• Journal of Navigation and Port Research
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• v.42 no.3
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• pp.237-244
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• 2018

When underwater rubble leveling work is carried out by a robot, real-time information on the topography around the robot is required for remote control. If the topographical information with respect to the current position of the robot is displayed as a 3D graphic image, it allows the operator to plan the working schedules and to avoid accidents like rollovers. Up until now, the topographical recognition was conducted by multi-beam sonars, which were only used to assess the quality before and after the work and could not be used to provide real-time information for remote control. This research measures the force delivered to the bucket which presses the mound to determine whether contact is made or not, and the contact position is calculated by reading the cylinder length. A variable bang-bang control algorithm is applied to control the heavy robot arms for the positioning of the bucket. The proposed method allows operators to easily recognize the terrain and intuitively plan the working schedules by showing relatively 3-D gratifications with respect to the robot body. In addition, the operating patterns of a skilled operator are programmed for raking, pushing, moving, and measuring so that they are automatically applied to the underwater rubble leveling work of the robot.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.7
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• pp.599-605
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• 2017

For an unmanned vehicle to be driven on the off-road terrain, it is necessary to consider the vehicle's stability. This paper suggests a path tracking controller for simulation of real-time vehicle stability analysis. The path tracking controller uses the preview distance to track the given trajectory. The disturbance moment is estimated using the yaw moment observer, and this information is used for compensation in the yaw moment control. On a curved path, the vehicle's desired velocity is determined from the curvature of the path. Because the vehicle is equipped with six independent motor driven wheels, the driving torques are distributed on all the wheels. The effectiveness of the path tracking controller is verified using ADAMS/MATLAB co-simulation.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.34 no.5
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• pp.503-514
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• 2016

Delineation of accurate object boundaries is crucial to provide reliable spatial information products such as digital topographic maps, building models, and spatial database. In LiDAR(Light Detection and Ranging) data, real boundaries of the buildings exist somewhere between outer-most points on the roofs and the closest points to the buildings among points on the ground. In most cases, areas of the building footprints represented by LiDAR points are smaller than actual size of the buildings because LiDAR points are located inside of the physical boundaries. Therefore, building boundaries determined by points on the roofs do not coincide with the actual footprints. This paper aims to estimate accurate boundaries that are close to the physical boundaries using airborne LiDAR data. The accurate boundaries are determined from the non-gridded original LiDAR data using initial boundaries extracted from the gridded data. The similar method implemented in this paper is also found in demarcation of the maritime boundary between two territories. The proposed method consists of determining initial boundaries with segmented LiDAR data, estimating accurate boundaries, and accuracy evaluation. In addition, extremely low density data was also utilized for verifying robustness of the method. Both simulation and real LiDAR data were used to demonstrate feasibility of the method. The results show that the proposed method is effective even though further refinement and improvement process could be required.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• 2007.11a
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• pp.938-942
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• 2007

The importance of process improvement under construction has arisen from recent issue, lower productivity in the construction site. The various 3D modeling program is utilized in the procedure of construction as an alternative solution. However, it's still shortage of the consideration about a specific technical application. The purpose of the study in this paper is helpful to improve the productivity of construction site using 3D realization of constructing place as one of extensive modeling technologies, which leads to not only efficient management of construction site allowing people to check the real time situation in the place but also the revitalization of information flow about building process control and prgress, Therefore, I research into modeling algorithm and extensive construction site realization technology. 3D realization of building place would reduce the safety concerns by providing the real time information about construction site, and it could help to access easily to similar project through collecting and appling the database of sites. Furthermore it can be an opportunity to develop the procedure of production in construction industry and to upgrade the image of this field.

• Journal of Korean Society of Transportation
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• v.19 no.4
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• pp.35-47
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• 2001

Traffic represents one of the largest sources of primary air pollutants in urban area. As a consequence. numerous abatement strategies are being pursued to decrease the ambient concentration of pollutants. A characteristic of most of the these strategies is a requirement for accurate data on both the quantity and spatial distribution of emissions to air in the form of an atmospheric emission inventory database. In the case of traffic pollution, such an inventory must be compiled using activity statistics and emission factors for vehicle types. The majority of inventories are compiled using passive data from either surveys or transportation models and by their very nature tend to be out-of-date by the time they are compiled. The study of current trends are towards integrating urban traffic control systems and assessments of the environmental effects of motor vehicles. In this study, a methodology of motor vehicle emission calculation by using real-time traffic data was studied. A methodology for estimating emissions of CO at a test area in Seoul. Traffic data, which are required on a street-by-street basis, is obtained from induction loops of traffic control system. It was calculated speed-related mass of CO emission from traffic tail pipe of data from traffic system, and parameters are considered, volume, composition, average velocity, link length. And, the result was compared with that of a method of emission calculation by VKT(Vehicle Kilometer Travelled) of vehicles of category.

