• Journal of Construction Engineering and Project Management
• /
• v.6 no.2
• /
• pp.30-39
• /
• 2016

This research presents the development of a self-governing mobile robot navigation system for indoor construction applications. This self-governing robot navigation system integrated robot control units, various positioning techniques including a dead-reckoning system, a UWB platform and motion sensors, with a BIM path planner solution. Various algorithms and error correction methods have been tested for all the employed sensors and other components to improve the positioning and navigation capability of the system. The research demonstrated that the path planner utilizing a BIM model as a navigation site map could effectively extract an efficient path for the robot, and could be executed in a real-time application for construction environments. Several navigation strategies with a mobile robot were tested with various combinations of localization sensors including wheel encoders, sonar/infrared/thermal proximity sensors, motion sensors, a digital compass, and UWB. The system successfully demonstrated the ability to plan an efficient path for robot's movement and properly navigate through the planned path to reach the specified destination in a complex indoor construction site. The findings can be adopted to several potential construction or manufacturing applications such as robotic material delivery, inspection, and onsite security.

• Journal of the Korean Institute of Telematics and Electronics A
• /
• v.32A no.9
• /
• pp.142-151
• /
• 1995

The trend of compact size, light weight, low power consumption in the portable telecommunication equipments demands large scale integration and low voltage operation of chips and the minimization of the number of the components in the telecommunication terminal. According to the trend, existing chip components are modulized and are integrated as a part into a bigger chip. This paper is about the development of the peripheral units of micro-controller for mobile telecommunication terminal. Peripherals consist of DMA controller, Interrupt controller, timer, watchdog timer, clock generator, and power management unit. They are designed to be integrated with EU(Execution Unit) and BIU(Bus Interface Unit) into a 16 bit micro-controller which will be used as a core of an ASIC for next generation digital mobile telecommunication terminal. At first, whole block of the micro-controller was described by VHDL behavioral model and simulated to verify its overall operation. Then, watchdog timer, clock generator and power management unit were directly synthesized by using VHDL synthesis tool. Rest of the pheriperal units were designed and simulated by using Compass Design Tool.

• Special Issue of the Society of Naval Architects of Korea
• /
• 2008.09a
• /
• pp.68-75
• /
• 2008

This paper describes the design and implementation of a low cost inertial navigation system(INS) using an inertial measurement unit(IMU), a digital compass, GPS, and an embedded system. The system has been developed for a transporter that load and unload ship blocks in a shipbuilding yard. When the transporter would move from place to place, they would periodically pass under obstructions that would obscure the GPS signal. This increases the error when estimating the position. Thus the INS has been used to improve position accuracy. INS is also capable of providing continuous estimates of the transporter's position and orientation. Even though IMU is typically very expensive, this INS is made of "low cost" components and the indirect Kalman filtering algorithm.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2013.10a
• /
• pp.1048-1050
• /
• 2013

Mobile devices or smartphones are rapidly becoming the central computer and communication network device. Recently, smartphones are programmable and come with a growing set of cheap powerful embedded sensors, such as an accelerometer, digital compass, gyroscope, GPS, microphone, and camera. In this paper, we discuss the wireless gas sensing service architectural and develope the gas sensor monitoring services using smartphone and web server.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• v.1
• /
• pp.251-256
• /
• 2006

In the work package 'Integrated Positioning' of the research project NAVIO (Pedestrian Navigation Systems in Combined Indoor/Outdoor Environements) we are dealing with the navigation and guidance of visitors of our University. Thereby start points are public transport stops in the surroundings of the Vienna University of Technology and the user of the system should be guided to certain office rooms or persons. For the position determination of the user different location sensors are employed, i.e., for outdoor positioning GPS and dead reckoning sensors such as a digital compass and gyro for heading determination and accelerometers for the determination of the travelled distance as well as a barometric pressure sensor for altitude determination and for indoor areas location determination using WiFi fingerprinting. All sensors and positioning methods are combined and integrated using a Kalman filter approach. Then an optimal estimate of the current location of the user is obtained using the filter. To perform an adequate weighting of the sensors in the stochastic filter model, the sensor characteristics and their performance was investigated in several tests. The tests were performed in different environments either with free satellite visibility or in urban canyons as well as inside of buildings. The tests have shown that it is possible to determine the user's location continuously with the required precision and that the selected sensors provide a good performance and high reliability. Selected tests results and our approach will be presented in the paper.

