• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.10
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• pp.2195-2202
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• 2011

Recently, navigation system is used to inform users of vehicle location and driving direction, moving distance and so on. This navigation uses GPS sensor for current location determination. The GPS sensor will determinate current coordinates by using triangulation algorithm. This characteristic bring about that the GPS signal is not available in the shadow region such as tunnel and urban canyon. Moreover, Even though the signal is available, inherent positional error rate of the GPS often results in the dislocation of vehicle. To solve, these problems, a new positioning system is proposed in the paper. The System utilizes geomagnetic sensors of smartphone, speed information of CAN of vehicle though bluetooth and WiFi APs for GPS shadow area. The experimental test shadows that the proposed system using multiple data is able to determine the position of vehicle in GPS shadow areas.

• Journal of the Korean GEO-environmental Society
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• v.14 no.8
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• pp.45-51
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• 2013

In the construction site of underground buildings which have severe environment such as dust, noise, vibration, the technology of rescue the builders in the construction site when accident occurs by tracking the location of the builders and express the mission of supervisor smoothly. In this study, in order to acquire the location information of the builders in the construction site of underground buildings by using MEMS INS and air pressure sensor, we firstly performed the field test in construction site, analyzed the location and the elevation accuracy based on the detected results, and then verified its practicality and rationality after all. As a result, we could acquire worker's position-accuracy within 10m in horizontal direction and 4m in vertical direction. Therefore we could judge availability in construction fields of underground structure.

• Journal of Mechanical Science and Technology
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• v.17 no.10
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• pp.1431-1442
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• 2003

A new method of estimating the pose of a mobile-task robot is developed based upon an active calibration scheme. The utility of a mobile-task robot is widely recognized, which is formed by the serial connection of a mobile robot and a task robot. To be an efficient and precise mobile-task robot, the control uncertainties in the mobile robot should be resolved. Unless the mobile robot provides an accurate and stable base, the task robot cannot perform various tasks. For the control of the mobile robot, an absolute position sensor is necessary. However, on account of rolling and slippage of wheels on the ground, there does not exist any reliable position sensor for the mobile robot. This paper proposes an active calibration scheme to estimate the pose of a mobile robot that carries a task robot on the top. The active calibration scheme is to estimate a pose of the mobile robot using the relative position/orientation to a known object whose location, size, and shape are known a priori. For this calibration, a camera is attached on the top of the task robot to capture the images of the objects. These images are used to estimate the pose of the camera itself with respect to the known objects. Through the homogeneous transformation, the absolute position/orientation of the camera is calculated and propagated to get the pose of a mobile robot. Two types of objects are used here as samples of work-pieces: a polygonal and a cylindrical object. With these two samples, the proposed active calibration scheme is verified experimentally.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.22 no.5
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• pp.709-714
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• 2018

Visual Reality technology is becoming more and more interesting as it attracts people's interest. VR technology is used in various markets such as games, animation, and education. However, there were many people experiencing motion sickness such as dizziness and headache due to the delay time between hardware such as a device for sending a video after experiencing a VR image and an HMD for reproducing an image. The system proposed in this paper focuses on the environment rather than the movement of the attraction and detects the dividing line existing on the path by the proximity sensor and accurately calculates the position on the path according to the user 's motion. Since the position of the user is synchronized with the VR image, the position error of the user is improved to 0.2%.

• Journal of the Korean Society of Safety
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• v.37 no.2
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• pp.97-105
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• 2022

Human casualties from fires are increasing worldwide. The majority of human deaths occur during the evacuation process, as occupants panic and are unaware of the location of the fire and evacuation routes. Using an Internet of Things (IoT) sensor and reinforcement learning, we propose a method to find the safest evacuation route by considering the fire location, flame speed, occupant position, and walking conditions. The first step is detecting the fire with IoT-based devices. The second step is identifying the occupant's position via a beacon connected to the occupant's mobile phone. In the third step, the collected information, flame speed, and walking conditions are input into the reinforcement learning model to derive the optimal evacuation route. This study makes it possible to provide the safest evacuation route for individual occupants in real time. This study is expected to reduce human casualties caused by fires.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.23 no.2
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• pp.152-159
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• 2013

A structural health monitoring(SHM) technique for locating impact position in a composite plate is presented in this paper. The technique employs a single sensor and spatial focusing properties of time reversal(TR) and inverse filtering(IF). We first examine the focusing effect of back-propagated signal at the impact position and its surroundings through simulation. Impact experiments are then carried out and the localization images are found using the TR and IF signal processing, respectively. Both techniques provide accurate impact location results. Compared to existing techniques for locating impact or acoustic emission source, the proposed methods have the benefits of using a single sensor and not requiring knowledge of material properties and geometry of structures. Furthermore, it does not depend on a particular mode of dispersive Lamb waves that is frequently used in the SHM of plate-like structures.

