• Journal of Institute of Control, Robotics and Systems
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• v.18 no.7
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• pp.658-663
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• 2012

An accurate outdoor localization method using line/arc features is suggested for mobile robots with LRFs (Laser Range Finders) and odometry. Localization is a key process for outdoor mobile robots which are used for autonomous navigation, exploration and so on. In this paper, an accurate pose correction algorithm is proposed for mobile robots using LRFs, which use three feature types: line, circle, and arc. Using this method we can reduce the number of singular cases that robots couldn't find their pose. Finally we have got simulation results to validate the proposed algorithm.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2002.05c
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• pp.27-30
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• 2002

In this paper, we were investigated leakage current properties of outdoor insulator on climatic environmental factor. Contamination is one of the most important factor to determine the performance of insulator. Thus, it is very important to exam the contamination degree on the outdoor insulator. There are many limits, such as reliability of data, interval of measurement and similarity of environmental conditions, in conventional method. So, we measured phase and leakage current of outdoor insulator using the temperature & humidity chamber. In this investigation, phase difference was measured to compare the variance of phase difference with the contamination degree and relative humidity.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2001.05c
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• pp.212-216
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• 2001

The conventional tracking testing as IEC-60587 is widely used in surface aging measurement of outdoor insulator because those testing can carry out very short time in Lab-testing. Also IEC-60587 testing is able to offer the standard judgement of relative degradation level of outdoor HV machine/system. Therefore it is very useful method compare to previous conventional tracking testing method and effective Lab-testing method. But surface discharges(SD) have very complex characteristics of discharge pattern so it is required estimation research to development of precise analysis method. In recent, the study of IRR-camera is carrying out discover of temperature of power equipment through condition diagnosis and system development of degradation diagnosis. In this study, SD occurred from procelain insulator, used 22.9[KV] distribution, is measured with partial temperature distribution in real time, the degradation grade of SD is analyzed through produced patterns in SD concentration according to applied time.

• International journal of advanced smart convergence
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• v.9 no.1
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• pp.63-69
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• 2020

The rapid development in modern industrialization pollutant the water and atmospheric air across the globe that have a major impact on the human and livings health. In worldwide, every country government increasing the importance to improve the outdoor air pollution monitoring and control to provide quality of life and prevent the citizens and livings life from hazard disease. We proposed the environmental dust level detection method for outdoor facilities using sensor fusion technology to measure precise micro-dust level and monitor in realtime. In this proposed approach use the camera sensor and commercial dust level sensor data to predict the micro-dust level with data fusion method. The camera sensor based dust level detection uses the optical flow based machine learning method to detect the dust level and then fused with commercial dust level sensor data to predict the precise micro-dust level of the outdoor facilities and send the dust level informations to the outdoor air pollution monitoring system. The proposed method implemented on raspberry pi based open-source hardware with Internet-of-Things (IoT) framework and evaluated the performance of the system in realtime. The experimental results confirm that the proposed micro-dust level detection is precise and reliable in sensing the air dust and pollution, which helps to indicate the change in the air pollution more precisely than the commercial sensor based method in some extent.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.41 no.3
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• pp.138-144
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• 2018

Inventory inspection is an important task to eliminate the inconsistency between real assets and inventory management systems, and it is performed periodically at the site. In the case of a large-sized property, it is mainly managed in an outdoor workshop or a warehouse. However, due to the large area of the outdoor area, it is relatively difficult to identify the quantity and location of the property and is also vulnerable to theft. To solve this problem, we proposed a method and system for performing a warehouse inventory inspection using an unmanned aerial vehicle (UAV) and Bluetooth low energy (BLE) beacons. The proposed method has the following advantages. First of all, if we carry out inventory inspection by utilizing UAV, we can minimize user's effort compared to existing methods. The method of recognizing the asset by attaching the BLE beacon is more costly than using the existing RFID technology, but it is advantageous because the recognition distance is increased and the battery life of the tag is drastically increased. We also designed a BLE beacon reader for the system and implemented a prototype to show the feasibility of the proposed system. The prototype is based on Genuino 101, which is a kind of arduino, and adds HM-10 and Neo-6m modules to provide Bluetooth and GPS functions. The BLE beacon reader was tested in outdoor, and attached in drone. We also developed an inventory checking system based on the web to display results of inventory checking. The proposed approach enables the users to automate the operation of inventory checking on an outdoor warehouse.

• Journal of Environmental Science International
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• v.17 no.10
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• pp.1069-1073
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• 2008

Indoor air quality can be affected by indoor sources, ventilation, decay and outdoor levels. Although technologies exist to measure these factors, direct measurements are often difficult. The purpose of this study was to develop an alternative method to characterize indoor environmental factors by multiple indoor and outdoor measurements. Using a mass balance model and regression analysis, penetration factor (ventilation rate divided by the sum of ventilation rate and deposition constant) and source strength factor (source strength divided by the sum of ventilation rate and deposition constant) were calculated using multiple indoor and outdoor measurements. Subsequently, the ventilation rate and $NO_2$ generation rate were estimated. Mean of ventilation rate was 1.41 ACH in houses, assuming a residential N02 deposition constant of 0.94 $hr^{-1}$. Mean generation rate of $NO_2$ was 16.5 ppbv/hr. According to house characterization, inside smoking and family number were higher $NO_2$ generation rates, and apartment was higher than single-family house. In conclusion, indoor environmental factors were effectively characterized by this method using multiple indoor and outdoor measurements.

