• Title/Summary/Keyword: 환경적인 장애물

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A Geocoding Method on Character Matching in Indoor Spaces (실내 공간에서의 문자매칭 기반 지오코딩 기법)

  • Lee, Kang-Jae;Lee, Jiyeong
    • Spatial Information Research
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    • v.21 no.1
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    • pp.87-100
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    • 2013
  • Recently, the use of locational information is growing rapidly. GPS technology has been adopted generally for obtaining locational information in outdoor spaces. In the other hand, the researches on indoor positioning have been carried out applying WLAN, RFID or Bluetooth technology because of the multi-path interference of GPS signal caused by the physical obstacles such as walls or columns in buildings. However, such technologies for indoor positioning cost too much to build sensing infrastructure and compute-intensive processes are involved. Furthermore, the accuracy of location estimation is variable caused by interior structures in buildings. In this study, to make up for the limitations, descriptive data such as phone number, unique room numbers, or business names readily available in mixed-use buildings is used for extracting location information. Furthermore, during the process, a geocoding method using character matching is applied to this study enabling prompt location estimation and sublating the fluctuation of accuracy caused by interior structures. Based on the proposed method in this study, an architecture is designed, and three-dimensional viewer program is developed for the implementation of this study. Also, this research is quantitatively analyzed through match rate and processing time of proposed method.

Improvement of Multilateration using Vector Prediction Algorithm and Kalman Filter (벡터 예측 알고리즘과 칼만 필터를 이용한 다변측량법 개선)

  • Kim, Jung-Ha;Joo, Yang-Ick;Lee, Sung-Geun;Park, Sang-Gug;Seo, Dong-Hoan
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.16 no.12
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    • pp.2792-2799
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    • 2012
  • Multilateration that consists of three or more fixed nodes has been widely used in the field of indoor real time location system(RTLS). However, when one or two among fixed nodes are partially out of communication reachability due to obstruction and unstable node, it is difficult to obtain an efficient location information. In order to improve the challenges of poor ranging measurements and fluctuations in these environment, this paper presents, based on TOF(Time of Flight), a new algorithm which can reduce the inherent ranging measurements errors in the conventional multilateration using a vector prediction algorithm for the displacement estimation of mobile node and Kalman filter for an efficient distance average. Even if a person moves with mobile node and then it fails ranging measurement from some of fixed nodes, the proposed algorithm using a present and previous measurement value can predict the distance between mobile node and fixed node which fails ranging measurement. The experimental results are shown that the proposed system improves the localization accuracy and efficiency compared with conventional method, respectively.

A Study on the Propagation Characteristics of Wireless Communication System for Firefighters in Kimhae Site (김해지역 소방무선통신시스템의 전파특성 연구)

  • Lee, Su-Bin;Ko, Bong-Jin
    • Journal of Advanced Navigation Technology
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    • v.19 no.2
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    • pp.168-174
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    • 2015
  • Wireless communication system for firefighters has an important role as the last communication method between the commander and the firefighters in disaster sites like fire. But the operation of Gyeongnam wireless communication system is installed, and maintained and controlled without criteria for the selection of a transmitting station and the analysis of propagation environment because of the lack of budget and the absence of professional personnel. To improve the performance of the radio station, this paper theoretically calculated free space loss of UHF 400 MHz band used by all firefighters in Gyeongnam and diffractions caused by single and multiple obstacles and computed the error after comparing the results of the actual measurement to those of simulation with FRAS operated by KFL. In the results, Deygout model was the most consistent with the actual measurement for 400MHz band in Kimhae site.

Path Planning Method of Home Vacuum Robot with Mapping and Localization (지도 생성과 위치 인식을 적용한 가정용 청소로봇의 경로 탐색 기법)

