• Journal of Korean Society for Geospatial Information Science
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• v.7 no.2 s.14
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• pp.69-80
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• 1999

The purpose of this study is to develop a Bridge Disaster Management System for bridge safety control using Geographic Information Systems(GIS). The constructed database includes several graphic layers such as basemap, road, bridge location, etc. and has related text attributes for 32 bridges and its facilities in Chinju City. Using the language of Visual Basic 5.0, personal computer based Bridge Disaster Management System which has several functions for bridge safety analysis was developed. The developed GIS based Bridge Disaster Management System has the functions of fast and efficient data searching, file management, searching and management of bridge characteristics, bridge related map viewing, searching and management of traffic survey, bridge inspection and repair work results, and evaluating the bridge safety grades, etc..

• Journal of Drive and Control
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• v.13 no.4
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• pp.102-107
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• 2016

• Journal of the Society of Disaster Information
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• v.12 no.1
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• pp.47-53
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• 2016

Techniques to be developed in this study is intended to apply to an existing integrated control system to "A Study on the multiple Texture Rendering system for three-dimensional Image Signal Recognition" technology or become a center of the building control system in real time video. so, If the study plan multi-image mapping system developed, CCTV camera technology and network technology alone that is, will be a number of security do not have to build a linked system personnel provide services that control while the actual patrol, the other if necessary systems and linked to will develop a system that can reflect the intention Ranger.

• International Journal of Aeronautical and Space Sciences
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• v.12 no.3
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• pp.274-282
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• 2011

This paper is focused on dynamic modeling and control system design as well as vision based collision avoidance for multi-rotor unmanned aerial vehicles (UAVs). Multi-rotor UAVs are defined as rotary-winged UAVs with multiple rotors. These multi-rotor UAVs can be utilized in various military situations such as surveillance and reconnaissance. They can also be used for obtaining visual information from steep terrains or disaster sites. In this paper, a quad-rotor model is introduced as well as its control system, which is designed based on a proportional-integral-derivative controller and vision-based collision avoidance control system. Additionally, in order for a UAV to navigate safely in areas such as buildings and offices with a number of obstacles, there must be a collision avoidance algorithm installed in the UAV's hardware, which should include the detection of obstacles, avoidance maneuvering, etc. In this paper, the optical flow method, one of the vision-based collision avoidance techniques, is introduced, and multi-rotor UAV's collision avoidance simulations are described in various virtual environments in order to demonstrate its avoidance performance.

• International Journal of Aeronautical and Space Sciences
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• v.12 no.3
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• pp.252-259
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• 2011

This paper is focused on dynamic modeling and control system design as well as vision based collision avoidance for multi-rotor unmanned aerial vehicles (UAVs). Multi-rotor UAVs are defined as rotary-winged UAVs with multiple rotors. These multi-rotor UAVs can be utilized in various military situations such as surveillance and reconnaissance. They can also be used for obtaining visual information from steep terrains or disaster sites. In this paper, a quad-rotor model is introduced as well as its control system, which is designed based on a proportional-integral-derivative controller and vision-based collision avoidance control system. Additionally, in order for a UAV to navigate safely in areas such as buildings and offices with a number of obstacles, there must be a collision avoidance algorithm installed in the UAV's hardware, which should include the detection of obstacles, avoidance maneuvering, etc. In this paper, the optical flow method, one of the vision-based collision avoidance techniques, is introduced, and multi-rotor UAV's collision avoidance simulations are described in various virtual environments in order to demonstrate its avoidance performance.

• Journal of Drive and Control
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• v.17 no.3
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• pp.33-46
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• 2020

We introduce a piece of special-purpose equipment for responding to disasters that has a dual-arm manipulator consisting of six-axis multi joints, and a master-slave operating system controlled by a wearable joystick for intuitive and convenient operation. However, due to the complexity and diversity of a disaster environment, training and suitable training means are needed to improve the interaction between the driver and equipment. Therefore, in this paper, a system that can improve the operator's immersion in the training simulation is proposes, this system is implemented in a virtual environment. The implemented system consists of a cabin installed with the master-slave operation system, a motion platform, visual and sound systems, as well as a real-time simulation device. This whole system was completed by applying various techniques such as a statistical mapping method, inverse kinematics, and a real-time physical model. Then, the implemented system was evaluated from a point of view of the appropriateness of the mapping method, inverse kinematics, the feasibility for real-time simulations of the physical environment through some task mode.

• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.293-300
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• 2020

The purpose of our sensor system is to transparentize the large hydraulic manipulators of a six-ton dual arm excavator from the operator camera view. Almost 40% of the camera view is blocked by the manipulators. In other words, the operator loses 40% of visual information which might be useful for many manipulator control scenarios such as clearing debris on a disaster site. The proposed method is based on a 3D reconstruction technology. By overlaying the camera image from front top of the cabin with the point cloud data from RGB-D (red, green, blue and depth) cameras placed at the outer side of each manipulator, the manipulator-free camera image can be obtained. Two additional algorithms are proposed to further enhance the productivity of dual arm excavators. First, a color correction algorithm is proposed to cope with the different color distribution of the RGB and RGB-D sensors used on the system. Also, the edge overlay algorithm is proposed. Although the manipulators often limit the operator's view, the visual feedback of the manipulator's configurations or states may be useful to the operator. Thus, the overlay algorithm is proposed to show the edge of the manipulators on the camera image. The experimental results show that the proposed transparentization algorithm helps the operator get information about the environment and objects around the excavator.

• Journal of KIBIM
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• v.6 no.2
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• pp.39-46
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• 2016

While institutional matters such as improvement on Basic Guidelines for Construction Safety are greatly concerned to reduce falling accidents at construction sites, there are short of studies on how to practically predict accident signs at construction sites and to preemptively prevent them. As one of existing accident prevention methods, it was attempted to build the early warning system based on standardized accident scenarios to control the situations. However, the investment cost was too high depending on the site situation, and it did not help construction workers directly since it was developed to mainly provide support operational work support to safety managers. In the long run, it would be possible to develop the augmented reality based accident prevention method from the worker perspective by extracting product information from BIM, visually rendering it along with site installation materials term and comparing it with the site situation. However, to make this method effective, the BIM model should be implemented first and the technology that can promptly process site situations should be introduced. Accordingly, it is necessary to identify risk signs through lightweight image processing to promptly respond only with currently available resources. In this study, it was intended to propose the system concept that identified potential risk factors of falling accidents by histogram equalization, which was known as the fastest image processing method presently, used visual words, which could enhance model classification by wording image records, to determine the risk factors and notified them to the work manager.