• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.5
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• pp.1339-1355
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• 2023

Localization is a hot research spot for many areas, especially in the mobile robot field. Due to the weak signal of the global positioning system (GPS), the alternative schemes in an indoor environment include wireless signal transmitting and receiving solutions, laser rangefinder to build a map followed by a re-localization stage and visual positioning methods, etc. Among all wireless signal positioning techniques, Wi-Fi is the most common one. Wi-Fi access points are installed in most indoor areas of human activities, and smart devices equipped with Wi-Fi modules can be seen everywhere. However, the localization of a mobile robot using a Wi-Fi scheme usually lacks orientation information. Besides, the distance error is large because of indoor signal interference. Another research direction that mainly refers to laser sensors is to actively detect the environment and achieve positioning. An occupancy grid map is built by using the simultaneous localization and mapping (SLAM) method when the mobile robot enters the indoor environment for the first time. When the robot enters the environment again, it can localize itself according to the known map. Nevertheless, this scheme only works effectively based on the prerequisite that those areas have salient geometrical features. If the areas have similar scanning structures, such as a long corridor or similar rooms, the traditional methods always fail. To address the weakness of the above two methods, this work proposes a coarse-to-fine paradigm and an improved localization algorithm that utilizes Wi-Fi to assist the robot localization in a geometrically similar environment. Firstly, a grid map is built by using laser SLAM. Secondly, a fingerprint database is built in the offline phase. Then, the RSSI values are achieved in the localization stage to get a coarse localization. Finally, an improved particle filter method based on the Wi-Fi signal values is proposed to realize a fine localization. Experimental results show that our approach is effective and robust for both global localization and the kidnapped robot problem. The localization success rate reaches 97.33%, while the traditional method always fails.

• Proceedings of the Korea Water Resources Association Conference
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• 2022.05a
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• pp.440-440
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• 2022

1970년대부터 집중 건설 된 우리나라의 다목적댐, 홍수조절댐, 용수전용댐 등의 대형 국가 수자원시설물들의 '고령화'가 급속히 진행되어 수리구조물에 대한 안정성을 주기적으로 파악할 수 있는 정밀안전모니터링 체계 구축이 시급한 시점이다. 주기적인 정밀안전모니터링 방법들 중에는 위성 등을 활용한 원격관측 기술들이 최근 시도되고 있다. 위성 영상레이더(SAR; Synthetic Aperture Radar)는 마이크로파 대역의 전자기파를 송·수신하는 능동센서로 날씨 및 주·야간에 영향을 받지 않고 지표면 관측이 가능한 장점이 있다. 특히, 고정산란체 영상레이더 간섭(PSInSAR; Permanent Scatterer Interferometry SAR)기법은 영상레이더 영상에서 긴밀도(coherence)가 상대적으로 높은 수자원시설물과 같은 고정산란체의 위상(phase) 정보를 이용하여 mm급의 측정민감도로 시계열 변위 분석이 가능하다. 또한, 여러 장의 InSAR 영상을 생성하였기 때문에 DEM 오차, 위성궤도 오차, 대기 성분에 의한 지연 오차 등을 보다 정밀하게 제거할 수 있는 장점이 있다 본 연구에서는 국내 중대형 수자원시설물의 정밀안전모니터링을 위하여 고정산란체 영상레이더 간섭 기법을 영암금호방조제, 영주댐, 소양강댐 등에 적용하여 시계열 변위 분석을 수행하였다. 2014년 11월부터 2022년 3월(현재)까지 획득된 Sentinel-1 SLC(Single Look Complex) 위성자료의 상승(Ascending) 궤도 126장 및 하강(Descending)궤도 187장을 각각 활용하였다. 두 위성궤도를 모두 활용하여 수직, 수평 변위 등 3차원 분석을 수행하였으며, 특히 소양강댐 GPS 관측 자료와 정확도 검증에서 연평균 2mm의 RMSE를 보였다. 이를 통해 위성 원격탐사 기술로도 댐, 보, 방조제와 같은 수자원시설물에 대한 시계열 변위 분석을 통한 댐 안전관리가 가능함을 보여주고 있다. 2025년 발사될 국내 C-밴드 SAR 탑재 수자원위성 개발을 통해 한반도 재방문주기를 단축시킴으로써, 한반도 전역의 수자원시설물 정밀안전진단체계 구축이 가능할 것으로 기대된다.

