• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.16 no.4
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• pp.97-108
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• 2016

In this paper, we consider a cooperative monitoring network, which consists of a large number of UAVs, in order to promptly detect event in a disaster area. A command center may not be able to control each UAV individually due to resource constraints. Therefore, UAVs need to autonomously construct a mobile monitoring network in order to maximize monitoring coverage and to adapt the network formation according to environment changes in the disaster area. To that end, we propose multiple UAVs-based cooperative monitoring schemes that uses virtual forces. In this monitoring scheme, an effective monitoring is enabled by extending monitoring coverage using each UAV's circle movements. The UAVs-based monitoring network can also be splitted or merged in order to increase the monitoring effectiveness. Through simulations, we show that the proposed scheme can effectively monitor a large area and achieve a high event detection ratio.

• Journal of the Institute of Convergence Signal Processing
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• v.5 no.4
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• pp.256-262
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• 2004

A key component of an autonomous mobile robot is to localize itself and build a map of the environment simultaneously. In this paper, we propose a vision-based localization and mapping algorithm of mobile robot using fisheye lens. To acquire high-level features with scale invariance, a camera with fisheye lens facing toward to ceiling is attached to the robot. These features are used in mP building and localization. As a preprocessing, input image from fisheye lens is calibrated to remove radial distortion and then labeling and convex hull techniques are used to segment ceiling and wall region for the calibrated image. At the initial map building process, features we calculated for each segmented region and stored in map database. Features are continuously calculated for sequential input images and matched to the map. n some features are not matched, those features are added to the map. This map matching and updating process is continued until map building process is finished, Localization is used in map building process and searching the location of the robot on the map. The calculated features at the position of the robot are matched to the existing map to estimate the real position of the robot, and map building database is updated at the same time. By the proposed method, the elapsed time for map building is within 2 minutes for 50㎡ region, the positioning accuracy is ±13cm and the error about the positioning angle of the robot is ±3 degree for localization.

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

• Korean Journal of Construction Engineering and Management
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• v.25 no.1
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• pp.42-49
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• 2024

In recent years, the construction industry has diligently focused on improving the quality and safety of buildings through smart technologies. However, there is a growing trend of leakage defects, especially in educational facilities, due to aging. The objective of this study is to analyze the causes of these defects in educational environments using the Fault Tree Analysis (FTA) technique and propose preventive measures based on the findings. The FTA technique is explained through a review of domestic literature, and data from the Educational Support Center from 2019 to 2021 are examined to identify major defects. The construction of the Fault Tree (FT) for leakage defects resulted in the identification of 12 basic events. Subsequently, a comprehensive understanding of the causes of leakage is achieved through FTA analysis, leading to the identification of the primary causes of defects. Leakage defects accounted for 46.8% of all reported issues in educational facilities, with roof (ceiling) leaks being the most common problem. FTA analysis revealed that poor substrate treatment was the main cause of roof (ceiling) leaks, which could be attributed to cracks in the waterproof layer, joint cracks, and microvoids in the waterproof layer. The primary achievement of this research is to provide essential data for preventing leakage defects in educational facilities and developing preventive measures through the FTA technique. These results are expected to significantly enhance the management of educational facilities and the prevention of leakage issues.

• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.2
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• pp.256-265
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• 2021

Ground, sea and air mobility, such as vehicles, ships, and airplanes, are generally operated by people. Based on the innovative development of autonomous decision-making systems and artificial intelligence (AI) following the recent fourth industrial revolution, research and development on maritime autonomous surface ships (MASS) is been actively performed around the world. Before the realization of the commercialization of MASS in international maritime transport, it is urgent to clarify the characteristics of this ship and its international legal status. This paper aims to analyze the concern of whether a ship without crew members will eventually be operated as a fully unmanned ship or can be recognized as a ship under international law as the number of crew members is gradually reduced owing to the development stage of autonomous ships. Consequently, based on the United Nations Convention on the Law of the Sea (UNCLOS) and the regulations of the International Maritime Organization (IMO), it was found that MASS has the same international legal status as general ships. In addition this paper presents the working principles of enacting and revising the IMO Conventions and international legal measures necessary for the safe operation of MASS.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.21 no.1
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• pp.9-17
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• 2003

Typhoon RUSA, which caused serious damage was passed over in Korea peninsula during 30 August to 1 September, 2002. We estimated tropospheric wet delay using GPS data and meteorological data during this period. Integrated Water Vapor(IWV) gives the total amount of water vapor from tropospheric wet delay and Precipitable Water Vapor(PWV) is calculated the IWV scaled by the density of water. We obtained GPS PWV at 13th GPS permanent stations(Seoul, Wonju. Seosan, Sangju, Junju, Cheongju, Taegu, Wuljin, Jinju, Daejeon, Mokpo, Sokcho, Jeju). We retrieve GPS data hourly and use Gipsy-Oasis II software and we compare PWV and precipitation. GPS observed PWV time series demonstrate that PWV is, in general, high before and during the occurrence of the typhoon RUSA, and low after the typhoon RUSA. GPS PWV peak time at each station is related to the progress of a typhoon RUSA. We got very near result as we compare GMS Satellite image with tomograph using GPS PWV and we could present practical use possibility by numerical model for weather forecast.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2017.04a
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• pp.173-173
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• 2017

