• The Journal of Korean Institute for Practical Engineering Education
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• v.4 no.2
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• pp.162-170
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• 2012

It is very important for the robot to recognize its position to accomplish numerous tasks and to go to the goal. In this paper, we suggest Location Recognition System to distinguish robot's locations using land-mark and the odometer in the environment of sensor network. All in all, we created a basic intelligent robot, Location Recognition System, and Environment Sensor Modules; we verified the proposed algorithm through computer simulation.

• Proceedings of the Korean Association of Geographic Inforamtion Studies Conference
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• 2004.03a
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• pp.167-172
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• 2004

모바일 매핑시스템은 차량에 GPS(Global Positioning System), IMU(Inertial Measurement Unit), CCD 카메라 등을 탑재하고 공간 및 속성 정보를 취득하는 효율적인 방법이다. 모바일 매핑시스템은 도로 시설물 관리, 지도 갱신 등 다양한 분야에 이용되고 있다. 국외에서 개발된 모바일 매핑 시스템을 업그레이드하거나 새로운 센서를 추가 하고자 할 때 기존 시스템의 센서 통합 및 동기화 방안을 알 수 없으므로 시스템의 개선 및 향상이 어렵다. 본 연구에서는 모바일 매핑시스템의 개선 및 센서추가를 위해서 모바일 매핑시스템에 기본적으로 필요한 GPS, IMU, 그리고 CCD 카메라 등의 효율적인 통합 및 동기화 구현 방안을 제시하고, 동기화에 필요한 각 센서의 요구사항을 파악한 후 동기화 장비를 설계 및 제작하였다. 또한, 향후 추가될 센서인 레이져, 오도미터(Odometer) 등을 센서가 추가될 경우를 고려하여 통합장비를 설계하였다.

• International Journal of Control, Automation, and Systems
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• v.3 no.1
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• pp.15-31
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• 2005

Nowadays, the road safety is an important research field. One of the principal research topics in this field is the vehicle localization in the road network. This article presents an approach of multi sensor fusion able to locate a vehicle with a decimeter precision. The different informations used in this method come from the following sensors: a low cost GPS, a numeric camera, an odometer and a steer angle sensor. Taking into account a complete model of errors on GPS data (bias on position and nonwhite errors) as well as the data provided by an original approach coupling a vision algorithm with a precise numerical map allow us to get this precision.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.930-932
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• 2003

For this study we used a CCD video camera to capture the pavement image information via the computer. During investigation processing, the CCD video camera captured 10${\sim}$30 images per second. If the vehicle velocity is too fast, the collected images will be duplicated and if the velocity is too slow there will be a gapped between images. Therefore, in order to control the efficiency of the image grabber we should add accessory tools such as the Differential Global Positioning System (DGPS) and odometer. Furthermore, Kalman Filtering can also solve these problems. After the CCD video camera captured the pavement images, we used the Least-Squares method to eliminate images of gradation which have non-uniform surfaces due to the illumination at night. The Fuzzy Entropy method calculates images of threshold segments and creates binary images. Finally, the Object Labeling algorithm finds objects that are cracks or noises from the binary image based on volume pixels of the object. We used these algorithms and tested them, also providing some discussion and suggestions.

• Journal of the Korean Geotechnical Society
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• v.18 no.6
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• pp.73-81
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• 2002

Various CPT-based prediction models far profiling stress history of marine clay at the southern part of the Korean peninsula were investigated by using both statistical analysis and case history study. Preconsolidation pressures($\sigma'$p) and overconsolidation ratio(OCR) estimated by empirical correlations and cone penetration tests were compared with those of laboratory odometer test results. Stress history of marine clay determined by odometer test results was in general overconsolidated at below 10m depth from the mudline, whereas marine clay at below l0m depth from the mudline which has an around 0.3 overconsolidation ratio showed variable stresses and unstable states. Preconsolidation pressures were computed by both empirical methods of the Chen and Mayne(1996) and theoretical method of Konrad and Law(1987). It is estimated that Chen and Mayne(1996)'s prediction method based on pore water pressure is more reliable than any other prediction methods, and their method proved to be the most reliable for overconsolidation ratio estimation. However, it is recommended that Mayne & Holtz(1988) and Mayne & Bachus(1988) methods are more suitable than any other methods for predicting the overconsolidation ratio at an underconsolidated (OCR<1) clay. For these reasons, rather than making use of existing prediction models, development of site specific empirical correlations which considers local characteristics and site conditions may be required due to different local stress history and variable soil properties.