• Journal of Navigation and Port Research
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• v.37 no.1
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• pp.71-77
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• 2013

Most of the maritime accidents are the crash that occurred by complex coastal terrain, increased maritime traffic and frequent weather changes. Therefore, transportation safety is exactly determined using accurate environmental informations, but if informations are inaccurate or insufficient, accident risk can be increased. Therefore, ship need the system that can accurately generate transportation safety information. This paper proposes the transportation safety system and performance evaluation in the real environment. The proposed system includes database of environment informations and navigation algorithm using PPP method to estimate the accurate ship position. Therefore, this system can accurately calculate distance or freeboard between ship with other factors. Futhermore, when weather is deteriorated, crew can sail with database based 3-D monitoring module in the transportation safety system. To verify the function and performance, data of Kyungin ARA waterway and ferry is used to evaluation.

• Spatial Information Research
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• v.23 no.6
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• pp.57-66
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• 2015

Recently, the utilization of geospatial open platforms has been constantly increased and the interest in 3D geospatial data such as terrain, building and shopping mall has been increased significantly. In particular, rather than simplified 3D geospatial data, interest in high-precision 3D geospatial data which similarly represents the real world objects has increased significantly. In order to satisfy the demand for such the high-precision 3D geospatial data, various kinds of 3D geospatial open platforms has been developed and has provided services on the web. However, most of the 3D geospatial open platforms have been used plug-in module in order to ensure a fast 3D rendering performance on the web, despite the many problems such as difficulty of the installation, no supporting of cross browser/operating system and security issues. In addition, recently, the existing 3D geospatial open platforms based on plug-in module are facing a serious problem, by declaring the NPAPI service interruption in Chrome and Firefox browsers. In this study, we presents the design and implementation of a new 3D geospatial open platform based on HTML5/WebGL technology without the use of plug-ins. Such the new 3D geospatial open platform based on HTML5/WebGL may support cross browsers such as IE, Chrome, Firefox, Safari and cross OS platforms such as Windows, Linux, Mac and mobile OS platforms.

• Journal of the Korean Association of Geographic Information Studies
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• v.14 no.1
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• pp.94-106
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• 2011

The muddy water occurrence possibility of reservoir were analyzed by considering GIS based soil erosion model, sediment delivery ratio and effective reservoir capacity. For the purpose, the weakness factors for the establishment of countermeasures of basin were analyzed by evaluating input factors of RUSLE model based on spatial data such as DEM, soil map, landcover map and so on. The potential of soil erosion was estimated considering highland upland. The sediment yields of Chungju-Dam and Soyanggang-Dam showed the highest result in sediment yield using sediment delivery ratio with considering basin area. The sediment concentration of Imha-Dam and Chungju-Dam showed the highest value as 0.791 $kg/m^3/yr$ and 0.526 $kg/m^3/yr$ respectively in sediment concentration with considering effective reservoir capacity. Especially, sediment yield of Imha-Dam was about 2.36 times lower than Soyanggang-Dam, but the sediment concentration was 1.90 times higher preferably, because the effective reservoir capacity of Imha-Dam was about 4.48 times lower. This study calculated sediment concentration using the 10 years mean rainfall event and could consider the aspects of soil, terrain, landcover, cultivation condition and effective reservoir capacity of each basin effectively through the results. Therefore, these quantitative sediment concentration data could be used to estimate the potential of high density turbid water for reservoir and applied with effective tools for the management of reservoir.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.37 no.6
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• pp.1063-1076
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• 2017

To improve the productivity of the earthwork, a fleet management system for construction equipment was suggested in previous studies. But there were some gaps between theory and practice. To overcome this problem, some opinions are gathered form experts and field engineers and four improvements have been proposed and reflected in the system. First, the previous system consists of one hardware module, so it is hard to install it at a control office and construction equipment at the same time. The server module for the office and the mobile module for construction equipment are separately developed. Second, the transportation algorithm that is used in the previous system can generate shortest paths for the earthwork distribution, but embankment areas are not gathered. This situation leads to a decrease in compaction productivity. A modified algorithm for earthwork distribution is suggested. Third, the automated coordinate transformation is performed to show the position of construction equipment on the 3D terrain in real-time. Fourth, construction equipment groups should be formed in the initial stage of earthwork and the number of equipment of each groups should be changed by operation status and site environment. But this functions did not work properly in the previous system. This problem is corrected in the proposed system. The improvements can make the proposed system much more realistic one and can leads to an increase in the productivity of earthwork operations.

• Journal of the Korean Association of Geographic Information Studies
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• v.12 no.1
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• pp.1-11
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• 2009

Rapid visualization of flood area of downstream according to the dam effluent in flood season is very important in dam management works. Overlay zone of river bight should be removed to represent flood area efficiently based on flood stage which was modeled in river channels. This study applied drainage enforcement algorithm to visualize flood area considering river bight by coupling Coordinate Operation System for Flood control In Multi-reservoir (COSFIM) and Flood Wave routing model (FLDWAV). The drainage enforcement algorithm is a kind of interpolation which gives to advantage into hydrological process studies by removing spurious sinks of terrain in automatic drainage algorithm. This study presented mapping technique of flood area layer considering river bight in Namgang-Dam downstream, and developed system based on Arcobject component to execute this process automatically. Automatic extraction system of flood area layer could save time-consuming efficiently in flood inundation visualization work which was propelled based on large volume data. Also, flood area layer by coupling with IKONOS satellite image presented real information in flood disaster works.