• Journal of Ubiquitous Convergence Technology
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• v.2 no.2
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• pp.67-77
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• 2008

Representation of various types of information in an interactive virtual reality environment on mobile devices had been an attractive and valuable research in this new era. Our main focus is presenting spatial indoor location sensing information in 3D perception in mind to replace the traditional 2D floor map using handheld PDA. Designation of 3D virtual reality by Virtual Reality Modeling Language (VRML) demonstrates its powerful ability in providing lots of useful positioning information for PDA user in real-time situation. Furthermore, by interpolating portal culling algorithm would reduce the 3D graphics rendering time on low power processing PDA significantly. By fully utilizing the CC2420 chipbased sensor nodes, wireless sensor network was established to locate user position based on Received Signal Strength Indication (RSSI) signals. Implementation of RSSI-based indoor tracking method is low-cost solution. However, due to signal diffraction, shadowing and multipath fading, high accuracy of sensing information is unable to obtain even though with sophisticated indoor estimation methods. Therefore, low complexity and flexible accuracy refinement algorithm was proposed to obtain high precision indoor sensing information. User indoor position is updated synchronously in virtual reality to real physical world. Moreover, assignment of magnetic compass could provide dynamic orientation information of user current viewpoint in real-time.

• Journal of Korea Multimedia Society
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• v.19 no.2
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• pp.240-251
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• 2016

This paper presents a real-time indoor location and pose estimation method that utilizes simple artificial markers and image analysis techniques for the purpose of warehouse automation. The conventional indoor localization methods cannot work robustly in warehouses where severe environmental changes usually occur due to the movement of stocked goods. To overcome this problem, the proposed framework places artificial markers having different interior pattern on the predefined position of the warehouse floor. The proposed algorithm obtains marker candidate regions from a captured image by a simple binarization and labeling procedure. Then it extracts maker interior pattern information from each candidate region in order to decide whether the candidate region is a true marker or not. The extracted interior pattern information and the outer boundary of the marker are used to estimate location and heading angle of the localization system. Experimental results show that the proposed localization method can provide high performance which is almost equivalent to that of the conventional method using an expensive LIDAR sensor and AMCL algorithm.

• Journal of Digital Convergence
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• v.14 no.1
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• pp.171-179
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• 2016

The energy consumption problem in wireless sensor networks is investigated. The problem is to expend as little energy as possible receiving and transmitting data, because of constrained battery. In this paper, in order to extend the lifetime of the network, we proposed a location-based clustering algorithm for wireless sensor network with skewed-topology. The proposed algorithm is to deploy multiple child nodes at the sink to avoid bottleneck near the sink and to save energy. Proposed algorithm can reduce control traffic overhead by creating a dynamic cluster. We have evaluated the performance of our clustering algorithm through an analysis and a simulation. We compare our algorithm's performance to the best known centralized algorithm, and demonstrate that it achieves a good performance in terms of the life time.

• Journal of Aerospace System Engineering
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• v.11 no.5
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• pp.20-27
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• 2017

The present paper describes the flow analysis of the flows around the multicopter for the selection of optimal position of air data sensor. For the flow analysis, the commercial fluid dynamics solver, STAR-CCM+ was used with polygon mesh and k-w SST turbulence modeling options. For the simulation of each rotating 4 propellers, unstructured overset mesh method was used. Hovering, forward flight, ascending and descending flight conditions are selected for the analysis and airspeed and flow angle errors were investigated using the CFD results. Through the flow field analysis, sensor location above one propeller diameter distance from the propeller rotating plane showed airspeed error less than 1m/s within the typical flight conditions of multicopter except descending.