• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2325-2330
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• 2005

A potential field method for solving the problem of path planning based on global and local information for a mobile robot moving among a set of stationary obstacles is described. The concept of various method used path planning is used design a planning strategy. A real human living area is constructed by many moving and imminence obstacles. Home service mobile robot must avoid many obstacles instantly. A path that safe and attraction towards the goal is chosen. The potential function depends on distance from the goal and heuristic function relies on surrounding environments. Three additional combined methods are proposed to apply to human living area, calibration robots position by measured surrounding environment and adapted home service robots. In this work, we proposed the application of various path planning theory to real area, human living. First, we consider potential field method. Potential field method is attractive method, but that method has great problem called local minimum. So we proposed intermediate point in real area. Intermediate point was set in doorframe and between walls there is connect other room or other area. Intermediate point is very efficiency in computing path. That point is able to smaller area, area divided by intermediate point line. The important idea is intermediate point is permanent point until destruction house or apartment house. Second step is move robot with sensing on front of mobile robot. With sensing, mobile robot recognize obstacle and judge moving obstacle. If mobile robot is reach the intermediate point, robot sensing the surround of point. Mobile robot has data about intermediate point, so mobile robot is able to calibration robots position and direction. Third, we gave uncertainty to robot and obstacles. Because, mobile robot was motion and sensing ability is not enough to control. Robot and obstacle have uncertainty. So, mobile robot planed safe path planning to collision free. Finally, escape local minimum, that has possibility occur robot do not work. Local minimum problem solved by virtual obstacle method. Next is some supposition in real living area.

• Proceedings of the Korea Water Resources Association Conference
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• 2007.05a
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• pp.855-859
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• 2007

It is essential to obtain accurate and highly reliable streamflow data for water resources planning, evaluation and management as well as design of hydraulic structures. A new discharge estimation method, which is named 'non-dimensional velocity distribution and index-velocity method,' was proposed in this research. This method showed very close channel discharges which were calculated with the exiting velocity-area method. When velocity-area method is used to estimate channel discharge, it is required to observe point velocities at every desired point and vertical using a current meter like Price-AA. However 'non-dimensional velocity distribution and index-velocity method' is used, it become optional to observe point velocities at every desired point and vertical. But this method can not be applied for the cases of very complex and strongly asymmetric channel cross-sections because non-dimensional velocity distribution by entropy concept may be quite biased from that of natural rivers.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2010.04a
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• pp.387-388
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• 2010

There is no generalized and systematic method yet to data pre-processing for point cloud data classification even if there have been lots of previous studies such as local maxima filter, morphology filter, slope based filter and so on. Main focus of this study is to present classification method for bare ground information from LiDAR data for the mountainous area.

• Journal of Korean Society on Water Environment
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• v.26 no.5
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• pp.761-767
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• 2010

This study introduces a model of territorial analysis on Chungcheongnam-do Nonsan-chun valley area, which gives an example of a method of selecting the management area for non-point pollution source from land use to help eliminate its source. High discharge load per unit area signify high level of land ratio with high level of basic unit of development load (including factory sites, school sites, roadways), which mean that there are a significant level of urbanization. It is these areas with the examination of the water quality of the nearby river that should be considered as the management area for non-point pollution source. Thus, the management area for non-point pollution source should be sought in areas with high discharge load per unit area and high density of water pollution area. When level of drainage is high the pollution density level is relatively lower, and when the level of drainage is low the density level is relatively higher. The level of pollution from non-point pollution source is much lower with more water flowing through. The possible non-point pollution source areas that were selected with these standards were then examined with the distance from the river, the slope angle, land usage, elevation, BOD discharge density load, T-N discharge density load, T-P discharge density load, and were given a level one through five. Out of the possible areas Nonsan-si Yeonmu-eup Anshim-li was the densest area, and it was given level one. The level one area should be examined further with the field analysis to be selected as the actual management area for non-point pollution source.

• ETRI Journal
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• v.36 no.6
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• pp.942-952
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• 2014

This paper presents a novel test point insertion (TPI) method for a pseudo-random built-in self-test (BIST) to reduce the area overhead. Recently, a new TPI method for BISTs was proposed that tries to use functional flip-flops to drive control test points instead of adding extra dedicated flip-flops for driving control points. The replacement rule used in a previous work has limitations preventing some dedicated flip-flops from being replaced by functional flip-flops. This paper proposes a logic cone analysis-based TPI approach to overcome the limitations. Logic cone analysis is performed to find candidate functional flop-flops for replacing dedicated flip-flops. Experimental results indicate that the proposed method reduces the test point area overhead significantly with minimal loss of testability by replacing the dedicated flip-flops.

