• Journal of the Korea Society of Computer and Information
• /
• v.27 no.11
• /
• pp.107-114
• /
• 2022

In this paper, proposes a delivery robot that can be autonomous driving learning. The proposed robot is designed to be used in park-type apartments without ground parking facilities. Compared to the existing apartments with complex ground and underground routes, park-type apartments have a standardized movement path, allowing the robot to run stably, making it suitable for students' initial education environment. The delivery robot is configured to enable delivery of parcels through machine learning technology for route learning and autonomous driving using cameras and LiDAR sensors. In addition, the control MCU was designed by separating it into three parts to enable learning by level, and it was confirmed that it can be used as a delivery robot for learning through operation tests such as autonomous driving and obstacle recognition. In the future, we plan to develop it into an educational delivery robot for various delivery services by linking with the precision indoor location information recognition technology and the public technology platform of the apartment.

• Journal of Korean Society for Geospatial Information Science
• /
• v.22 no.4
• /
• pp.3-11
• /
• 2014

Recently, rapid urbanization has necessitated continuous updates in digital map to provide the latest and accurate information for users. However, conventional aerial photogrammetry has some restrictions on periodic updates of small areas due to high cost, and as-built drawing also brings some problems with maintaining quality. Alternatively, this paper proposes a scheme for efficient and accurate update of digital map using point cloud data acquired by Terrestrial Laser Scanner (TLS). Initially, from the whole point cloud data, the building sides are extracted and projected onto a 2D image to trace out the 2D building footprints. In order to register the footprint extractions on the digital map, 2D Affine model is used. For Affine parameter estimation, the centroids of each footprint groups are randomly chosen and matched by means of a modified RANSAC algorithm. Based on proposed algorithm, the experimental results showed that it is possible to renew digital map using building footprint extracted from TLS data.

• Economic and Environmental Geology
• /
• v.52 no.3
• /
• pp.231-241
• /
• 2019

Kinematic analysis determines the stability of rock slope by analyzing the relationship between the slope face orientation and the discontinuity orientation. In this study, terrestrial LiDAR was used to obtain a large amount of discontinuity orientation data and then, the probabilistic characteristics of the orientation data obtained using terrestrial LiDAR were analyzed. Subsequently, the probabilistic kinematic analysis was carried out using the discontinuity orientations generated randomly from Fisher function in Monte Carlo simulation. In addition, the probabilistic kinematic analysis was also performed using the actual orientation data obtained from the terrestrial LiDAR to compare their results. Consequently, the results of both probabilistic analyses showed similar results. Therefore, if sufficient orientation data are provided by other means such as terrestrial LiDAR, the probabilistic analysis will show reasonable results using the actual field data without randomly generating orientation data. In addition, the deterministic kinematic analysis was also carried out using representative orientation of discontinuity sets. The analysis result of the probabilistic analysis showed similar results with the deterministic analysis because the dispersion of the discontinuity orientations in a joint set is not large.

• Korean Journal of Remote Sensing
• /
• v.36 no.6_3
• /
• pp.1681-1690
• /
• 2020

A scanning lidar system has been developed. The system has two wavelength observation channels of 532 and 1064 nm and is capable of 360-degree horizontal scanning observation. In addition, an analysis method that can classify the measured particle as an indicator of coarse-mode particle (PM2.5-10) and an indicator of fine-mode particles (PM2.5) and calculate the mass concentration of each has been developed by using the backscatter coefficient at two wavelengths. It was applied to the data calculated by observation. The mass concentrations of PM10 and PM2.5, which showed a distribution of 22-110 ㎍/㎥ and 7-78 ㎍/㎥, respectively, were successfully calculated in the Ulsan Onsan Industrial Complex using the developed scanning lidar system. The analyzed results showed similar values to the mass concentrations measured on the ground around the lidar observation area, and it was confirmed that high concentrations of 80-110 ㎍/㎥ and 60-78 ㎍/㎥ were measured at points discharged from factories, respectively.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.26 no.2
• /
• pp.117-127
• /
• 2008

Korea has a large number of landslides due to localized torrential downpours and typhoons in summer, causing great human damage and economic losses. In particular, most roads in the Gangwon area are located in mountains, making them expose to a great risk of landslide. Therefore, it is urgent to prepare countermeasures to prevent these landslides. Necessary for that are various slope investigation and high-tech observation techniques for slope maintenance. Recently there have been slope observation techniques using optical fiber sensors, GPS, CCD cameras, Total Station and satellite images; however, these are not used much due to poor economic feasibility, low accuracy and efficiency. This study evaluated accuracy of displacement extraction of model slopes using terrestrial LiDAR to determine its application to landslide monitoring. As a result, it can measure several mm of minute displacement with high accuracy and help to rapidly obtain geographical features of slope.

