• International Journal of Control, Automation, and Systems
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• 제6권1호
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• pp.62-75
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• 2008

Vision-based simultaneous localization and map building using a single camera, while compelling in theory, have not until recently been considered extensive in the practical realm of the real world. In this paper, we propose a simple framework for the monocular SLAM of an indoor mobile robot using natural line features. Our focus in this paper is on presenting a novel approach for modeling the landmark before integration in monocular SLAM. We also discuss data association improvement in a particle filter approach by using the feature management scheme. In addition, we take constraints between features in the environment into account for reducing estimated errors and thereby improve performance. Our experimental results demonstrate the feasibility of the proposed SLAM algorithm in real-time.

• 제어로봇시스템학회논문지
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• 제21권11호
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• pp.1044-1049
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• 2015

This paper proposes an autonomous navigation system of mobile robots for indoor corridor environment. The system uses a laser scanner but does not use reflectors. The laser scanner measures the distance between robot and structures such as wall, pillar, and fixtures. Adaptive breakpoint detector and modified IEPF (iterative endpoint fit) are developed to find mark points from the distance data. The robot path for corridor is then generated using the angle histogram of the mark points. The experimental results are finally presented to show the effectiveness of the proposed method.

• 헤리티지:역사와 과학
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• 제43권1호
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• pp.28-55
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• 2010

천연기념물의 명칭 부여 및 지정 물량을 포함한 현재의 천연기념물 관련 체계는 일제강점기에 도입된 '조선보물고적명승천연기념물보존령' (1934)을 기반으로 하고 있으며, 이에 따른 골격이 지금까지 그대로 통용되고 있다는 문제점이 지적되고 있다. 당산숲 비보숲은 우리나라 농어촌의 숲문화를 대표하는 전통문화자원이며 국가적 문화자산이다. 천연기념물을 포함한 당산숲 비보숲을 논할 때 천연기념물 등에서 사용하는 "명칭", "분류 체계" 등에 대해서 문화재청에서조차, '조선의임수(朝鮮の林藪)' (1938)라는 일제의 조사보고서에 실린 내용에 전적으로 의존하고 있다는 것이 근본적인 문제점이라고 할 수 있다. 즉, 일제가 1938년에 '완도 예송리 당산숲'을 '례송리상녹수림(禮松里常綠樹林)'이라고 이름을 붙인 후, 현재까지도 우리 농어촌의 당산숲 비보숲을 천연기념물 등으로 지정할 때, 해안가의 경우 대부분 일제가 한 방식대로 '~상록수림'이라는 명칭을 그대로 따르고 있다는 것이 대표적인 예이다. 본 논문의 목적은 천연기념물 제도의 출발점인 일제강점기의 '조선의임수(朝鮮の林藪)' 등 일본 자료에 대한 문제점을 고찰하고, '조선의임수(朝鮮の林藪)' 등의 논리를 우리의 당산숲 비보숲 등에 여과 없이 적용시키고 있는 현 상황을 개선하는 방안을 찾고자 하는 것이다. 이를 위해 천연기념물로 지정된 수림지, 노거수 중에서 당산제를 지내는 당산숲이 있는 18개소를 선정하여 조사, 분석하였다. 결과로서, 천연기념물로 지정된 많은 수림지, 노거수 중에서 그것이 당산숲, 당산나무라면 "~당산숲", "~당산숲과 비보숲", "~당산나무"라는 명칭을 일관성 있게 부여해야 할 필요가 있다는 것을 제안하고자 한다. 이러한 조치가 이루어지면 일제강점기에 도입된 천연기념물 제도의 한계를 극복하는 출발점이 시작될 수 있으며, 우리나라 전통조경 양식 및 문화경관으로서의 당산숲에 대한 위상이 제고될 수 있을 것이다.

