• 한국건설관리학회:학술대회논문집
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• 한국건설관리학회 2007년도 정기학술발표대회 논문집
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• pp.938-942
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• 2007

최근 건설산업의 현장 생산성이 점차 저하되는 현실을 개선하기 위하여 시공과정에서의 프로세스 개선이 중요 사항으로 부각되고 있다. 이에 따라 다양한 3D 센싱기법이 개발되어 적용되고 있지만 구체적인 장비 적용성 및 기술검토는 부족하다. 본 연구의 목적은 시공과정에서 3D기반 광대역 모델링 기술을 활용한 건설현장의 3D구현을 통해 실시간으로 현장의 실시간 변화상황을 파악하여 현장관리의 효율화는 물론 시공 진척도 측정 및 공정관리 과정의 정보흐름 활성화를 통해 현장 생산성 증대에 기여하는 것이며 이를 위해 모델링 관련 알고리즘과 광대역 현장 구현관련 기술의 조사연구를 실시하였다. 시공현장 실시간 현장 모니터링 정보를 제공함으로써 안전사고 발생율 감소와 함께 현장정보 데이터베이스의 구축과 활용을 통한 향후 유사공사 적용 및 우리 건설산업 생산 프로세스 개선의 계기가 될 수 있을 것이다. 나아가 건설산업 전체 이미지 제고에도 큰 역할을 할 수 있으리라 사료된다.

• 지구물리
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• 제3권1호
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• pp.13-24
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• 2000

제주도 내의 13개의 수준점에서 GPS를 측정하였으며, 이에 의한 GPS/Levelling 지오이드와 PNU95 지오이드를 비교, 분석하여 보았다. GPS의 측정결과 각. 수준점의 타원체 높이를 ${\pm}3\;cm$ 이내의 정밀도로 측정하였다. 계산된 GPS/Levelling 지오이드는 제주도의 지형 변화를 잘 나타내고 있으며, 제주도에서 지오이드와 지형의 상관식은 다음과 같다. $$N\;=\;0.001082\;{\times}\;h\;+\;25.458\;{\pm}\;0.227\;s.d.$$ 계산된 GPS/Levelling 지오이드와 PNU95 지오이드는 잘 일치하고 있으며 두 지오이드의 RMS 차이는 0.14 m이다.

• 한국콘텐츠학회논문지
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• 제11권4호
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• pp.440-447
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• 2011

적지선정은 이용목적에 적합한 공간 또는 속성조건을 인자로 정하고 이를 만족하는 지역을 선정하는 것으로 체계적으로 수행되어야 한다. 본 연구는 계층적 분석과정과 GIS분석 모델링 방법을 이용하여 주거지 개발의 합리적인 적지선정을 시도한 것이다. 연구에서 적지선정을 위해 공간적 속성적 분석방법을 계층화하였으며 단계 별 효율적 결과도출을 위해 GIS분석 모델을 사용하였다. 다음 단계로, 적지선정 조건과 의사결정요소들을 유기적으로 고려하여 정량적 정성적인 평가지표를 만들고 요소들의 경중에 따라 가중치를 적용하였다. 특히, 주관적 평가요소인 경관에 대한 심미적인 요소를 반영하기 위해 3차원 지형모델의 시뮬레이션기법을 사용하였으며 계층적기법을 도입한 정성적인 평가요소로 고려하였다. 연구결과, 계층적 GIS모델분석으로 신속, 정확하게 복합적인 요구조건을 만족하는 적지를 선정할 수 있었다.

• 대한공간정보학회지
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• 제17권1호
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• pp.53-59
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• 2009

일반도시계획은 보편적이고 획일적인 건축행위를 제한하는 평면계획인 반면 지구단위계획은 필지, 가구, 획지단위 별로 차등을 두어 다양한 건축행위를 유도할 수 있는 입체적인 계획이다. 그러므로 단지계획을 위해서는 토지이용계획 등 2차원적인 토지정보뿐만 아니라 채광, 배수, 향 등의 분석을 위해 3차원적인 지형정보의 이용이 필요하다. 이러한 필요성을 충족시키기 위해 GIS 및 사진측량 기법을 이용하여 정보를 구축한다면 보다 합리적이고 효율적으로 단지계획을 수립할 수 있다. 본 연구에서는 테스트지역에 대해 GIS기법을 이용하여 단지계획을 위한 정보를 구축하였으며 위성영상과 DEM으로 대상지역의 3차원 모델을 구축하여 분석하였다. 연구결과 토지이용분석, 배향 분석, 수계분석, 경사분석을 실시하여 지구단위계획 수립에 효율적으로 활용할 수 있었다. 또한 분석결과를 반영하여 실제 대상지역에 대해 지구단위계획을 수립한 결과 적절하며 효율적임을 알 수 있었다.

