• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.895-903
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• 2016

In a fire disaster in a tunnel, people should be rescued immediately using the information obtained from cameras or sensors. However, in heavy smoke from a fire, people cannot be clearly identified by a mounted CCTV, which is only effective in a clear environment. A thermal camera can be an alternative to this in smoky situations and is capable of detecting people from their emitted thermal energy. On the other hand, the thermal image camera has a smaller field of view than an ordinary camera due to its lens characteristics and temperature error, etc. In order to cover a relatively wide area, panoramic image construction needs to be implemented. In this work, a template-based similarity matching algorithm for constructing the panorama image is proposed and its performance is verified through experiments. This scheme provides guidelines for coping with difficulty in image construction, which requires an exact correspondence search for two images in cases of heavy smoke.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.37 no.2
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• pp.45-53
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• 2019

RGB-D SLAM (Simultaneous Localization and Mapping) refers to the technology of using deep camera as a visual sensor for SLAM. In view of the disadvantages of high cost and indefinite scale in the construction of maps for laser sensors and traditional single and binocular cameras, a method for creating three-dimensional map of indoor environment with deep environment data combined with RGB-D SLAM scheme is studied. The method uses a mobile robot system equipped with a consumer-grade RGB-D sensor (Kinect) to acquire depth data, and then creates indoor three-dimensional point cloud maps in real time through key technologies such as positioning point generation, closed-loop detection, and map construction. The actual field experiment results show that the average error of the point cloud map created by the algorithm is 0.0045m, which ensures the stability of the construction using deep data and can accurately create real-time three-dimensional maps of indoor unknown environment.

• Journal of The Korean Association of Information Education
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• v.18 no.3
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• pp.413-422
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• 2014

The positive impacts of robotics education and programming education on learners are similar. However, robotics education differs from programming education because it includes purchasing and building robots that cause financial and cognitive load of learners. Due to these differences, two kinds of education may not possess equal efficacies for all schools or all learning objectives. To verify this hypothesis, we conducted meta-analysis of studies on robotics education published in South Korea to estimate the effect sizes and compare it to that of programming education. The difference between the average effect sizes of robotics education and of programming education was significant, as the former was 0.4060 and the latter 0.6664. The average effect size of programming education was significantly larger than that of robotics education for primary school students. Middle school students achieved the highest results in both robotics education and programming education. Also, robotics education became more effective than programming education as students were older. Analysis on objectives showed that programming education uniformly affected all areas, whereas robotics education had more impact on affective domain than cognitive domain. Robot construction had the largest effect size, followed by robot construction and programming, robot programming, and robot utilization. Programming education has larger positive impacts on students overall compared to robotics education. Robotics education is more effective to upperclassmen than programming education, and improves affective domain of students. Also, robotics education shows higher efficacy when combined with various subjects.

• Korean Journal of Construction Engineering and Management
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• v.21 no.2
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• pp.98-106
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• 2020

Conventional method of PHC pile head cutting work has several challenges with regard to safety, convenience, productivity, and quality. To address such problems, a prototype of the all-in-one attachment-based PHC pile cutting robot is developed(Yeom, 2018). The Primary objective of this study are to develop a final prototype of all-in-one attachment-based PHC pile cutting robot and to analyze technical feasibility and field applicability of final prototype. According to the technical feasibility and field applicability analysis result, at least 74.2% of the respondents are selected positive answer about technical feasibility of the final prototype, at least 66.6% of the respondents are selected positive answer about field applicability of the final prototype. It is expected that when deployed onsite, the final prototype can not only increase the practical use but also improvement the work safety and productivity of work at the PHC pile head cutting job site.

• Korean Journal of Construction Engineering and Management
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• v.19 no.6
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• pp.115-123
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• 2018

The primary objective of this study is to develop an all-in-one based steel pipe pile cutting robot prototype that improves the conventional steel pipe pile head cutting work in safety, quality, and productivity. For this, the following research works are conducted sequentially; 1)literature review and expert survey, 2)selection of core technology using AHP analysis, 3)deduction of detail design, 4)verification of structural stability, 5)development of full-scale prototype. As a result leveling laser and laser detector(94.46), plasma cutter(96.72), rotary grapple(98.45) are selected as a core technologies. As an outcome, it is analyzed that gripper, cylinder pivot bracket and gripper base are structurally stable. Their maximum stresses are shown as 43.0%, 19.4%, 5.3% compared to their yield strength respectively. The development of full-scale prototype in this study will be utilized for the development of the all-in-one attachment based steel pipe pile cutting robot commercialization model.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• 2008.11a
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• pp.184-192
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• 2008

Recently, one of the solutions for the problems of construction industry such as low productivity, lack of experts, insufficiency of manpower, high percentage of calamity and so forth, construction automation which let underdeveloped construction production system be a ultramodern technology is under research. Internal study of construction automation has been initiated since 1980s focusing on robotics and semi-automation for reduction of labor. Therefore development of construction robots is being concentrated with the high development of information technology and Intelligent Excavating System(IES) project had been launched by ministry of land, transportation, and maritime affairs as one way of construction technology revolution business. This study introduces the final goal and the research progress until second year of IES.

• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.179-188
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• 2021

Construction monitoring is one of the key modules in smart construction. Unlike structured urban environment, construction site mapping is challenging due to the characteristics of an unstructured environment. For example, irregular feature points and matching prohibit creating a map for management. To tackle this issue, we propose a system for data acquisition in unstructured environment and a framework for Intensity and Ambient Enhanced Lidar Inertial Odometry via Smoothing and Mapping, IA-LIO-SAM, that achieves highly accurate robot trajectories and mapping. IA-LIO-SAM utilizes a factor graph same as Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping (LIO-SAM). Enhancing the existing LIO-SAM, IA-LIO-SAM leverages point's intensity and ambient value to remove unnecessary feature points. These additional values also perform as a new factor of the K-Nearest Neighbor algorithm (KNN), allowing accurate comparisons between stored points and scanned points. The performance was verified in three different environments and compared with LIO-SAM.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.77-78
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• 2010

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.147.2-147
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• 2001

In this paper we develop a new robust trajectory tracking control scheme without using joint velocity. The proposed controller doesn´t employ adaptation, Therefore, the construction of the controller becomed very simple. Moreover, by using numerical simulation, we make sure the effectiveness of the proposed controller in the presence of quantization errors.

• Proceedings of the Korea Contents Association Conference
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• 2010.05a
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• pp.459-462
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• 2010

E-Leaning 시스템에 필요한 LMS(Learning Management Systems)의 구축과 강의 제작은 일반 교육자들이 쉽게 접근할 수 없는 고급 기술 및 고비용을 필요로 한다. 따라서 일반 교육자들에게는 e-러닝 시스템의 이용이 용이하지 않은 실정이다. e-러닝 시장의 확대 및 교육 콘텐츠의 다양화를 위하여 일반 교육자들이 손쉽게 접근 및 이용이 가능한 오픈형 e-러닝 시스템의 구축 방법론을 개발하였다.