• 한국조경학회지
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• 제33권6호
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• pp.127-139
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• 2006

Mt. Yokmang landscape design awarded first in [North container terminal site furtherance construction in Busan new port], design competition sponsoring in the Korea Container Terminal Authority in 2005. Design guideline was to propose the symbol of new port and to establish landscape plan in consideration of view and geological location. Because landscape plan required establishment of restoration plan for cutting slope, Mt. Yokmang became the major object. The purpose of planning are as follows. The first purpose is to minimize existent natural environment damage, and the second, to connect with ambit and create new image. The third is to provide place of rest and interchange for local resident. Reflecting stratum structure and landscape characteristics, cutting slope consisted of [utilization slope], [presentation slope], [landscape slope], and [ecological slope]. Vegetation design applied ecological restoration method through restoration of stratum, and eve environment-friendly afforestation, planned program that can connect area with existing ecosystem. In process that decides form of the cutting slope, analyze view structure and visual exposure in various access routes, sensitivity etc. was accomplished. Also, symbolic tower(Ocean Polaris) that presents in architecture and landscaping features, night landscape planning could gain synergy effect by keeping consistence with landscape and ecological planning. Passing through final design and construction process, I expect that the Mt. Yokmang will be a new landmark in Busan new port.

• 한국지능시스템학회논문지
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• 제21권4호
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• pp.442-448
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• 2011

이동 로봇의 위치인식 기술을 위하여 SLAM(Simultaneous Localization and Mapping)에 관한 많은 연구가 진행되고 있다. 본 논문에서는 시야각이 넓은 어안렌즈를 장착한 단일 카메라를 사용하여 천장의 특징점을 이용한 자기위치 인식에 관한 방안을 제시한다. 여기서는 어안렌즈 기반의 비전 시스템이 가지는 왜곡 영상의 보정, SIFT(Scale Invariant Feature Transform) 기반의 강인한 특징점을 추출하여 이전 영상과 이동한 영상과의 정합을 통해 최적화된 영역 함수를 도출하는 과정, 그리고 기하학적 적합모델 설계 등을 제시한다. 제안한 방법을 실험실 환경 및 복도 환경에 적용하여 그 유용성을 확인한다.

• 대한기계학회논문집A
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• 제30권9호
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• pp.1124-1133
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• 2006

This paper addresses the localization and navigation problem using invisible two dimensional barcodes on the floor. Compared with other methods using natural/artificial landmark, the proposed localization method has great advantages in cost and appearance, since the location of the robot is perfectly known using the barcode information after the mapping is finished. We also propose a navigation algorithm which uses the topological structure. For the topological information, we define nodes and edges which are suitable for indoor navigation, especially for large area having multiple rooms, many walls and many static obstacles. The proposed algorithm also has an advantage that errors occurred in each node are mutually independent and can be compensated exactly after some navigation using barcode. Simulation and experimental results. were performed to verify the algorithm in the barcode environment, and the result showed an excellent performance. After mapping, it is also possible to solve the kidnapped case and generate paths using topological information.

• Wind and Structures
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• 제32권2호
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• pp.143-159
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• 2021

The 246.8-m-tall Beijing Olympic Tower (BOT) is a new landmark in Beijing City, China. Its unique architectural style with five sub-towers and a large tower crown gives rise to complex dynamic characteristics. Thus, it is wind-sensitive, and a double-stage pendulum tuned mass damper (DPTMD) has been installed for vibration mitigation. In this study, a finite-element analysis of the wind-induced responses of the tower based on full-scale measurement results was performed. First, the structure of the BOT and the full-scale measurement are introduced. According to the measured dynamic characteristics of the BOT, such as the natural frequencies, modal shapes, and damping ratios, an accurate finite-element model (FEM) was established and updated. On the basis of wind measurements, as well as wind-tunnel test results, the wind load on the model was calculated. Then, the wind-induced responses of the BOT with the DPTMD were obtained and compared with the measured responses to assess the numerical wind-induced response analysis method. Finally, the wind-induced serviceability of the BOT was evaluated according to the field measurement results for the wind-induced response and was found to be satisfactory for human comfort.

• 한국조경학회지
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• 제35권3호
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• pp.71-81
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• 2007

