• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.1
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• pp.55-60
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• 2011

The most basic algorithm in SLAM(Simultaneous Localization And Mapping) technique of mobile robots is EKF(Extended Kalman Filter) SLAM. However, it requires prior information of characteristics of the system and the noise model which cannot be estimated in accurate. By this limit, Kalman Filter shows the following behaviors in a highly uncertain environment: becomes too sensitive to internal parameters, mathematical consistency is not kept, or yields a wrong estimation result. In contrast, $H_{\infty}$ filter does not requires a prior information in detail. Thus, based on a idea that $H_{\infty}$ filter based SLAM will be more robust than the EKF-SLAM, we propose a framework of $H_{\infty}$ filter based SLAM and show that suggested algorithm shows slightly better result man me EKF-SLAM in a highly uncertain environment.

• The Journal of Engineering Geology
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• v.24 no.1
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• pp.137-146
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• 2014

The geology of the study area which is located in Samkoe-dong, Dong-gu, Daejeon city comprises black slate, limestone, and pebble-bearing phyllitic rock as meta-sedimentary rocks; and biotite granite and quartz porphyry intrusions. Face mapping revealed sliding in three or four sites of contained coaly slate, where the dip of the foliation and other discontinuities is parallel to the surface slope. The cause of the slope sliding is this parallelism as well as the swelling of the coaly slate when wet. In contrast, the slop on the opposite side of the road is relatively stable because the dip of the foliation and other discontinuities are oblique or normal to the surface slope. To ensure slope stability, a cut-and-cover tunnel was designed and constructed for the new road.

• Journal of KIISE
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• v.42 no.5
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• pp.621-628
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• 2015

The rapid growth of network technology makes the high-tech weapon. Thus, in the modern war, the ability to immediately use of the high-tech weapon is important. To realize this ability, continuous trainning is necessary but, this trainning spends many money. To improve the budget efficiency, Modeling and Simulation(M&S) are used. However, they seriously decrease the reality. Recently, the system which can support the combination of Live with Virtual simulation is on the rise. The typical example is L-V-C Environment and many kind of middleware which can support the L-V-C Envrionment are already proposed. Previous middleware can support the interoperability between different simulations but, it cannot completely interoperate three(Live, Virtual, Constructive) simulation environments. In this paper, to solve this problem, we propose the scheme which is combination between different middlewares. And we conduct the API mapping between HLA and DDS which are typical middleware and verify the scheme.

• Journal of the Korean Institute of Rural Architecture
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• v.23 no.4
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• pp.1-12
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• 2021

Recently, the use of unmanned aerial vehicles (UAVs) is increasing in the field of land information acquisition and terrain exploration through high-altitude aerial photography. High-altitude aerial photography is suitable for large-scale geographic information collection, but has the disadvantage that it is difficult to accurately collect small-scale geographic information. Therefore, this study used low-altitude UAV to monitor changes in small rural spaces around rural resources, and the results are as follows. First, the low-altitude aerial imagery had a very high spatial resolution, so it was effective in reading and analyzing topographic features. Second, an area with a large number of aerial images and a complex topography had a large amount of point clouds to be extracted, and the number of point clouds affects the three-dimensional quality of rural space. Third, 3D mapping technology using point cloud is effective for monitoring rural space and rural resources because it enables observation and comparison of parts that cannot be read from general aerial images. In this study, the possibility of rural space analysis of low-altitude UAV was verified through aerial photography and analysis, and the effect of 3D mapping on rural space monitoring was visually analyzed. If data acquired by low-altitude UAV are used in various forms such as GIS analysis and topographic map production it is expected to be used as basic data for rural planning to maintain and preserve the rural environment.

• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.6
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• pp.1081-1086
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• 2023

The rapid growth and increasing complexity of modern networks have highlighted the limitations of traditional network architectures. The emergence of SDN (Software-Defined Network) in response to these challenges has changed the existing network environment. The SDN separates the control unit and the data unit, and adjusts the network operation using a centralized controller. However, this structure has also recently caused a huge amount of traffic due to the rapid spread of numerous Internet of Things (IoT) devices, which has not only slowed the transmission speed of the network but also made it difficult to ensure quality of service (QoS). Therefore, this paper proposes a method of load distribution by switching the IP and any server (processor) from the existing data processing scheduling technique, RR (Round-Robin), to mapping when a large amount of data flows in from a specific IP, that is, server overload and data loss.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.535-540
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• 2005

