• Proceedings of the KIEE Conference
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• 2002.06a
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• pp.114-119
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• 2002

본 논문에서는 자율 이동 로봇의 장애물에 대한 실시간 충돌 회피 동작의 문제에 대하여, 로봇이 장애물과 충돌하지 않는 안정적인 회피 동작과 유연한 궤적 생성, 그리고 효과적인 최적의 조향 동작을 계획할 수 있게 하기 위하여 레이저 스케닝 센서를 이용한 지역 장애물 회피 방법을 제안한다. 레이저 센서를 이용한 로봇의 안전한 방향 탐색은 자율 이동 로봇이 검출할 수 있는 최대의 검출 영역에서부터 로봇의 중심점을 향해 순차적으로 임계치를 줄여가는 동안 나타나는 무충돌 안전 구간과 충돌 구간을 정의함으로서 구성된다. 제안한 안전 방향 구간 탐색에 의한 로봇의 장애물 회피 동작의 성능 실험은 최적 방향의 탐색 성능을 평가하며, 실제의 이동 로봇을 이용하여 실험한 결과에 대하여 고찰하고 결론을 내린다.

• Proceedings of the Korea Water Resources Association Conference
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• 2012.05a
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• pp.471-471
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• 2012

도시유역에서 주로 침수피해가 발생하는 방류토구 인근의 저지대의 경우 유수지 및 빗물펌프장을 통하여 피해 발생을 방지할 수 있는 반면, 도심지 한복판에 이러한 상습 침수지역이 존재한다면 이에 대한 침수 방지 시설물의 설치에는 한계가 있다. 이러한 도심지 한복판의 침수위험지역의 경우 부지 확보의 어려움으로 인하여 유수지의 설치는 매우 제한적이며, 따라서 근래 대두되고 있는 것이 지하 저류공간의 건설 등이다. 그러나 본 연구에서는 이러한 지하 저류공간의 건설과 더불어 우수관망의 설계 자체를 침수피해 저감 측면에서 그 효과를 최대화하고자 하였다. 본 연구에서는 동일한 설계빈도하에 설계된 우수관망이라 하더라도 관망의 노선 선정에 따라서 초과강우사상에 따른 침수 발생량이 달라질 수 있다는 점에 주목하였다. 즉, 우수관망의 전체적인 구성에 있어서 설계빈도를 초과하는 강우사상에 대하여 그 부하량을 적정히 분배함으로써 관망의 전체적인 침수 발생 위험을 전반적으로 줄이는 것이다. 이를 통하여 확보되는 안전성은 지하 저류공간 등 각종 침수피해 저감 시설과 더불어 우수관망시스템의 침수피해 발생 위험을 전반적으로 줄일 수 있을 것이다. 본 연구에서는 이러한 목적하에 도시유역에서의 침수위험도 분석을 실시하였으며, 선행 연구를 통하여 제안된 우수관망의 신뢰도 산정 식을 토대로 목적함수를 아래의 식과 같이 구성하였다. $$Max.\;liability\;of\;Sewer\;Networks=1-\;{(1-N)^2+(1-V_i)^2\atop2}\;\cdots\cdots\cdots\;\;\;(1)$$ 여기서, $V_i$는 적용된 강우량당 유역의 전체 유출량 대비 월류발생량을 나타내며, $N_i$는 적용된 강우량당 해당 관망의 전체 지점 수 대비 월류 발생지점 수를 나타낸다. 이를 통하여 우수관망의 신뢰도를 최대화할 수 있는 최적설계 알고리즘을 개발하였으며, 실제 도시유역에 대한 적용을 통하여 최적 설계에 따른 신뢰도 향상 정도를 정량화하였다.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.41 no.3
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• pp.11-16
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• 2004