• Journal of the Korea Society of Computer and Information
• /
• v.15 no.1
• /
• pp.111-118
• /
• 2010

The proposed algorithm to be explained in this paper is the localization technique using directional antenna. Here, it is assumed that anchor node has the ability to transfer the azimuth of each sector using GPS modules, sector antenna, and the digital compass. In the conventional sensor network, the majority of localization algorithms were capable of estimating the position information of the sensor node by knowing at least 3 position values of anchor nodes. However, this paper has proposed localization algorithm that estimates the position of nodes to continuously move with sensor nodes and traveling nodes. The proposed localization mechanisms have been simulated in the Matlab. The simulation results show that our scheme performed better than other mechanisms (e.g. MCL, DV-distance).

• Journal of Digital Convergence
• /
• v.17 no.12
• /
• pp.399-412
• /
• 2019

The aim of this study was to understand and describe experience of nurses who working in general hospital located in Gyeongsangnam-do and leading the clinical nursing practice education for nursing students. A qualitative descriptive method was employed. the data was collected through in-depth interviews until the data sufficiently reached saturation and analyzed through thematic analysis method. Three themes, eight categories, and twenty five sub-categories were identified. Three themes which emerged from data analysis included 'Growing up with students', 'Teaching students without a compass', and 'Balancing in a variety of roles'. The results of this study provide valuable understanding and knowledge of nurses' experiences in clinical nursing practice education of nursing students, which leads to improvement of the quality of clinical education for nursing students.

• Physical Therapy Korea
• /
• v.29 no.3
• /
• pp.225-234
• /
• 2022

Background: Trunk movements are an important factor in activities of daily living; however, these movements can be impaired by stroke. It is difficult to quantify and measure the active range of motion (AROM) of the trunk in patients with stroke. Objects: To determine the reliability and validity of measurements using a digital goniometer (DG) and smart phone (SP) applications for trunk rotation and lateral flexion in stroke patients. Methods: This is an observational study, in which twenty participants were clinically diagnosed with stroke. Trunk rotation and lateral flexion AROM were assessed using the DG and SP applications (Compass and Clinometer). Intrarater reliability was determined using intraclass correlation coefficients (ICCs) with 95% confidence intervals. Pearson correlation coefficient was used to determine the validity of the DG and SP in AROM measurement. The level of agreement between the two instruments was shown by Bland-Altman plot and 95% limit of agreement (LoA) was calculated. Results: The intrarater reliability (rotation with DG: 0.96-0.98, SP: 0.98; lateral flexion with DG: 0.97-0.98, SP: 0.96) was excellent. A strong and significant correlation was found between DG and SP (rotation hemiplegic side: r = 0.95; non-hemiplegic side: r = 0.90; lateral flexion hemiplegic side: r = 0.88; non-hemiplegic side: r = 0.78). The level of agreement between the two instruments was rotation (hemiplegic side: 23.02° [LoA 17.41°, -5.61°]; non-hemiplegic side: 31.68° [LoA 23.87°, -7.81°]) and lateral flexion (hemiplegic side: 20.94° [LoA 17.48°, -3.46°]; non-hemiplegic side: 27.12° [LoA 18.44°, -8.68°]). Conclusion: Both DG and SP applications can be used as reliable methods for measuring trunk rotation and lateral flexion in patients with stroke. Although, considering the level of clinical agreement, DG and SP could not be used interchangeably for measurements.