• Proceedings of the Korea Water Resources Association Conference
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• 2022.05a
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• pp.267-267
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• 2022

댐 운영에 있어서 필요한 수문자료는 강수량, 수위, 유량, 저수량 자료 등이 있다. 이중 저수량은 주로 댐수위-저수용량 곡선식을 이용하여 계산한다. 댐수위-저수용량 곡선식은 댐 부근에서 계측 되는 한 개의 수위자료를 이용하여 저수용량을 산정하며, 이는 큰 저수지 면적과 저수지 수면이 일정하지 않다는 것을 고려할 때 큰 오차가 발생할 수 있다. 본 연구에서는 음향 도플러 유속계 ADCP(Acoustic Doppler Current Profiler) 이용하여 보성강댐 저수지 수면경사를 실측하고, 동시에 실시간 이동측위시스템인 RTK-GPS(Real Time Kinematic)를 이용하여 이를 검증하였다. ADCP는 유수의 흐름을 방해하지 않으면서 수중에 발사된 음파의 도플러 효과를 이용하여 유속, 유량 및 측량이 가능한 장비이며, RTK-GPS의 경우 정밀한 위치정보를 가지고 있는 기준국의 위상에 대한 보정치를 실시간으로 이용하여 오차가 ±0.03m 이하인 것으로 알려졌다. 보성강댐의 하류에서 ADCP와 RTK-GPS를 장착한 보트를 저수지 종방향으로 처음부터 끝까지 이동하여 약 7.5km 종단측량을 실시하였고 저수지 지형적 특성을 고려하여 약 700m마다 횡단측량을 실시하여 종방향뿐만 아니라 횡방향 수면차도 조사하였다. 그 결과 보성강댐의 상류로 갈수록 수면경사가 전체적으로 상승하는 경향을 보였지만 일부구간에서 수위가 하강하는 경우도 발생하였다. 이는 미약하지만 저수지 내에 흐름이 발생하고 이 흐름에 따른 통제가 변화되는 것과 중간에 유입되는 지류의 영향 등으로 구간별로 수면경사 차이가 발생하는 것으로 추정된다. 횡방향 수면차는 지류가 유입되는 일부구간에서 다소 차이를 보였지만 큰 영향을 없는 것으로 판단된다. 보성강댐 저수지 수면을 종방향 및 횡방향으로 실측한 결과 구간별로 차이를 보였으며 최대 EL. 126.60m, 최소 EL. 126.33m 나타났다. 댐 상류 부근의 수면높이 EL. 126.50m와 비교하면 +0.10m, -0.17m 차이를 보였으며 이는 저수량 산정에 큰 오차를 발생시킨다. 효과적인 댐 운영을 위해서는 유입량 및 유출량을 정확하게 산정하는 것도 필요하지만 저수량을 정확하게 파악하는 것 역시 필요하다. 저수량을 정확하게 산정하려면 수킬로미터가 넘는 저수지 크기를 고려하여 수면경사를 실시간으로 계측하는 등의 노력이 필요한 것으로 판단된다.

• International conference on construction engineering and project management
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• 2022.06a
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• pp.344-352
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• 2022

Accurate indoor localization of construction workers and mobile assets is essential in safety management. Existing positioning methods based on GPS, wireless, vision, or sensor based RTLS are erroneous or expensive in large-scale indoor environments. Tightly coupled sensor fusion mitigates these limitations. This research paper proposes a state-of-the-art positioning methodology, addressing the existing limitations, by integrating Stereo Visual Inertial Odometry (SVIO) with fiducial landmarks called AprilTags. SVIO determines the relative position of the moving assets or workers from the initial starting point. This relative position is transformed to an absolute position when AprilTag placed at various entry points is decoded. The proposed solution is tested on the NVIDIA ISAAC SIM virtual environment, where the trajectory of the indoor moving forklift is estimated. The results show accurate localization of the moving asset within any indoor or underground environment. The system can be utilized in various use cases to increase productivity and improve safety at construction sites, contributing towards 1) indoor monitoring of man machinery coactivity for collision avoidance and 2) precise real-time knowledge of who is doing what and where.

