• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.1403-1406
• /
• 1997

Generally, G.P.S(Global Positioning System) is using for the car navigation system but it has some restrictions such as the discontinuity of earth satellites and SA (Selective Availability). Recently, the hybrid navigation system combining with G.P.S and Dead-reckoning are much attractuve for improving the accuracy of a vehicle positioning. G.P.S called satellite navigation system, can measure its position by using satellites. Dead-Reckoning is the self-contained navigatioin system using a wheel sensor for the vehicle velocity and a gyro sensor for the vehicle angular velocity. Some algorithm could be generated for finding the vehicle position and orientation. In this paper, we developed a hybrid algotithm wiht G.P.S DR and Map-Matching.

• Economic and Environmental Geology
• /
• v.33 no.1
• /
• pp.51-59
• /
• 2000

As a part of natural hazard assessment, regional slope stability analysis was conducted using Geoscientific Information System (GIS) in the northern area of Chungju Lake. Selected factors which affect the slope stability in the study area were lithology, soil, density of lineament, groundwater level, dip of slope, aspect of slope, and geological engineering properties. Geological structural domains were determined by collected data of joint orientation from about 200 sites in order to produce a slope instability map. Potential type of failure and its direction could be expected through the domains. And a slope instability map was produced, comparing the representative orientations of the domains with the orientations of the slopes which were made through TIN module in ARC/INFO. Under the consideration of environmental geological characteristics of the study area, rating and weighting of each factor of slope stability analysis were decided and spatial analysis of regional slope stability was couducted through overlaying technique of GIS. The result of areal distribution of slope stability showed that the most unstable area was the area between Mt. Pudae and Mt. Jubong, and the northern area of the railway station, Samtan.

• Korean Journal of Computational Design and Engineering
• /
• v.7 no.1
• /
• pp.34-41
• /
• 2002

Five-axis NC machining, in general, is utilized in fabricating impellers, turbine blades, marine propellers that can be machined more effectively rather than three-axis machining. There have been many researches concerning tool interference avoidance, optimization of tool orientation. The C-space or Configuration-space was originated from the robotics area, which depicts interference-free joint-values in motion planning. In the paper we propose an optimizing scheme by which the maximum effective-radius of a face-milling cutter can be achieved for each CC(cutter-contact) point. Also the concept of a C-space for a CC point, the effective-radius map for 5-axis face-milling, and some illustrative examples of marine propeller machining, are presented.

• Tunnel and Underground Space
• /
• v.8 no.4
• /
• pp.342-350
• /
• 1998

In this study, fracture network in rock mass was interpreted using borehole wall images obtained by televiewer. The orientation and JRC value of major joint set were evaluated adopting image analysis techniques, of which process were written in macro-program code. As linking JRC to joint stiffness using Barton-Bandis model, fracture network map was produced for application to jointed rock modelling in numerical analysis of underground structure.

• Journal of the Korean Geophysical Society
• /
• v.9 no.1
• /
• pp.21-25
• /
• 2006

Aerial photo process with digital camera has some benefits. It is fast and simple by digital way incomparison with aerial photo based on film. Also it works with GPS/INS device to do direct geo-referencing. Sdata and digital map and GCP is produced. In base on it, ortho images are produced and compared with surveying data.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.9 no.2
• /
• pp.45-50
• /
• 2009

The environment exploration is an essential process for indoor robots such as clean robot and security robot. Apartment house and office building has common frame structure, but internal arrangement of each room may be slightly different. So, it is more convenient to use a common frame map than to build a new map at every time the arrangement is changed. In this case, it is important to recognize invariant features such as wall, door and window. In this paper, an indoor mobile robot is implemented, and by using the laser scanner data and line segment histogram with respect to segment orientation and distance, an environment exploration method is presented and tested. This robot is fitted with a laser scanner, gyro sensor, ultra sonic sensor and IR sensor, and programed with C language.

• International Journal of Contents
• /
• v.7 no.4
• /
• pp.24-29
• /
• 2011

In this paper, we propose a method to segment the bottle label in images taken by mobile phones using multi-gradient approaches. In order to segment the label region of interest-object, the saliency map method and Hough Transformation method are first applied to the original images to obtain the candidate region. The saliency map is used to detect the most salient area based on three kinds of features (color, orientation and illumination features). The Hough Transformation is a technique to isolated features of a particular shape within an image. Therefore, we utilize it to find the left and right border of the bottle. Next, we segment the label based on the gradient information obtained from the structure tensor method and edge method. The experimental results have shown that the proposed method is able to accurately segment the labels as the first step of product label recognition system.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.3 no.2
• /
• pp.102-108
• /
• 2008

This paper describes a mapping and localization based on wave algorithm[11] and Kalman filter for effective SLAM. Each robot in a multi robot system has its own task such as building a map for its local position. By combining their data into a shared map, the robot scans actively seek to verify their relative locations. For simultaneous localization the algorithm which is well known as Kalman Filter (KF) is used. For modelling the robot position we wish to know three parameters (x, y coordinates and its orientation) which can be combined into a vector called a state variable vector. The Kalman Filter is a smart way to integrate measurement data into an estimate by recognizing that measurements are noisy and that sometimes they should ignored or have only a small effect on the state estimate. In addition to an estimate of the state variable vector, the algorithm provides an estimate of the state variable vector uncertainty i.e. how confident the estimate is, given the value for the amount of error in it.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.13 no.1
• /
• pp.30-38
• /
• 2014

The purpose of this study is to build and manage environment models with line segments from sonar range data on obstacles in unknown and varied environments. The proposed method therefore employs a two-stage data-transform process in order to extract environmental line segments from range data on obstacles. In the first stage, the occupancy grid extracted from the range data is accumulated to form a two-dimensional local histogram grid. In the second stage, a line histogram extracted from a local histogram grid is based on a Hough transform, and matching serves as a means of comparing each of the segments on a global line segments map against the line segments to detect the degree of similarity in the overlap, orientation, and arrangement. Each of these tests is formulated by comparing one of the parameters in the segment representation. After the tests, new line segments can be found at maximum-density cells in the line histogram, and they are composed onto the global line segment map. The proposed technique is demonstrated in experiments in an indoor environment.

• Journal of Institute of Control, Robotics and Systems
• /
• v.7 no.9
• /
• pp.783-789
• /
• 2001

The purpose of this study is to build and to manage environment models with line segments from the sonar range data on obstacles in unknown and varied environments. The proposed method subsequently employs a two-stage data-transform process in order to extract environmental line segments from the range data on obstacles. In the first stage, the occupancy grid extracted from the range data is accumulated to a two-dimensional local histogram grid. In the second stage, a line histogram extracted from an local histogram gird is based on a Hough transform, and matching is a process of comparing each of the segments in the global line segments map against the line segments to detect similarity in overlap, orientation, and arrangement. Each of these tests is made by comparing one of the parameters in the segment representation. After the tests, new line segments are composed to the global line segments map. The proposed technique is illustrated by experiments in an indoor environment.