• 대한기계학회논문집A
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• 제32권4호
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• pp.340-346
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• 2008

An unmanned surveillance robot consists of a machine gun, a laser receiver, a thermal imager, a color CCD camera, and a laser illuminator. It has two axis control systems for elevation and azimuth. Because the current robot system is mounded at a fixed post to take care of surveillance tasks, it is necessary to modify such a surveillance robot to be installed on an UGV (Unmanned Ground Vehicle) system in order to watch blind areas. Thus, it is required to have a stabilization system to compensate the disturbance from the UGV. In this paper, a simulation based design scheme has been adopted to develop a mobile surveillance robot. The 3D CAD geometry model has first been produced by using Pro-Engineer. The required pan and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to compensate the motion of the vehicle which will experience the rough terrain. To test the performance of the stabilization control system of the robot, ADAMS/simulink co-simulations has been carried out.

• 한국측량학회:학술대회논문집
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• 한국측량학회 2004년도 춘계학술발표회논문집
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• pp.15-26
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• 2004

The calibration for systematic error in LiDAR is crucial for the accuracy of airborne laser scanning. The main error is the misalignment of platforms between INS(Inertial Navigation System) and Laser scanner For planimetrical calibration of LiDAR, the building is good feature which has great changes in height and continuous flat area in the top. The planimetry error(pitch, roll) is corrected by adjustment of height which is calculated from comparing ground control points(GCP) of building to laser scanning data. We can know scale correction of laser range by the comparison of LiDAR data and GCP is arranged at the end of scan angle where maximize the height error. The area for scale calibration have to be large flat and have almost same elevation. At 1000m for average flying height, The Accuracy of laser scanning data using LiDAR is within 110cm in height and ${\pm}$50cm in planmetry so we can use laser scanning data for generating 3D terrain surface, expecically digital surface model(DSM) which is difficult to measure by aerial photogrammetry in forest, coast, urban area of high buildings

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1179-1184
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• 2007

An unmaned surveillance robot consists of rifle, laser receiver, thermal imager, color CCD camera, and laser illuminator. A human guard can be replaced with such a robot to take care dangerous surveillance tasks. Currently most of surveillance robots are mounded at a fixed post to take care of surveillance tasks. In order to watch blind areas, it is necessary to modify such a surveillance robot to become a mobile robot. In this paper, simulation based design procedure of mobile surveillance robot has been introduced. 3D CAD geometry model has been produced using Pro-Engineer. Required pen and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to stabilize the system from the motion of the vehicle which experiences the rough terrain. ADAMS-Matlab co-simulation has been also carried out to validate the proposed target tracking and stabilization algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.308-313
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• 2005

For a real-time quadruped robot running control, there are many important objectives to consider. In this paper, the running control architecture based on global states, which describe the cyclic target motion, and central pattern is proposed. The main goal of the controller is how the robot can have robustness to an unpredictable environment with reducing calculation burden to generate control inputs. Additional goal is construction of a single framework controller to avoid discontinuities during transition between multi-framework controllers and of a training-free controller. The global state dependent neuron network induces adaptation ability to an environment and makes the training-free controller. The central pattern based approach makes the controller have a single framework, and calculation burden is resolved by extracting dynamic equations from the control loop. In our approach, the model of the quadruped robot is designed using anatomical information of a cat, and simulated in 3D dynamic environment. The simulation results show the proposed single framework controller is robustly performed in an unpredictable sloped terrain without training.

• 한국측량학회지
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• 제25권6_1호
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• pp.575-583
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• 2007

Surface segmentation aims to represent the terrain as a set of bounded and analytically defined surface patches. Many previous segmentation methods have been developed to extract planar patches from LIDAR data for building extraction. However, most of them were not fully satisfactory for more general applications in terms of the degree of automation and the quality of the segmentation results. This is mainly caused from the limited information derived from LIDAR data. The purpose of this study is thus to develop an automatic method to perform surface segmentation by combining not only LIDAR data but also images. A region-based method is proposed to generate a set of planar patches by grouping LIDAR points. The grouping criteria are based on both the coordinates of the points and the corresponding intensity values computed from the images. This method has been applied to urban data and the segmentation results are compared with the reference data acquired by manual segmentation. 76% of the test area is correctly segmented. Under-segmentation is rarely founded but over-segmentation still exists. If the over-segmentation is mitigated by merging adjacent patches with similar properties as a post-process, the proposed segmentation method can be effectively utilized for a reliable intermediate process toward automatic extraction of 3D model of the real world.

• 한국자동차공학회논문집
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• 제12권4호
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• pp.163-172
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• 2004

Nowadays, to analyze the dynamic characteristics of the automotive driving system, the computer simulation linked up with VR(Virtual Reality) technology is treated as the useful method with the improvement of computing ability. In this paper, the VR simulation system has been developed to investigate the driving characteristics of the ASV(Advanced Safety Vehicle) equipped with an ACC(Adaptive Cruise Control) system. For the purpose, VR environment which generates 3D graphic and sound information of the vehicle, the road, the facilities, and the terrain has been organized for the driving reality. Mathematical models of vehicle dynamic analysis including the ACC model have been constructed for computer simulation. The ACC modulates the throttle and brake functions to regulate the vehicle speed so that vehicles could keep proper spacing. Also, the real-time simulation algorithm synchronizes vehicle dynamic simulation with the graphic rendering. With the developed VR simulation system, simple scenarios are applied to analyze the dynamic characteristics. It is shown that the VR simulation system could be useful to evaluate the adaptive cruise controlled vehicle on various driving conditions.