• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.7
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• pp.655-663
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• 2017

With the development of ICT technology, the indoor utilization of robots is increasing. Research on transportation, cleaning, guidance robots, etc., that can be used now or increase the scope of future use will be advanced. To facilitate the use of mobile robots in indoor spaces, the problem of self-location recognition is an important research area to be addressed. If an unexpected collision occurs during the motion of a mobile robot, the position of the mobile robot deviates from the initially planned navigation path. In this case, the mobile robot needs a robust controller that enables the mobile robot to accurately navigate toward the goal. This research tries to address the issues related to self-location of the mobile robot. A robust position recognition system was implemented; the system estimates the position of the mobile robot using a combination of encoder information of the mobile robot and the absolute space coordinate transformation information obtained from external video sources such as a large number of CCTVs installed in the room. Furthermore, vector field histogram method of the pass traveling algorithm of the mobile robot system was applied, and the results of the research were confirmed after conducting experiments.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.20 no.4
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• pp.389-398
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• 2002

As the necessity of land information has increased according to development of computer and Information-communication, people have been interested in the satellite measurement system that can update Cadastral and Geographical information rapidly and exactly. Most Cadastral base points which had limitation of measurement technology in the 1910s were less accurate and were destroyed through the Korean War. They also many problems in the process of reinstallation. So, they require the quick and correct method of measurement in re-equipment of a base point and a parcel based survey and so on. This study intends to present the GPS survey direction by understanding and analysing all sorts of problems rising in case of applying the GPS to cadastral area in order to increase the efficiency of the GPS measurement, and also develop the GPS kinematic survey program to apply to the efficiency of a kinematic survey. As a result of research, I could confirm the accuracy of Cadastral base points in Kwangju area by using Korea GPS array and a base point, and could get the result similar to existent cadastral survey result with the coordinate conversion program of Cadastral technology research institute. We however have to pay our attention to the transformation of the plane coordinates because the difference between tens of cm and the existing result can outbreak according to the Gauss conformal double projection method. And, I could figure out the practicality of the developed GPS kinematic survey program, compared with common use program. I expect that it can be applied to the digital cadastral survey and the cadastral map renewal as well.

• Journal of Korean Society for Geospatial Information Science
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• v.2 no.1 s.3
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• pp.121-129
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• 1994

A number of existing cadastral control stations have been destroyed and shifted by a long lapse of time and careless management. Also, results of them are partly poor owing to dependence on conventional survey method. Because of these, it is very difficult in use of results. Hereupon, correction of cadastral results is necessary in level of government. But it is very consumable to check and adjust results with existing equipments and related techniques only. It is required that this problem can be resolved efficiently. This study analyzed the conformability for cadastral control network to GPS, GPS, which determine precise 3-D coordinates on a short time, to positioning of cadastral stations. We chose DaeJon city for the test area of this study and analyzed the precision of network composed of sixteen cadastral control stations. We made comparision the old result and the new outcome which obtained from coordinate transformation method and horizontal network adjustment method. As a result of this, we detected the blunder of cadastral stations. Furthermore, we suggested effective network type according to precision analysis of GPS observation network. Therefore, there is no doubt that GPS surveying can be applied to checking and adjustment of cadastral control network. Hereafter, it is expected that the practical use of GPS is advanced in a field of cadastration.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.27 no.6
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• pp.699-710
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• 2009

If a country has her geoid model, it could be determine accurate orthometric height because the geoid model could provide continuous equi-gravity potential surface. And it is possible to improve the coordinates accuracy of national control points through geodetic network adjustment considering geoidal heights. This study aims to find the best way to develop geoid model in Philippines which have similar topographic conditions as like Malaysia and Indonesia in Eastsouth asia. So, in this study, it is surveyed the general theories of geoid determination and development cases of geoid model in Asia and it is computed that the geoidal heights and gravity anomalies by spherical harmonic analysis using EGM2008, the latest earth geopotential model. The results show that first, the development of gravimetric geoid model based on airborne gravimetry is needed and second, about 200 GPS surveying data at national benchmark is needed. It is concluded that it is the most reasonable way to develop the hybrid geoid model through fitting geometric geoid by GPS/leveling data to gravimetric geoid. Also, it is proposed that four band spherical Fast fourier transformation(FFT) method for evaluation of Stokes integration and remove and restore technique using EGM2008 and SRTM for calculation of gravimetric geoid model and least square collocation algorithm for calculation of hybrid geoid model.