• The Journal of Korea Robotics Society
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• v.10 no.1
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• pp.9-15
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• 2015

We present a robust power transmission lines detection method based on vanishing point estimation. Vanishing point estimation can be helpful to detect power transmission lines because parallel lines converge on the vanishing point in a projected 2D image. However, it is not easy to estimate the vanishing point correctly in an image with complex background. Thus, we first propose a vanishing point estimation method on power transmission lines by using a probabilistic voting procedure based on intersection points of line segments. In images obtained by our system, power transmission lines are located in a fan-shaped area centered on this estimated vanishing point, and therefore we select the line segments that converge to the estimated vanishing point as candidate line segments for power transmission lines only in this fan-shaped area. Finally, we detect the power transmission lines from these candidate line segments. Experimental results show that the proposed method is robust to noise and efficient to detect power transmission lines.

• KIPS Transactions on Software and Data Engineering
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• v.2 no.6
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• pp.413-422
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• 2013

In this paper, we propose a novel method for real-time lane detection that is robust for inclined roads and not require a camera parameter, the Inverse Perspective Transform of the image, and the proposed lane filter. After finding the vanishing point from the start frame of the image and storing the region surrounding the vanishing point as the Template Area(TA), our method predict the lanes by scanning toward the lower part from the vanishing point of the image and obtain the image removed the perspective effect using the Inverse Perspective Transform coefficients extracted based on the predicted lanes. To robustly determine lanes on inclined roads, the region surrounding the vanishing point is set up as the template area (TA), and, by recalculating the vanishing point by tracing the area similar to the TA (SA) in the input image through template matching, it responds to the changes on the road conditions. The proposed method for a more robust lane detection method for inclined roads is a lane detection method by applying a lane detection filter on an image removed of the perspective effect. Through this method, the processing region is reduced and the processing procedure is simplified to produce a satisfactory lane detection result of about 40 frames per second.

• Journal of the Korean Association of Geographic Information Studies
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• v.17 no.3
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• pp.68-81
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• 2014

This study aims to apply and evaluate the automatic DAD analysis method, which is able to establish the depth-area relationship more efficiently and accurately for point-to-areal rainfall conversion. First, the proposed automatic DAD analysis method tracks the expansion route of area from the storm center, and it is divided into Box-tracking, Point-tracking, Advanced point-tracking according to tracking method. After applying the proposed methods to 10 events occurred in Yongdam-watershed area, we confirmed that the Advanced point-tracking method makes it possible to estimate the maximum average areal rainfal(MAAR) more accurately with consideration of the storm movement and the multi-centered storm. In addition, Advanced point-tracking could reduce the errors of the estimated MAAR induced by increasing the area because it can estimate MAAR for each storm center and compare them at the same time. Finally, the DAD curve for the study area could be derived based on the DAD analysis of the selected 10 events.

• Korean Journal of Remote Sensing
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• v.38 no.6_1
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• pp.1025-1034
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• 2022

In this paper, we propose a post-processing method through interpolation of hole regions that occur when extracting point clouds. When image matching is performed on stereo image data, holes occur due to occlusion and building façade area. This area may become an obstacle to the creation of additional products based on the point cloud in the future, so an effective processing technique is required. First, an initial point cloud is extracted based on the disparity map generated by applying stereo image matching. We transform the point cloud into a grid. Then a hole area is extracted due to occlusion and building façade area. By repeating the process of creating Triangulated Irregular Network (TIN) triangle in the hall area and processing the inner value of the triangle as the minimum height value of the area, it is possible to perform interpolation without awkwardness between the building and the ground surface around the building. A new point cloud is created by adding the location information corresponding to the interpolated area from the grid data as a point. To minimize the addition of unnecessary points during the interpolation process, the interpolated data to an area outside the initial point cloud area was not processed. The RGB brightness value applied to the interpolated point cloud was processed by setting the image with the closest pixel distance to the shooting center among the stereo images used for matching. It was confirmed that the shielded area generated after generating the point cloud of the target area was effectively processed through the proposed technique.

• Journal of Korean Medical classics
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• v.25 no.4
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• pp.105-113
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• 2012

Objectives : Acquiring information from symptoms is one of the important method to gain clinically available information in korean medicine. Therefore, up to now, study of symptom terms was frequently implemented in promotion of various information project. In data extraction methods using symptom information from DB, information search using synonym and method using ontology is studied and utilized. However, considering concept of symptom has essential information of appeared body area and phenomenon we think that extending synonym and ontology relationship in symptom terms can be useful for search and set to this study. Methods : We collect terms relevant to human body area and structure described in Donguibogam. Synonymous relationship between collected terms is organized. Relationship between collected terms is build to human-body-knowledge table which has form of Concept+Relation+Concept. Type of relationship is limited on a range of expressing content about parts of human body. Result & Conclusion : Search condition is generated automatically using relationship of the upper area in knowledge table contents. Information of next and previous acupuncture point, upper and lower acupuncture point, left and right acupuncture point can be searched using information of acupuncture point location, order, relative position in area, direction in knowledge table contents.