• Proceedings of the Korean Environmental Sciences Society Conference
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• 2003.05a
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• pp.155-160
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• 2003

Indoor air quality can be affected by indoor sources, ventilation, decay and outdoor levels. Although technologies exist to measure these factors, direct measurements are often difficult. The purpose of this study was to develop an alternative method to characterize indoor environmental factors by multiple indoor and outdoor measurements. Daily indoor and outdoor $NO_2$ concentrations were measured for 30 consecutive days in 28 houses in Brisbane, Australia, and for 21 consecutive days in 37 houses in Seoul, Korea. Using a mass balance model and regression analysis, penetration factor (ventilation rate divided by the sum of ventilation rate and deposition constant) and source strength factor (source strength divided by the sum of ventilation rate and deposition constant) were calculated using multiple indoor and outdoor measurements. Subsequently, the ventilation rate and $NO_2$ source strength were estimated. Geometric means of ventilation rate were 1.44 ACH in Brisbane, assuming a residential $NO_2$ deposition constant of 1.05 $hr^{-1}$, and 1.36 ACH in Seoul, with the measured residential $NO_2$ deposition constant of 0.94 $hr^{-1}$. Source strengths of $NO_2$ were 15.8 $\pm$ 18.2 ${\mu}g$/$m^3$.hr and 44.7 $\pm$ 38.1${\mu}g$/$m^3$.hr in Brisbane and Seoul, respectively. In conclusion, indoor environmental factors were effectively characterized by this method using multiple indoor and outdoor measurements.

• Proceedings of the Korean Environmental Health Society Conference
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• 2004.12a
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• pp.45-50
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• 2004

Indoor air quality can be affected by indoor sources, ventilation, decay and outdoor levels. Alt hough technologies exist to measure these factors, direct measurements are often difficult. The purpose of this study was to develop an alternative method to characterize indoor environmental factors by multiple indoor and outdoor measurements. Daily indoor and outdoor NO2 concentrations were measured for 30 consecutive days in 28 houses in Brisbane, Australia, and for 21 consecutive days in 37 houses in Seoul, Korea. Using a mass balance model and regression analysis, penetration factor (ventilation rate divided by the sum of ventilation rate and deposition constant) and source strength factor (source strength divided by the sum of ventilation rate and deposition constant) were calculated using multiple indoor and outdoor measurements. Subsequently, the ventilation rate and NO2 source strength were estimated. Geometric means of ventilation rate were 1.44 ACH in Brisbane, assuming a residential NO2 deposition constant of 1.05 hr-1, and 1.36 ACH in Seoul, with the measured residential NO2 deposition constant of 0.94 hr-1. Source strengths of N02 were 15.8 ${\pm}$ 18.2 ${\mu}$g/m3${\cdot}$hr and 44.7 ${\pm}$ 38.1 ${\mu}$g/m3${\cdot}$hr in Brisbane and Seoul, respectively. In conclusion, indoor environmental factors were effectively characterized by this method using multiple indoor and outdoor measurements.

• Journal of Korea Game Society
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• v.16 no.6
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• pp.69-78
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• 2016

Outdoor ads such as billboards, banners or posters frequently appears in street maps of FPS games. In this paper, we propose a method for the automatic placement of outdoor advertising in the city area of FPS games. Outdoor ads are from real world products or enterprises and they are managed in a server computer. If the ads data are updated, the advertisements are automatically placed again without modifying source codes. When placing ads, we utilize the real world location of the game player regarding commercial spheres of ads and service types of real world shops. We evaluate priority scores for the available ads based on the collected real world properties and higher priority ads are preferentially placed on the map. The proposed ad placement method makes the game players feel affinity for the placed ads and also it increases the advertising effect.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.995-1005
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• 2011

An efficient outdoor local localization method is suggested using multi-sensor fusion with MU-EKF (Multi-Update Extended Kalman Filter) for car-like mobile robots. In outdoor environments, where mobile robots are used for explorations or military services, accurate localization with multiple sensors is indispensable. In this paper, multi-sensor fusion outdoor local localization algorithm is proposed, which fuses sensor data from LRF (Laser Range Finder), Encoder, and GPS. First, encoder data is used for the prediction stage of MU-EKF. Then the LRF data obtained by scanning the environment is used to extract objects, and estimates the robot position and orientation by mapping with map objects, as the first update stage of MU-EKF. This estimation is finally fused with GPS as the second update stage of MU-EKF. This MU-EKF algorithm can also fuse more than three sensor data efficiently even with different sensor data sampling periods, and ensures high accuracy in localization. The validity of the proposed algorithm is revealed via experiments.