• Journal of Bio-Environment Control
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• v.13 no.1
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• pp.1-7
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• 2004

This study is kinematics for the manipulator development of cucumber harvesting. A theory value was verified by repeated error measurement after the forward kinematics or inverse kinematics analysis of manipulator. Manipulator is consisted of one perpendicular link and two revolution link. The transformation of manipulator can be valued by kinematics using Denavit-Hartenberg parameter. The value of inverse kinematics which is solved by three angles faction shows two types. Repeated errors refered maximum 2.60 mm, 2.05mm and 1.55 mm according to X, Y, Z axis. In this study, the actual coordinates of maximum point and minimum point were agreement in the forward kinematics or inverse kinematics. The results of repeated error measurement were reflect to be smaller compared to a diameter of cucumber. measurement errors were determined by experimented errors during the test. For reducing errors of manipulator and improving work efficiency, the number of link should be reduced and breeding and cultural environment should be considered to reduce the weight and use the hard stuff. The velocity of motor for working should be considered, too.

• Journal of Broadcast Engineering
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• v.26 no.3
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• pp.247-257
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• 2021

This paper proposes a new technique for calibrating a multi-view RGB-D camera using a 3D (dimensional) skeleton. In order to calibrate a multi-view camera, consistent feature points are required. In addition, it is necessary to acquire accurate feature points in order to obtain a high-accuracy calibration result. We use the human skeleton as a feature point to calibrate a multi-view camera. The human skeleton can be easily obtained using state-of-the-art pose estimation algorithms. We propose an RGB-D-based calibration algorithm that uses the joint coordinates of the 3D skeleton obtained through the posture estimation algorithm as a feature point. Since the human body information captured by the multi-view camera may be incomplete, the skeleton predicted based on the image information acquired through it may be incomplete. After efficiently integrating a large number of incomplete skeletons into one skeleton, multi-view cameras can be calibrated by using the integrated skeleton to obtain a camera transformation matrix. In order to increase the accuracy of the calibration, multiple skeletons are used for optimization through temporal iterations. We demonstrate through experiments that a multi-view camera can be calibrated using a large number of incomplete skeletons.

• (The)Study of the Eastern Classic
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• no.62
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• pp.67-85
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• 2016

This paper review literary trend in the late Yuan and the early Ming dynasty and the position of Song lian 宋濂's literature in that time. Analyzing his literary theory chronologically, this paper were able to reveal that Song lian had falled into ancient prose of the Chin and Han dynasty for a long time. He have been symply summarized as a confucian literary man, but he could not extricate himself from ancient prose during youth and his manhood. It was only after that he met his teacher Huang jin 黃? and withdrew into the six confucian classics and began to have a view of literature based in confusian. But he still wasn't able to rid himself of the temptation of ancient prose. At the age of fifty, assisting Zhu Yuanzhang 朱元璋 in founding Ming dynasty, he's built up his own view of literature based in the Six Confucian Classics 六經, confucian scholars during the Song dynasty, ancient prose of the Tang and Song dynasty like as Hanyu 韓愈 and Ouyang Xiu 歐陽脩's works. In short, undergoing a complete transformation individually and historically through a tumultuous period of the late Yuan and the early Ming, Song lian could establish his own view of literature based in confusian and present ideological coordinates and a new model of the Ming literature.