• Journal of architectural history
• /
• v.20 no.1
• /
• pp.117-133
• /
• 2011

This thesis is a study on the oldest feng-shui book "Janggyeong(葬經)". Specially, it is a focus on the feng-shui orientation method so called Sasepalryongbub(四勢八龍法) in that book. This method is to identify fortune and misfortune with the directions to be measured by a feng-shui compass. Sa(四) of Sase(四勢) is the four pieces of direction of dividing 12 parts for 360 degree circle. To divide for 12 parts is related with 12-Jiji(地支). Sa mean In(寅), Sin(申), Sa(巳), and Hae(亥). Se of Sase means a large stem of mountain. Generally, Sase are the big mountain stems of the four directions as In, Sin, Sa, and Hae. Pal(八) of Palryong(八龍) mean the 8 parts of equal division for 360 degree. It is related with Palgoe(八卦) that divide for 8 parts equally. Palgoe are Jin(震), Li(離), Gam(坎), Tae(兌), Geon(乾), Gon(坤), Gan(艮), and Son(巽). Ryong(龍) of Palryong(八龍) is a stem of mountain that is measured with 8 parts of equal division feng-shui compass. Sasepalryongbub make a connection between Sase and Palryong. When they are connected, it is a good fortune like as In(寅) and Li(離), Sin(申) and Gam(坎) or Gon(坤) or Gan(艮), Sa(巳) and Tae(兌) or Geon(乾), Hae(亥) and Jin(辰) or Son(巽). It is based on two theories. The one is 12-Unseongron(運星論), the other is one of Ohaengron(五行論) as Samhap-Ohaeng(三合五行). 12-Unseongron begins from dividing all human life affairs with 12 steps. Saeng(生), Wang(旺), Myo(墓) are the very important things among 12 steps. Saeng means starting, Wang means flourishing, Myo means keeping. Samhap-Ohaeng is made with Jiji of Saeng, Wang and Myo steps about 12-Unseongron. Saeng is the most important thing among of Saeng, Wang and Myo in Sasepalryongbub which means birth. Saeng of Jiji direction can help Palgoe direction as a counterpart. Like this, the good relation of Sase and Palryong is that Jiji direction can help Palgoe direction. For example, there are In(寅) of Jiji and Li(離) of Palgoe, can be explained as these kinds of the good relations. In view of Samhap-Ohaeng, In of Jiji is regared as Saeng of fire(火). This fire- Saeng-In as Jiji can help fire- Li as Palgoe. It can be said as a good condition that Sase and Palryong be connected like this case. This is the main content of Sasepalryongbub as being treated in this study.

• Korean Journal of Remote Sensing
• /
• v.36 no.6_2
• /
• pp.1615-1627
• /
• 2020

The purpose of this study is to compare and analyze the performance of KOMPSAT-3 Digital Surface Model (DSM) made in overseas testbed area. To that end, we collected the KOMPSAT-3 in-track stereo image taken in San Francisco, the U.S. The stereo geometry elements (B/H, converse angle, etc.) of the stereo image taken were all found to be in the stable range. By applying precise sensor modeling using Ground Control Point (GCP) and DSM automatic generation technique, DSM with 1 m resolution was produced. Reference materials for evaluation and calibration are ground points with accuracy within 0.01 m from Compass Data Inc., 1 m resolution Elevation 1-DSM produced by Airbus. The precision sensor modeling accuracy of KOMPSAT-3 was within 0.5 m (RMSE) in horizontal and vertical directions. When the difference map was written between the generated DSM and the reference DSM, the mean and standard deviation were 0.61 m and 5.25 m respectively, but in some areas, they showed a large difference of more than 100 m. These areas appeared mainly in closed areas where high-rise buildings were concentrated. If KOMPSAT-3 tri-stereo images are used and various post-processing techniques are developed, it will be possible to produce DSM with more improved quality.