Recently, collaborative works are increased more and more over the distributed heterogeneous computing environments. The availability of high-speed wide-area networks has also enabled collaborative multimedia applications such as video conferencing, distributed interactive simulation and collaborative visualization. Distributed high performance computing and collaborative multimedia applications, it is extremely important to efficiently perform group communication over a heterogeneous network. Typical group communication patterns are broadcast and Multicast. Heuristic algorithms such as FEF, ECEF, look-ahead make up the message transmission tree for the broadcast and multicast over the distributed heterogeneous systems. But, there are some shortcomings because these select the optimal solution at each step, it may not be reached to the global optimum In this paper, we propose a new heuristic algerian that constructs tree for efficiently collective communication over the previous heterogeneous communication model which has heterogenity in both node and network. The previous heuristic algorithms my result in a locally optimal solution, so we present more reasonable and available criterion for choosing edge. Through the performance evaluation over the various communication cost, improved heuristic algorithm we proposed have less completion time than previous algorithms have, especially less time complexity than look-ahead approach.

• Proceedings of the Korean Information Science Society Conference
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• 2004.10b
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• pp.628-630
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• 2004

정렬되지 않은 3차원 측정 점들로부터 이들을 근사하는 표면을 재구성하는 방법을 제안하였다. 제안된 방법은 경계면 축소포장 방식에 의한 표면 재구성 방법 (shrink-wrapped boundary face : SWBF)으로, 측정 점으로부터 경계셀과 경계면을 구해 초기 메쉬를 생성하고 이를 연속적으로 축소하는 방식에 의해 표면을 재구성한다 제안된 방법은 기존의 표면 축소포장 방식의 메쉬 생성 방법의 문제점인 물체의 토폴로지에 대한 제악이 없이 어떠한 형태의 표면 재구성에도 적용이 가능하며, 기존 방법이 축소 단계에서 각 메쉬 정점에 대한 최단거리 측정점을 찾는 전역 탐색을 해야 하는데 비해 지역 탐색만으로 최적의 측정 점을 찾을 수 있으므로 처리 시간 측면에서도 우월하다. 실험을 통해 제안된 표면 재구성 알고리즘이 측정 점들간의 관계를 알 수 없는 정렬되지 않은 3차원 정들에 대한 표면 재구성에 매우 안정적이고 효과적임을 확인할 수 있었다.

• The Korean Journal of Applied Statistics
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• v.17 no.2
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• pp.281-301
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• 2004

In this paper we consider the change point problem in a sequence of univariate normal observations. We want to know whether there is any change point or not. In case a change point exists, we will identify its change type. Namely, it can be a mean change, a variance change, or both the mean and variance change. The intrinsic Bayes factors of Berger and Pericchi (1996, 1998) are used to find the type of optimal change model. The Gibbs sampling including the Metropolis-Hastings algorithm is used to estimate all the parameters in the change model. These methods are checked via simulation and applied to the winter average temperature data in Seoul.

• Korean Journal of Remote Sensing
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• v.24 no.2
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• pp.133-140
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• 2008

In this paper, we analyzed the accuracy of orbit modeling with various control point configurations and adjustment unknown parameter sets. We used 152 GCP points acquired from GPS surveying, which were distributed from Choon-chun to Nha-ju along 420km in distance. For orbit modeling, seven adjustment parameter sets were chosen to include parameters for satellite position, velocity and attitude angles at different degree of freedom. Firstly we determined the location of model point in seven configurations. Secondly we estimated model parameters for each parameter set and for each GCP configurations. Finally we applied the model to reference check points and analyzed its accuracy. We were able to find the unknown parameter set that produce best orbit modeling performance regardless of the configuration of model points.