• The Journal of the Acoustical Society of Korea
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• v.28 no.1
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• pp.10-18
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• 2009

A moving surface vessel generates a ship wake which contains a cloud of micro-bubbles with radii ranging between $8{\sim}200{\mu}m$. Such micro-bubbles can be detected by active sonar system for more than ten minutes depending on the size and speed of the surface vessel. In this paper, a reverberation model for the ship wake is presented. The developed model consists of the acoustic scattering model due to the distribution of the micro-bubbles and the kinematic model for the moving active sonar. The acoustic scattering model is based on the volume integration, where the volume scattering strengths are obtained from the spatial distribution of micro-bubbles. Since the directivity and look-direction of active sonar are important factors for moving active sonar, the kinematic model utilizes the Euler transformation to obtain the relative motion between the global and local coordinates. In order to verify the developed model, a series of sea experiment was executed in September 2007 to obtain the spatial-temporal distribution of a bubble cloud, and analyzed to be compared with the simulation results.

• Journal of the Korean Institute of Landscape Architecture
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• v.52 no.1
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• pp.1-16
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• 2024

Alvin Toffler mentioned that it is important for future society to keep pace with synchronization and that time deviations can hinder social development. As we experience the new normal era of untact, we have experienced an increase in non-face-to-face contact and accelerated digital transformation. Amid these rapid changes, we can maintain the need for synchronization or change in space. Therefore, we would like to study what kind of settlements people create and choose. We looked at the metaverse as an object that could indirectly find out about this, and used the content called "Animal Crossing" to collect data related to the spatial form of the metaverse. Sampling utilized a judgment sampling method during non-probability sampling to alleviate differences due to the progress of the game. The collected data was classified according to floor plan and location type and briefly organized through descriptive statistics. After matching each facility by use, data was constructed by setting coordinates for each cluster and listing them. This data was interpreted graphically on the coordinate plane for each cluster, and Euclidean analysis was performed to analyze the relationships between clusters and residential choice using a Euclidean matrix. As a result of the analysis, it could be interpreted that efficiency was pursued by arranging similar functions in close proximity. Nevertheless, when choosing a residence, it was interpreted that the intention was to create a community through arrangement adjacent to residents rather than efficiency or convenience. Due to the differences between the metaverse and the real world, it is expected that there will be limitations in equating it with reality. However, through the space expressed in the virtual world by people who are far away from the constraints of reality, we can indirectly know the wishes that we have not been able to express due to our lack of awareness.

• The Journal of the Society of Korean Medicine Diagnostics
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• v.12 no.1
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• pp.42-62
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• 2008

Objectives: It is well known that some parameters of the photoplethysmogram (PPG) acquired by time domain contour analysis can be used as markers of vascular aging. But the previous studies that have been performed for frequency domain analysis of the PPG to date have provided only restrictive and fragmentary information. The aim of the present investigation was to determine whether the harmonics extracted from the PPG using a fast Fourier transformation could be used as an index of vascular aging. Methods: The PPG was measured in 600 recruited subjects for 30 second durations, To grasp the gross age-related change of the PPG waveform, we grouped subjects according to gender and age and averaged the PPG signal of one pulse cycle. To calculate the conventional indices of vascular aging, we selected the 5-6 cycles of pulse that the baseline was relatively stable and then acquired the coordinates of the inflection points. For the frequency domain analysis we performed a power spectral analysis on the PPG signals for 30 seconds using a fast Fourier transformation and dissociated the harmonic components from the PPG signals. Results: A final number of 390 subjects (174 males and 216 females) were included in the statistical analysis. The normalized power of the harmonics decreased with age and on a logarithmic scale reduction of the normalized power in the third (r=-0.492, P<0.0001), fourth (r=-0.621, P<0.0001) and fifth harmonic (r=-0.487, P<0.0001) was prominent. From a multiple linear regression analysis, Stiffness index, reflection index and corrected up-stroke time influenced the normalized power of the harmonics on a logarithmic scale. Conclusions: The normalized harmonic power decreased with age in healthy subjects and may be less error prone due to the essential attributes of frequency domain analysis. Therefore, we expect that the normalized harmonic power density can be useful as a vascular aging marker.