  • Yang, Si-Hyeon;Lee, Jeong-Hyun;Chung, Duck-Won;Min, Dug-Ki
    • Proceedings of the Korean Information Science Society Conference
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    • 2010.06c
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    • pp.358-363
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    • 2010
  • 본 논문은 가정용 청소로봇이 대중화가 이루어지면서 많은 종류의 청소로봇들이 개발되고 있지만 대부분의 청소로봇들이 외부 환경과 상호적으로 대응하지 못하고 무작위 경로 생성에 가까운 알고리즘들을 적용하고 있는 점에서 착안하였다. 목표로 하고 있는 경로 탐색 기법은 대부분의 가정용 청소로봇이 장착하고 있는 범퍼 센서를 사용하여 논리적인 가상의 지도를 생성하고 이 정보를 활용하여 청소로봇의 위치를 파악하고 최적의 청소 경로를 생성하는 방법이다. 사람이 진공청소기를 사용하여 청소를 하듯이 청소할 공간을 파악하고 일련의 규칙대로 청소하는 무의식의 프로세스를 청소로봇이 최대한 유사하게 작동하기 위해서는 벽뿐만 아니라 소파나 테이블과 같은 로봇의 움직임을 방해하는 각종 요소들을 모두 고려해야 한다. 그러므로 본 논문에서는 Occupancy Grid Map을 생성하여 로봇이 장애물의 위치를 파악하고 청소 경로를 탐색할 수 있도록 한다. 그리고 이러한 경로 탐색 기법을 적용하기 위해서 Monte-Carlo Localization 알고리즘을 사용하며 생성된 Occupancy Grid Map을 통하여 로봇이 자체적으로 위치를 파악할 수 있도록 한다. 청소로봇이 자체의 위치를 파악하게 되면 로봇의 크기와 비교하여 움직일 수 있는 공간과 움직이지 못하는 공간을 구별하여 이동 가능한 영역과는 별개로 청소를 위한 경로 탐색을 수행할 수 있다. 청소를 목적으로 하는 경로 탐색은 청소 영역을 최대화하면서 최적의 경로를 탐색하고 Localization을 통해 해당 경로를 유지하면서 이동할 수 있게 된다. 이러한 경로 탐색 기법을 제시하면서 기존의 청소로봇들과의 알고리즘 차원에서의 비교 및 그 성능 평가는 향후 연구에서 해결하도록 한다.

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Hydraulic Experiment on Roughness Coefficient of PE pipe (폴리에틸렌관의 조도계수에 관한 수리모형실험)

  • Dongwoo Ko;Byeong Wook Lee;Jae-Seon Yoon;Hyun-Gu Song
    • Proceedings of the Korea Water Resources Association Conference
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    • 2023.05a
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    • pp.288-288
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    • 2023
  • 도로, 철도 등의 횡단통로, 오폐수관로, 지하배수관 등 연약지반에서 상재하중과 부등침하에 의한 파괴 위험을 줄이기 위해 구조적인 안전성과 내구성이 개선된 다양한 관로들이 활용되고 있다. 관은 매설특성에 따라 콘크리트관, 도관, 합성수지관, 덕타일 주철관, 파형강관, 유리섬유 강화 플라스틱과 폴리에스테르수지 콘크리트관 등의 종류로 구분된다(환경부, 2017). 수리설계 시 이러한 관의 단면 규모 결정 및 흐름 특성을 파악하기 위해 관수로 유량측정에 이용되는 Manning의 경험식을 이용하고 있으며, 관로의 주요 재질에 따른 다양한 조도계수가 제시되어 있다. 새로운 재질을 이용하여 제작된 관은 수리실험을 통해 조도계수를 결정하는 것이 바람직하지만, 조도계수 실험은 대규모의 실험시설과 유량공급이 요구되기 때문에 여러 한계가 있다. PE관의 경우, 미국의 ASTM 표준에 의해 저밀도 폴리에틸렌(LDPE), 선형 저밀도 폴리에틸렌(LLDPE), 고밀도 폴리에틸렌(HDPE) 등으로 분류되는데 본 연구에서는 HDPE 재질의 서로 직경이 다른 다중벽관 PE관을 대상으로 조도계수를 결정하기 위한 현장 실규모 수리실험을 수행하였다. 본 실험에서는 식생, 수로의 불규칙성, 수로노선, 침전과 세굴, 장애물, 계절적 변화, 부유물질과 소류사는 무시되며 표면조도, 관의 크기와 형상, 수위와 유량이 조도계수에 영향을 미치는 주요 인자라고 할 수 있다. 수리실험은 실물모형(Prototype)으로 한국농어촌공사 농어촌연구원의 대형수리모형실험장에서 수행되었으며. 길이 24 m, 직경 150 mm의 PE 관은 고정식 개수로, 직경 800 mm의 관은 대형유사순환수로에 각각 설치되었다. 관로의 전면에 차폐막을 설치하여 상류부 수위를 안정시킨 상태에서 실험을 수행하였고, 차폐막으로부터 하류방향으로 약 7 m(측정기준지점), 11 m, 13 m, 15 m, 17 m 떨어진 곳에서 각각 수위와 유속을 측정하였다. 실험 결과, φ150관은 직경대비 수심이 클수록 조도계수가 감소하는 경향이 나타났고, φ800관은 직경대비 수심의 변화에 따른 조도계수의 경향이 크게 드러나지 않았다. 결론적으로 PE관의 조도계수는 수심별로 변화하는 것으로 나타났으며, 특정 수심을 지나면 조도계수가 다시 감소할 것으로 판단된다.