• Journal of Broadcast Engineering
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• v.14 no.3
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• pp.322-331
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• 2009

This paper proposes an efficient data representation of stereo images using edge-based mesh optimization. Mash-based two dimensional warping for stereo images mainly depends on the performance of a node selection and a disparity estimation of selected nodes. Therefore, the proposed method first of all constructs the feature map which consists of both strong edges and boundary lines of objects for node selection and then generates a grid-based mesh structure using initial nodes. The displacement of each nodal position is iteratively estimated by minimizing the predicted errors between target image and predicted image after two dimensional warping for local area. Generally, iterative two dimensional warping for optimized nodal position required a high time complexity. To overcome this problem, we assume that input stereo images are only horizontal disparity and that optimal nodal position is located on the edge include object boundary lines. Therefore, proposed iterative warping method performs searching process to find optimal nodal position only on edge lines along the horizontal lines. In the experiments, we compare our proposed method with the other mesh-based methods with respect to the quality by using Peak Signal to Noise Ratio (PSNR) according to the number of nodes. Furthermore, computational complexity for an optimal mesh generation is also estimated. Therefore, we have the results that our proposed method provides an efficient stereo image representation not only fast optimal mesh generation but also decreasing of quality deterioration in spite of a small number of nodes through our experiments.

• Journal of the Korea Society for Simulation
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• v.16 no.3
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• pp.1-9
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• 2007

Travel time between two points depends upon whether it is a rush hour or not in metropolitan area. It is true that there is big differences on the time required to get through the area whether going in busy morning or near noon. Another issue is that there exist many delivery points which closely located each other; so no need to consider traveling hours among these points. We designed an efficient procedure to reduce the complexity by considering closely located delivery points as one big delivery point. A computer simulation model is constructed for comparison purposes of the developed heuristic with the optimum solution.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.37 no.6
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• pp.499-506
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• 2019

NDSM (Normalized Digital Surface Model) is key information for the detailed analysis of remote sensing data. Although NDSM can be simply obtained by subtracting a DTM (Digital Terrain Model) from a DSM (Digital Surface Model), in case of UAV (Unmanned Aerial Vehicle) data, it is difficult to get an accurate DTM due to high resolution characteristics of UAV data containing a large number of complex objects on the ground such as vegetation and urban structures. In this study, RGB-based UAV vegetation index, ExG (Excess Green) was used to extract initial seed points having low ExG values for region growing such that a DTM can be generated cost-effectively based on high resolution UAV data. For this process, local window analysis was applied to resolve the problem of erroneous seed point extraction from local low ExG points. Using the DSM values of seed points, region growing was applied to merge neighboring terrain pixels. Slope criteria were adopted for the region growing process and the seed points were determined as terrain points in case the size of segments is larger than 0.25 ㎡. Various slope criteria were tested to derive the optimized value for UAV data-based NDSM generation. Finally, the extracted terrain points were evaluated and interpolation was performed using the terrain points to generate an NDSM. The proposed method was applied to agricultural area in order to extract the above ground heights of crops and check feasibility of agricultural monitoring.

• Journal of the Korean Regional Science Association
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• v.37 no.1
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• pp.45-61
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• 2021

This research purposes to design a methodological framework to suggest the optimal method to resolve the conflicts of stakeholders surrounding the water use charge of the Han River region, and to use the analysis results to provide the direction of policy. For this, it was preceded that the process of understanding the mechanisms of the multifaceted conflict between decision makers taking different positions over water use charge of the Han River region, and an optimal method to resolve the conflict of water use charge of the Han River region was derived by using a graph model for conflict resolution(GMCR). According to the analysis results, the optimal state to find a solution to the water use charge of the Han River is that the Seoul-Incheon-Gyeonggi region pays the charge according to the original rate while Seoul-Incheon requesting discount the water use rate. In addition, the Han River management committee should establish policies desired by Seoul-Incheon-Gyeonggi region including rationalization of the decision-making structure to determine the rate of water use charge, making the basis to support the Han River management fund system for the Seoul-Incheon region, and transparent management of the Han River management fund system considering the characteristics of beneficiary regions and residents. This study is expected to provide objective decision-making information in establishing environmental policy directions related to conflict resolution in the water use charge of the Han River region and to offer a methodological basis for similar follow-up studies related to conflicts derived from sharing nature environment.