This study focused on the one and only temple of on the coastline of the West Sea, Kimje's Manghae Temple and Mt. Jinbong. The purpose of this study was to research the unique sense of place of the area by researching the location and view that clearly shapes the identity of the landscape. The following are the results. 1. The cultural landscape of Manghae Temple and the natural landscape of Mt. Jinbong have characteristics which take in the coastline and skyline, respectively. Specifically, from the existential vertical-horizontal images of "sky - land - Mt. Jinbong" and "moon - cloud - sea", an ascending reflection of the landscape surroundings can be found. 2. The "Sea - Manghae temple - Mt. Jinbong - sky" is the representation of the moderate 'inside-space' which belongs to the particular landscape area and which also shows the topophilia to Manghae Temple. Through this kind of interpretation, the sense of place of Manghae Temple and Mt. Jinbong reveals an intra-structure of an Imaging Landscape implying harmony and moderation, which is a unified organization of the surrounding phenomena(Temple and Mountain) and the essence (the doctrine of Buddhism) that matches Jin-muk's asceticism and lifestyle. 3. While the cultural landscape of Manghae Temple has a strong religious reference, the natural landscape Mt. Jinbong emphasizes the geography of the landscape. In other words, the motivating factor of Manghae Temple is a metaphorical sense of place such as through the "prospect of the sea" or "the Western Sea Paradise" and Mt. Jinbong, the landmark of the Kimje-Mankyung Plains and the focal point of the West Sea sunset, is highlighted as a simile for this sense of place. 4. Keeping this sense of place and territory respectively and showing the. bond with the sense of place which develops rhythmically and continuously, Manghae Temple and Mt. Jinbong are sublimated into a unified intra-structure, which reflects the Imaging landscape characteristics of "Mt. Jinbong, a focal point of the Mankyung Plains facing the West Sea" and "Manghae Temple, looking out to sea".

• 한국전통조경학회지
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• 제32권2호
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• pp.55-67
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• 2014

조선시대 경강 동호지역은 역사와 문화적 요소가 풍부하여 역사문화경관의 명승명소가 많았으나 현대 한강은 자연경관에 비해서 문화성과 역사성이 낮은 것으로 인식되고 있다. 본 연구는 한강이 지니고 있는 역사문화적 요소를 한강의 경관에 적용하고자 조선시대 문화공간의 경관 특성을 린치의 시각적 이미지요소에 적용하여 경관특성을 살펴보았다. 연구결과는 다음과 같다. 동호를 시각적 이미지 요소에 적용했을 때 '통로'로서 높게 인식되었고 가장자리를 의미하는 '경계'의 명료성 또한 동호가 높게 인식되었다. 방향 전환점인 '결절점'은 두모포가 인지도에서 우수하게 나타났다. 린치의 시각적 이미지 요소에서 '랜드마크'를 문화공간에 적용했을 때 경강 동호, 압구정, 제천정이 우월한 인지도를 보임으로써 역사문화경관의 지명도와 명성은 시각적 이미지 요소에 비례하는 것으로 파악되었다. 문화공간의 패턴, 구조, 의미가 명료하고 정체성이 확실할수록 '랜드마크'와 '지역'요소가 높게 인식되었다. 공간의 지명도가 높을수록 역사문화경관의 인지도가 높았다. 그러므로 한강의 역사문화경관 복원 시 시각적 인지도를 고려하여 조사하고 사례연구 함으로써 장소의 복원과 함께 역사성과 문화성에 대한 인지도를 높일 수 있을 것으로 사료된다.

• 국제학술발표논문집
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• The 3th International Conference on Construction Engineering and Project Management
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• pp.525-536
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• 2009

The current residential process adheres to a traditional method of construction involving wood framing on-site on poured concrete foundations which has been widely applied in North America. A conventional residential construction process can include seventeen distinct stages ranging from stake-out to pre-occupancy inspection. The current practice possesses short comings including high construction material wastes, long scheduling timelines, adverse weather conditions, poor quality, low efficiencies and negative environmental impacts from transportation and equipment use. Over CAN $5 billion dollars was spent in the construction sector during 2007 in Canada. Previous findings in CO₂ emissions during the construction process of a conventional dwelling emphasize more than 45 tonnes of CO₂ emissions. Hence, in Alberta alone during 2007, almost 50,000 residential units would release more than two million tonnes of CO₂. These numbers demonstrate the economical and environmental impact in building construction and its relationship with CO₂ emissions. The aim of this paper is to quantify the CO₂ emissions from the current residential construction process in order to establish the baseline for CO₂ emission reduction opportunities. The quantification collection methodology will be approached by identifying the seventeen various stages of construction and quantifying the contributions of CO₂ from specific activities and their impacts of work for each stage. The approach of separating these into separate stages for collection will allow for independent opportunities for analysis from various independent contractors from the entire scope of work. The use of BIM will be implemented to efficiently quantify CO₂ emissions. Based on the CO₂ quantification baseline, emission reduction opportunities such as an industrialized construction process will be introduced that allows homebuilders to reduce the environmental and economical impact of home construction while enabling them to produce higher quality, more energy efficient homes in a safer and shorter period of time.