• Proceedings of the Korea Information Processing Society Conference
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• 2008.11a
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• pp.882-884
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• 2008

통상 하드웨어 캐시의 크기보다 수십에서 수백배 큰 크기의 데이타를 랜덤하게 접근하는 경우 낮은 메모리 접근 지역성(locality)에 기인하여 캐시 메모리 성능이 급격히 저하되는 문제를 야기한다. 예를 들면, 현재 보편적으로 사용되고 있는 차량용 General Positioning System (GPS) 프로그램의 경우 최대 32개의 위성으로부터 데이터를 받아 수신단의 위치를 계산하는 부분이 핵심 모듈중의 하나 이며, 이는 전체 성능의 50% 이상을 차지한다. 이러한 모듈에서는 위성 신호를 실시간으로 받아 버퍼 메모리에 저장하며, 이때 필요한 데이터가 순차적으로 저장되지 못하기 때문에 랜덤하게 데이터를 읽어 사용하게 된다. 결과적으로 낮은 지역성에 기인하여 실시간 (realtime)안에 데이터 처리를 하기 어려운 문제에 직면하게 된다. 통상의 통신 응용의 알고리즘 상에 내재된(inherited) 낮은 메모리 접근 지역성을 개선하는 것은 알고리즘 상에서의 접근을 요구한다. 이는 높은 비용이 필요함으로 본 연구에서는 사용되는 데이터 구조를 변환하여 지역성을 높이는 방향으로 접근하였다. 결과적으로 핵심 모듈에서 2배, 전체 시스템 성능에서 14%를 개선할 수 있었다.

• Korean Journal of Environment and Ecology
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• v.30 no.4
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• pp.676-683
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• 2016

This study was conducted using the Wild -Tracker (WT-300, GPS-Mobile Phone Based Telemetry KoEco) to understand the habitats of the spot-billed duck wintering in urban and rural areas and provide the results as the basic data for the protection and management of the habitats of the waterbirds in Korea. Study areas consisted of the Anseong stream in Gyeonggi-do and the Sansu reservoir in Haenam. Five spot-billed ducks were captured by region, and we attached Wild-Tracker to each of the spot-billed ducks. We analyzed the tracking location data using ArcGIS 9.x and calculated Kernel Density Estimation (KDE) and Minimum Convex Polygon (MCP). The average home-range measured by MCP was $250.8km^2$(SD=195.3, n=5) in Anseong and was $89.1km^2$ (SD=69.6, n=5) in Haenam. 50% home-range measured by KDE was $21.8km^2$ (SD=26.9, n=5) in Anseong and $3.5km^2$ (SD=2.2, n=5) in Haenam, indicating a narrow home range in Haenam. During the winter season, both wetland and paddy field were mostly used as habitats in Anseong and Haenam. While the paddy field utilization rate was high in the daytime in Haenam, it was high in the nighttime in Anseong. By late winter, Haenam's day time paddy field utilization rate and Anseong's night time paddy field utilization rate increased.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.11
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• pp.374-380
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• 2017

In this study, we analyzed the situation of the 119 emergency medical service zone of H town, countryside of Y city from January 1st, 2015 to December 31st, 2016 and then, on the basis of this analysis, we investigated the present condition of the patient-transportation service of the 119 emergency medical service to provide the basic data in order for patients to use the emergency medical service more efficiently. We analyzed the data with SPSS 21.0 using frequency analysis and, after positioning the virtual 119 emergency medical service, we analyzed the data of the transportation time and transportation distance by using GIS. The results of this study show that the use of the 119 emergency medical service for people over 65 years old represents approximately 57% of the total number of patients transported, The average distance and time of the real moving reaction are 6.41 km and 11.86 min, respectively. The distance and time from the pick-up location to the hospital are 18.24 km and 21.52 min, respectively. Given the present position of the 119 emergency medical service, the results of this analysis using GPS show that the (average) distance and time from the 119 emergency medical service to Jang * Ri town are 9.12 km and 12 min, and the (average) total distance and time to arrive at the hospital after the emergency medical service picks up the patient are 36.83 km and 62 min, respectively. In the case of the virtual emergency medical service, the total distance and time required to arrive at the hospital after the emergency medical service picks up the patient are 27.71km and 50min, respectively. The results of this study showed that the present position of the 119 emergency service does not provide the optimum distance and time from the patient's location to the hospital. Therefore, we consider that the repositioning of the 119 emergency medical center is necessary, in order to reduce the time required for the emergency medical service to move to the patient's location and then bring the patient to the hospital.