• Journal of the Korean Geographical Society
• /
• v.48 no.3
• /
• pp.321-335
• /
• 2013

High resolution data for the coastal sand beach during short-term in Jinbok-ri, Uljin-gun, Gyeongsangbuk-do are obtained by terrestrial LiDAR. The micro-geomorphological changes of 8 times before and after the strong low-pressure events during June to September, 2009 and changes under the various environments of wave-energy are investigated in the study. The obvious geomorphological changes between the northern and southern sand beach in Jinbok-ri are revealed by terrestrial LiDAR as well as by grain size analysis. The strong waves by the typhoons decrease the area and volume of the beach, and especially the area is largely influenced. The erosive and depositional processes dominate the northern and southern sand beach, respectively, after high wave in September. These results suggest that lots of sand grains in the beach are largely re-transported within the beach rather than offshore.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.30 no.2D
• /
• pp.191-198
• /
• 2010

The displacement of slope is a key factor in predicting the risk of a landslide. Therefore, the slope displacement should be continuously observed with high accuracy. Recently, high-tech equipment such as optical fiber sensor, GPS, total station and measuring instrument have been used. However, such equipment is poorly used in fields due to economics, environment, convenience and management. Because of this, development of substantial observational techniques for varied slope observation and field applications is needed. This study analyzed the possibility of terrestrial LiDAR for slope monitoring and suggested it as information-obtaining technique for slope investigation and management. For that, this study evaluated the monitoring accuracy of terrestrial LiDAR and performed GRID analysis to read the displacement area with the naked eye. In addition, it suggested a methodology for slope monitoring.

• Asian Journal of Turfgrass Science
• /
• v.26 no.1
• /
• pp.24-34
• /
• 2012

The study was carried out to investigate the effects of polymer, calcium, perlite and chitosan on the growth of perennial ryegrass (Lolium perenne L., PR) and to provide a basic information needed for their practical application when establishing garden, parks, athletic field and golf courses with these materials. A total of 24 treatment combinations were applied in the study. Treatments were made of water-swelling polymer (WSP), calcium, perlite and chitosan mixed in soil organic amendment (SOA). Germination rate, turfgrass coverage, turfgrass density and top growth were evaluated in PR under greenhouse conditions. Significant differences were observed for these growth characteristics among the treatments. Turfgrass density and plant height, evaluated on a weekly basis, varied with time after seeding. A proper mixing rate of WSP was considered to be lower 3% for the growth of PR with an exception of being below 6% for turfgrass density. Germination rate and early survival capacity were greatly influenced by calcium and chitosan among the elements of calcium, perlite, and chitosan. But there was little effect by perlite. Calcium and chitosan were most effective one for turfgrass density and coverage, respectively. Top leaf-growth was influenced by all three elements, but the greatest effect was highly linked with calcium. Chitosan was very effective in early germination and vertical leaf growth, as compared with the others. Future studies are required for measuring the effect of WSP, calcium, perlite and chitosan on the turf growth characteristics in root zone mixtures of sand+SOA before a practical field use.

• Proceedings of the Korean Society of Computer Information Conference
• /
• 2022.01a
• /
• pp.301-302
• /
• 2022

최근 지상 통로에 차량 통행 공간과 보행자 통행 공간이 분리되어있지 않은 공원형 아파트가 증가하고 있다. 이로 인해 택배 차량의 아파트 단지 안으로 진입을 통제하는 아파트가 늘어나고 있다. 현재는 이러한 상황에서 택배기사들이 직접 손수레를 끌고 아파트 안으로 들어가거나, 수령인이 직접 아파트 입구에서 택배를 수령하는 방법으로 문제를 해결 해 왔다. 본 논문은 이러한 불편함을 개선하기 위해 아파트 입구에서 집 앞까지 인공지능 기술과 카메라, 라이다센서를 이용하여 자율주행으로 택배를 운반 해줄 수 있는 '자율주행 택배 운반 로봇' 기술을 제안한다. 기존의 사람이 직접 택배를 집 앞까지 운반하는 방식이 아닌 자율주행 로봇을 이용한 방식으로 택배기사들의 과로로 인한 사고를 예방하고, 아파트 입주민들의 불편도 줄어들 것이다.

• The Science & Technology
• /
• v.33 no.5 s.372
• /
• pp.29-29
• /
• 2000

지잘학에는 동일과정설과 격변설이 있는데 동일과정설은 현재 지상에서 일어나는 변화와 비슷한 같은 변화가 지질시대에도 있었다는 영국의 찰스 라이엘(1797~1875년)의 주장이고 격변설은 화산폭발 같은 큰 변화가 갑자기 일어나 지구의 모습과 생물을 눈깜짝할 사이에 바꾼다는 것으로 프랑스 고생물학자 조르쥬 퀴비에(1769~1832년)의 주장이다. 팽팽히 맞섰던 두 그룹의 주장을 다시 조명해본다.