In environmental impact assessment, noise impact assessment usually consists of three stages surveying the existing noise levels by measurements, predicting noise levels induced by construction works and predicting noise levels after the completion of project. When predicting noise level in urban area, this method does not consider acoustic phenomena like multi reflection, diffraction and absorption due to complex topographic configuration of building and terrains. For the purpose, a noise mapping tool is utilized to produce a series of noise maps, which are those for the present, for the works of construction and for the future. For accurate noise mapping, acoustical and topographic information is essential. Standard sound power levels and directivities of various construction equipments are required and scheduling of construction processes and locations of the equipments should be provided. In the case of exceeding legal limit, mitigation measures are applied to satisfy the legal limits and subsequent noise map is obtained and checked.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.677-684
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• 2009

With various sensor network and ubiquitous technologies, we can extend interaction area from a virtual domain to physical space domain. This spatial interaction is differ in that traditional interaction is mainly processed by direct interaction with the computer machine which is a target machine or provides interaction tools and the spatial interaction is performed indirectly between users with smart interaction tools and many distributed components of space. So, this interaction gives methods to users to control whole manageable space components by registering and recognizing objects. Finally, this paper provides an effective spatial interaction method with template-based task mapping algorithm which is sorted by historical interaction data for support of users' intended task. And then, we analyze how much the system performance would be improved with the task mapping algorithm and conclude with an introduction of a GUI method to visualize results of spatial interaction.

• Journal of the Korean Institute of Landscape Architecture
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• v.26 no.2
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• pp.118-132
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• 1998

There are numerous plant and animal species which are adapted to the conditioins of the urban environment. The objectie of landscape and nature conservation in cities can be considered as the perservation of these organisms as the basis for a direct contact between urban dwellers and the landscape elements. However, after 1980 in Korea, green and biotope oases started to develop in the center of the urban area, from which the surrounding population benefited, at least indirectly. Thus urban biotope mapping and biotope informatioin system as a specialized tool of urban ecological landscape planning will make clear the orientation for the preservation of species and renaturalizing measures. The results are as follows : 1) Biotope types in the study area were separated to 21 biotope. 2) The written description of the biotopes took place on the computerized forms. The basis for the uniform inclusion and description of all biotopes surveyed was a codeplan. Additional details were included on the urban biotope mapping. 3) The evaluation of the mapped biotopes was completed to the following aspect, namely " species diversity and biotope conservation value" and "nature experience value". 4) UBM and BIS represent an important basis for decision aid for the city administration within the context of the ecological urban and landscape planning process. 5) The methodology of UBM and BIS in this study area could be extended to whole urban area.to whole urban area.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.4
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• pp.487-493
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• 2012

SLAM(Simultaneous Localization And Mapping) is a technique used by robots and autonomous vehicles to build up a map within an unknown environment and estimate a place of robot. FastSLAM(A Factored Solution to the SLAM) is one of representative method of SLAM, which is based on particle filter and extended Kalman filter. However it is suffered from loss of particle diversity. In this paper, new approach using fitness sharing is proposed to supplement loss of particle diversity, compared and analyzed with existing methods.

• The Plant Pathology Journal
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• v.18 no.5
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• pp.266-270
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• 2002

Inbred lines of Chinese cabbage KU-101 (resistant line against Plasmodiophora brassicae race race 6) and CS-113 (susceptible line) were crossed and their progeny lines F$_1$, BC$_1$F$_1$, F$_2$, and F$_3$ were produced for the construction of the genetic linkage map of R brassicae race 6-resistant Brassica campestris ssp. pekinensis genome. Restriction fragment length polymorphism (RFLP) was applied to compare between parents and their f$_2$ progenies with a total of 192 probes and 5 restriction enzymes. The constructed RFLP map covered 1,104 cM with a mean distance between genetic marker of 8.0 cM, and produced 10 linkage groups having 121 genetic loci. The loci of P. brassicae race 6 (CR6)-resistant Brassica genome were determined by interval mapping of quan-titative trait loci (QTL), which resulted from bioassay using the same race of the fungi in P3 population. Resistant loci were estimated in numbers 1 (Gl) and 3 (G3) linkage groups. In the regression test, Gl had a value of4.8 logarithm of odd (LOD) score, while C3 had values of 4.2-7.2. Given these results, the location of the CR6-resistant loci within the Brassica genome map can now be addressed.