드론의 시장규모가 커짐에 따라 초창기 군사 목적에서 현재 민간부문으로 확대되고 있다. 현재 드론은 실외에서 사용될 목적으로 제작된 것이 많으나 실내에서도 드론의 활용 여부가 증가할 것으로 예상된다. 본 연구에서는 실외에서만 사용 가능한 GPS를 대신하여 영상 촬영으로 획득한 이미지를 CNN으로 학습을 시켜 자율고도제어비행을 하도록 한다. 첫 번째로 수동 조작하는 드론에 IMU센서를 부착하여 획득한 고도 데이터를 표로 제시함으로써 GPS를 사용하지 않는 드론의 실내주행에서 일정한 고도 유지는 다소 무리가 있음을 보여준다. 두 번째로 드론의 수동 조작은 일정하지 않은 고도 때문에 CNN의 학습할 영상 획득이 어렵다. 일정한 고도의 영상 획득을 위한 실험용 높이 조절 Base를 제작하여 고도별 영상을 획득한다. 획득한 영상을 통해 얻은 이미지를 CNN 학습을 시킨 후, 학습에 사용되지 않은 이미지를 사용하여 고도 판별을 확인한다. 대조군으로 실내장소를 바꾸어 미리 학습된 CNN으로 고도 판별을 확인한다. 학습에 사용된 이미지의 환경(생명공학관)과 대조군(제 2 공학관)이 촬영된 장소의 환경요소의 차이로 오차가 발생한다. 오차는 실내 장소의 총 높이의 차이 및 서로 상이한 천장 구조물에 따른 것으로 사료되며 Data crop을 통해 획득한 이미지의 천정 부분을 제거하여 노이즈를 줄여 고도 판별의 정확도를 높일 수 있을 것으로 예상한다. 세 번째, CNN으로 학습을 통해 Model을 도출하여 자율 고도 제어 프로세스를 제시한다. 그리고 해당 프로세스를 이용한 자율고도제어 주행과 수동조작을 통한 주행에서의 Z축 가속도 데이터의 표준편차를 비교하여 본 연구의 실효성을 보여준다

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.9
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• pp.1971-1978
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• 2011

In RFID-based cold-storage systems, product locations are recognized as the logical locations of RFID readers which are attached to the entrance of the cold rooms. However, through these methods, product locations can be incorrect in many different situations of a storage. Cold storage rooms have a huge rage in temperature, and the product in the cold-storage spoils easily. Therefore, highly precise product locations is very important for the product quality In this paper, a new approach is suggested to manage the storage location inaccuracy by adding two readers to existing forklift and attaching RFID tags to the ceiling. One reader recognizes ceiling tags to acquire location data, and the other recognizes product tags to acquire product detail data loaded on the forklift. The product can be seamlessly tracked and traced in realtime by monitoring and analyzing data gathered from these readers. Through the proposed location management method, the effectiveness of the product management in cold-storage can be improved consequently.

• Proceedings of the Korea Contents Association Conference
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• 2009.05a
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• pp.875-879
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• 2009

In this paper, we propose the measurement camera system of flight data of golfball for the application of screen golf contents. The existing flight data extraction system that applied on the screen golf content divided plate is dependent on it. in this paper, the camera system install in the ceiling that is able to look at passing golf ball. And left-handed and left-handed bats in the clear of the restrictions. Using high-speed CCD camera is shooting the ball flying. Acquired image is calculated from the coordinates. The location information of the calculated golf ball calculates a speed and a direction by using the physical formula, it applies the golf contents. After this system is useful sports type contents baseball, soccer, tennis.

• Tunnel and Underground Space
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• v.24 no.3
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• pp.212-223
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• 2014

In this study, the stability analyses for metal mine roadways at a great depth were performed. In-situ stress measurements using hydrofracturing, numerous laboratory tests for rock cores and GSI & RMR classifications were conducted in order to find the physical properties of both intact rock and in-situ rock mass distributed in the studied metal mine. Through the scenario analysis and probabilistic assessment on the results of rock mass classification, the in-situ ground conditions of mine roadways were divided into the best, the average and the worst cases, respectively. The roadway stabilities corresponding to the respective conditions were assessed by way of the elasto-plastic analysis. In addition, the appropriate roadway shapes and the support patterns were examined through the numerical analyses considering the blast damaged zone around roadway. It was finally shown to be necessary to reduce the radius of roadway roof curvature and/or to install the crown reinforcement in order to enhance the stability of studied mine roadways.