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Parameter Analysis for Super-Resolution Network Model Optimization of LiDAR Intensity Image (LiDAR 반사 강도 영상의 초해상화 신경망 모델 최적화를 위한 파라미터 분석)

  • Seungbo Shim
    • The Journal of The Korea Institute of Intelligent Transport Systems
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    • v.22 no.5
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    • pp.137-147
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    • 2023
  • LiDAR is used in autonomous driving and various industrial fields to measure the size and distance of an object. In addition, the sensor also provides intensity images based on the amount of reflected light. This has a positive effect on sensor data processing by providing information on the shape of the object. LiDAR guarantees higher performance as the resolution increases but at an increased cost. These conditions also apply to LiDAR intensity images. Expensive equipment is essential to acquire high-resolution LiDAR intensity images. This study developed artificial intelligence to improve low-resolution LiDAR intensity images into high-resolution ones. Therefore, this study performed parameter analysis for the optimal super-resolution neural network model. The super-resolution algorithm was trained and verified using 2,500 LiDAR intensity images. As a result, the resolution of the intensity images were improved. These results can be applied to the autonomous driving field and help improve driving environment recognition and obstacle detection performance

Healing Landscape Design for Hospital Outdoor Space - A Case of the Kyeongsang National University Hospital in Changwon - (치유경관의 개념을 적용한 병원 옥외공간 조경설계 - 창원 경상대학교 병원을 사례로 -)

  • Min, Byoung-Wook
    • Journal of the Korean Institute of Landscape Architecture
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    • v.41 no.1
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    • pp.82-92
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    • 2013
  • This paper presents a landscape design proposal for the Kyeongsang National University Hospital in Changwon, Kyeongsangnam-do. The site is located at 555 Samjeongja-dong, Seongsan-gu, Changwon, Kyeongsangnam-do, and its area is approximately $79,743.1m^2$. The goal of the design was to create a landscape that helps the patients' recovery and public well-being as well as respects the surrounding environment. In order to achieve this goal, three design subjects were considered: maximizing the healing functions of the landscape, promoting ecologically regenerative landscape, and increasing the aesthetic value of the landscape based on the local context. For the healing aspect, first, therapeutic plants were carefully selected and various healing programs were introduced to the open space area such as the sensory garden, meditative space, the medicinal herb garden, outdoor acupressure treatment facilities, remedial playground etc. In addition, as the importance of patient's privacy is emphasized in research, the space and circulation patterns were divided according to the characteristics of the users. For ecological consideration, the design proposed to preserve and extend the existing ridgeline with pine forest, and recover the natural water system and recycle the water for the landscape management. For the aesthetic experience of the people, in contrast to the surrounding evergreen forest, diverse deciduous and flowering plants were introduced to arouse a sense of the season, and fruit bearing trees for wildlife to create a specific mood of being in nature so that people can listen to the songs of the birds and watch squirrels play etc. In addition, all the spaces and facilities were designed and placed according to universal design principles so that there would be no barrier for the patients to use them. Also, a sustainable management scheme was suggested to maintain the landscape in ecological and economical ways.