• Journal of Biosystems Engineering
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• v.33 no.6
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• pp.423-429
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• 2008

This study was performed to investigate the effects of inertial navigation system (INS) / global positioning system (GPS) sensor fusion for agricultural vehicle navigation. An extended Kalman filter algorithm was adopted for INS/GPS sensor fusion in an integrated mode, and the vehicle dynamic model was used instead of the navigation state error model. The INS/GPS system was consisted of a low-cost gyroscope, an odometer and a GPS receiver, and its performance was tested through computer simulations. When measurement noises of GPS receiver were 10, 1.0, 0.5, and 0.2 m ($1{\sigma}$), RMS position and heading errors of INS/GPS system at 5 m/s straight path were remarkably reduced with 10%, 35%, 40%, and 60% of those obtained from the GPS receiver, respectively. The decrease of position and heading errors by using INS/GPS rather than stand-alone GPS can provide more stable steering of agricultural equipments. Therefore, the low-cost INS/GPS system using the extended Kalman filter algorithm may enable the self-autonomous navigation to meet required performance like stable steering or more less position errors even in slow-speed operation.

• Tribology and Lubricants
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• v.25 no.5
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• pp.318-323
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• 2009

The oil characteristics and wear particles of Diesel engines with a DPF have been investigated as a function of a driving distance. The engine oil of SAE 5W30 with ACEA C3 is used for an oil film lubrication of the engine, which is equipped with Diesel particulate filter. Depending on the oil test results, the kinematic viscosity of used engine oils at 40 is degraded up to 5.1% compared with that of unused engine oils, SAE 5W30. And the kinematic viscosity of used engine oils at 100 is more degraded up to 8.1% compared with that of unused engine oils. The oil characteristic as a function of a mileage is not changed depending on the driving distance because of high quality of engine oils. But the aluminum and copper compounds, which are used as base materials of the engine bearing and a pin bush, are much worn and contaminated for the increased mileage of the car. The oil properties of used engine oils are relatively good except phosphorus and calcium additives, which are heavily engaged in the performance of the oils.

• Journal of Korean Society of Transportation
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• v.24 no.3 s.89
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• pp.189-195
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• 2006

For the past decades, vehicle emissions has been a major source of air pollution in urban areas Vehicle inspection and maintenance (I/M) test programs were developed for major metropolitan areas to reduce urban air pollution. However. there are a few studies of exploring major factors to influence I/M test failure. This study develops a logit model to identify key factors affecting overall test failure, using the vehicle I/M test data from California in October 2002. The model results indicate that vehicle age, odometer reading, engine size, vehicle make, presences of emissions control equipment, and test types have significant effects on the probability of I/M test failure.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.10
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• pp.1044-1050
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• 2014

Robots used for pipe inspection have been studied for a long time and many mobile mechanisms have been proposed to achieve inspection tasks within pipelines. Localization is an important factor for an inpipe robot to perform successful autonomous operation. However, sensors such as GPS and beacons cannot be used because of the unique characteristics of inpipe conditions. In this paper, an inpipe localization algorithm based on elbow detection is presented. By processing the projected marker images of laser pointers and the attitude and heading data from an IMU, the odometer module of the robot determines whether the robot is within a straight pipe or an elbow and minimizes the integration error in the orientation. In addition, an off-line positioning algorithm has been performed with forward and backward estimation and Procrustes analysis. The experimental environment has consisted of several straight pipes and elbows, and a map of the pipeline has been constructed as the result.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.5
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• pp.557-564
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• 2012

This paper presents UGV localization using multi-sensor fusion based on federated filter in outdoor environments. The conventional GPS/INS integrated system does not guarantee the robustness of localization because GPS is vulnerable to external disturbances. In many environments, however, vision system is very efficient because there are many features compared to the open space and these features can provide much information for UGV localization. Thus, this paper uses the scene matching and pose estimation based vision navigation, magnetic compass and odometer to cope with the GPS-denied environments. NR-mode federated filter is used for system safety. The experiment results with a predefined path demonstrate enhancement of the robustness and accuracy of localization in outdoor environments.