 로봇은 명령에 따라 보행 보조 작업을 수행하거나 전자메일, 음악, 영화 등 다양한 엔터테인먼트 서비스를 수행하게 된다.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2019.05a
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• pp.92-92
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• 2019

인공위성을 활용하여 선박을 탐지하고, 광학위성의 경우 파장별로 Sensing time이 다른 성질을 활용, Up-sampling 및 Cross-correlation 기법을 적용하여 운항중 선박의 속력과 방향을 추정하고 실제 AIS 데이터와 비교하였다.