• Journal of Korean Society for Geospatial Information Science
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• v.22 no.4
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• pp.127-133
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• 2014

The purpose of this study is to evaluate the accuracy of Network-RTK(VRS) survey for applying to Ground Control Points(GCPs) survey required for mapping aerial photographs. Network-RTK has been serviced by National Geographic Information Institute since 2007. On the basis of the global coordinates system(ITRF2000), the coordinates of GCPs determined by Static GNSS survey with relative positioning techniques were regarded as accurate values. The coordinates of GCPs were also determined by Network-RTK survey using two kinds of receivers, and then they were converted into the global coordinates system(ITRF2000) by applying suitable geoid model and coordinate transformation. These coordinates of GCPs were compared with those from Static GNSS survey. The root mean squares error (RMSE) of coordinate differences between Network-RTK and Static GNSS was ${\pm}2.0cm$ in plane and ${\pm}7.0cm$ in height. Therefore, Network-RTK survey that enables single GNSS receiver to measure positions in short time is a practical alternative in positioning GCPs to either RTK survey that uses more than two sets of GNSS receivers or Static GNSS survey that requires longer observation time.

• Journal of the Korean Society of Safety
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• v.35 no.3
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• pp.79-85
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• 2020

Ahn-heung Proving Ground(APG) of Agency for Defense Development(ADD) is the only weapon test site which has been performing firing tests for many kinds of missile, artillery and ammunition. APG has been performing the firing tests of so many times every year. The tests related to missiles, artillery and ammunitions cover 80% among the quantity of annual test events. The target area of many kinds of missile, artillery and ammunition is on the sea. Therefore, APG has its marine firing ranges which were approved by the ministry of Defense. Both weapons and ships can run into each other on the sea. APG has to monitor and detect the positions of the ships in the specific dangerous zone on the sea. The positions of the ships are detected by Scanter 2001 radar and GPS100 detection radar. Evading the time period when the ships appear very often on the sea may be a good solution to keep the maritime safety. And evading the place where the ships appear very often on the sea may be a good solution as well. This paper is to analyze the ships' distribution characteristics of marine firing range, which are to raise the efficiency of many kinds firing tests which have been performed in APG of ADD. Ship distribution data from February 2014 to December 2016 were used in this paper. Ship distribution was analyzed with monthly data, seasonal data and etc. The number of the ships in approved sea area is higher in the morning than in the afternoon, and in fall than other seasons, and from August to November, and below 0.5 m in the hight of wave. Using the these conditions, we can raise the test efficiency of many kinds firing tests and guarantee maritime safety. The number of the ships in approved sea area is entirely unrelated to visibility of the sea. The time period when the number of the ships are high on the sea is morning. The season when the number of the ships are comparatively high on the sea is fall. APG of ADD could raise the efficiency of the firing tests and improve the maritime safety, using the analysis results of the characteristics on the ship distribution.

• Journal of the Korean Society of Costume
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• v.64 no.1
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• pp.136-151
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• 2014

This study systematically analyzed types of fashion brand application focusing on accounts created in Korea. While referring to 'Chanel' which has developed a fashion brand app for the first time in August of 2008, not only for App store by Apple Inc. of the greatest market share but also for Android market, the one and only competitor of App store, the study examined cases of fashion brand app in Korea and foreign countries which have been in service till August of 2013 since the year of 2008. To achieve the research goal, the study conducted a literature research and a case review, categorizing the app by their distinctive functions which were Basic Information, SNS, AR, LBS, Entertainment, Mobile Shopping and Live Streaming. As for the first function, Basic Information, it was considered to provide information on a brand such as prices, sizes and colors of products which should be the most fundamental function of a fashion brand. The function would include look book, catalogues, photographs and others of products, helping users of the app with their understanding on images and concepts of the brand. Second, SNS function was considered useful for its mobility and communication and with the help of theirs, the users share fashion information with each other. Third, AR function as in a filed of virtual reality would edit virtual objects to look real in an actual environment. This would eventually offer the users a chance to try for clothes virtually. The fourth function, LBS, would work with GPS to find a store closest from a present location. This would be a help when the users try to find stores holding promotion events or trails while hiking in mountains. The fifth Entertainment function would include all sorts of games and chances for the users to listen to music and keep fashion diaries. The sixth function, Mobile Shopping, would help the users purchase items online via the app as they would not visit a store in person. The seventh function, Live Streaming, would give the users chances to actually see fashion collections in real time, held all over the world in every season. Because of this function, not only fashion experts but also regular people have become able to enjoy the fashion shows. The distinctive characteristics of the fashion brand application discussed in the study will be a useful reference when any relevant fields try to design other new fashion brand application.