Investigating on the Necessity of Integrated Project Management System for Effective Facility Management Utilizing Digital Twin Technology (디지털트윈을 활용한 건축물 시설안전대응 통합관리체계 구축 필요성에 관한 연구)

  • Yum, Sang-Guk;Park, Young-Jun
    • KSCE Journal of Civil and Environmental Engineering Research
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    • v.42 no.5
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    • pp.711-721
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    • 2022
  • Due to a long-term pandemic of COVID-19 since 2019, our society finally goes into 'un-tact (non-contact) era' in earnest by increasing an importance of non-contacted activities which are able to live without contacts among people. Un-tact era has influenced to generate a huge structural change with digitalization in our daily life as well as industrial society based on digital twin as an essential technology. As a technology representing real world in virtual digital world by integrating various technologies applied to 4th industrial revolution, digital twin leads an innovation in industrial society with diverse industrial processes. But this technique isn't actively used across all industries due to structural limitations and environmental restrictions of digital twin. Especially, the field of construction and facility is necessary to use digital twin because it requires periodic managements of buildings in daily life and is directly connected with casualties in cases of disaster. But issues faced in reality are acting as an obstacle for applying digital twin. Therefore, this study suggests the necessity applying digital twin in facility safety response based on these issues and emphasizes active applications of digital twin by describing the expected effects being created. Furthermore, it connects to create demands of digital twin by overcoming current issues and suggesting high sustainable development.

Proteomics of Liver Tissues of Bombina orientalis Following Exposure to Nonylphenol (Proteomics를 이용한 내분비계장애물질인 nonylphenol에 노출된 무당개구리의 단백질 발현 비교 연구)

  • Kim, Ho-Seung;Gye, Myung-Chan
    • Korean Journal of Ecology and Environment
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    • v.36 no.3 s.104
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    • pp.369-374
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    • 2003
  • Nonylphenol (NP), an well known aquatic contaminant, has been known to induce abnormalities in various aquatic animals. In an effort to develop proteome in the study of aquatic contamination of NP and its impact on the amphibia, protein changes in liver tissues of Korean red bellied frog, Bombina orientalis was investigated following the NP exposure. NP was administered intraperitoneally to male B. orientalis at 10 mg/kg body weight. At 48 and 96h after the treatment, the frog livers were sampled, and the protein fraction was separated using two dimensional gel electrophoresis (2D/E) and visualized with Coomassie brilluant blue staining. The 2D/E Images of the tissue from the animals treated with NP showed marked changes of protein spots (about 20% of total protein spots). Analysis of the 50-60 separated spots allowed identification of the major protein changes in the overall pattern for the stressor (NP) by time (0,48 and 96 h). At 48h after treatment, 8 spots were increased and 12 spots were reduced. Then, at 96h after treatment, 10 spots were increased and 8 spots were reduced. In total, approximately 29% of liver proteins showed the altered expression following the NP treatment. It is suggested that protein expression was repressed by blocking of certain metabolisms at 48 hand induced by the synthesis of new proteins for adaptation at 96 h following NP exposure. This application for 2D/E analysis may show promise in searching biomarkers for environmental proteomics in amphibians.

Real-Time Object Tracking Algorithm based on Pattern Classification in Surveillance Networks (서베일런스 네트워크에서 패턴인식 기반의 실시간 객체 추적 알고리즘)

  • Kang, Sung-Kwan;Chun, Sang-Hun
    • Journal of Digital Convergence
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    • v.14 no.2
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    • pp.183-190
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    • 2016
  • This paper proposes algorithm to reduce the computing time in a neural network that reduces transmission of data for tracking mobile objects in surveillance networks in terms of detection and communication load. Object Detection can be defined as follows : Given image sequence, which can forom a digitalized image, the goal of object detection is to determine whether or not there is any object in the image, and if present, returns its location, direction, size, and so on. But object in an given image is considerably difficult because location, size, light conditions, obstacle and so on change the overall appearance of objects, thereby making it difficult to detect them rapidly and exactly. Therefore, this paper proposes fast and exact object detection which overcomes some restrictions by using neural network. Proposed system can be object detection irrelevant to obstacle, background and pose rapidly. And neural network calculation time is decreased by reducing input vector size of neural network. Principle Component Analysis can reduce the dimension of data. In the video input in real time from a CCTV was experimented and in case of color segment, the result shows different success rate depending on camera settings. Experimental results show proposed method attains 30% higher recognition performance than the conventional method.