• 로봇학회논문지
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• 제16권2호
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• pp.122-129
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• 2021

For the Simultaneous Localization and Mapping (SLAM) problem, a different path results in different SLAM results. Usually, SLAM follows a trail of input data. Active SLAM, which determines where to sense for the next step, can suggest a better path for a better SLAM result during the data acquisition step. In this paper, we will use reinforcement learning to find where to perceive. By assigning entire target area coverage to a goal and uncertainty as a negative reward, the reinforcement learning network finds an optimal path to minimize trajectory uncertainty and maximize map coverage. However, most active SLAM researches are performed in indoor or aerial environments where robots can move in every direction. In the urban environment, vehicles only can move following road structure and traffic rules. Graph structure can efficiently express road environment, considering crossroads and streets as nodes and edges, respectively. In this paper, we propose a novel method to find optimal SLAM path using graph structure and reinforcement learning technique.

• 한국대기환경학회지
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• 제27권4호
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• pp.416-425
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• 2011

To analyze the physical processes of sea-breeze development over a coastal urban area, numerical simulation for seabreeze (SB) and its frontogenesis was examined based on urbanized MM5 (uMM5) with urban canopy parameterization. On 6 August 2006, SB and its front were well developed in Busan under a weak offshore flow. As a result of wind vector, ZVB (Zero Velocity Boundary), potential temperature obtained the uMM5, at 0900 LST, SB advanced below 200 m height in the coastal areas and the internal boundary grew with the urban coastal region. At noon, the height of the SB head with updraft was approximately one and a half times (~600 m) higher than its depth in central urban. Applying the frontogenesis function, the SB structure for frontogenesis and frontolysis were complicated spatially; the dynamic effects of wind (i.e. convergence and tilting term) could play an important role in the growth of SB, especially the convergence effect.

• 한국환경과학회지
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• 제15권4호
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• pp.305-310
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• 2006

The color and structure of urban constructions is a factor of urban landscape and shows their characteristics. Hence the modern buildings deal with their materials and external appearance as an important factor, making up the urban image. But it was nearby impossible to evaluate the value of visual landscape with objective measuring method. Most of all, it depends on the subjective estimation of a few talented or high educated experts with a sense of beauty. Such kinds of estimation can in some cases include arbitrary interpretations. In relation to this kind of problems, it is tried here in this study to analyse the human response of brain wave pattern (EEG) with use of SD method, while the tested persons watch the urban landscape scenery constructed in a visual reality. The tested persons were 20 adult male and female with no color blindness and intact cognitive function. Light source with color filter was used for color environment in a dark soundproof chamber. The signal of EEG is analysed digitally and grouped into the ${\alpha}$ and ${\beta}$ waves. The result showed that relative power of ${\alpha}$ wave ratio increased in the natural landscape scenery with blue and green color. From these results it was possible to evaluate the human response, which is affected by urban and natural color and structure stimulation and it might be useful as an indicator of visual cognition amenity toward the design of urban construction environment.

• 한국환경복원기술학회지
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• 제26권6호
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• pp.135-154
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• 2023

Urban wetlands provide various ecosystem services and are subject to restoration and creation projects due to their increased value in the context of climate change. However, the vegetation structure of wetlands is sensitive to environmental changes, including artificial disturbances, and requires continuous maintenance. In this study, we conducted a vegetation survey of three wetlands created as part of a project to restore urban degraded natural ecosystems and monitored the quantitative changes in wetland vegetation structure using an unmanned aerial vehicle. The vegetation survey revealed 73 species in Incheon Yeonhui wetland, and the change in vegetation composition based on wetland occurrence frequency was 11.5% on average compared to the 2018 vegetation survey results. The vegetation survey identified 44 species in Busan Igidae wetland, and the proportion of species classified as obligate upland plants was the highest at 48.8% among all plants, while the proportion of naturalized plants accounted for 15.9% of all plants. The open water surface area decreased from 10% in May 2019 to 6.7% in May 2020. Iksan Sorasan wetland was surveyed and 44 species were confirmed, and it was found that the proportion of facultative wetland plant decreased compared to the 2018 vegetation survey results, and the open water surface area increased from 0.4% in May 2019 to 4.1% in May 2020. The results of this study showed that wetlands with low artificial management intensity exhibited a tendency for stabilization of vegetation structure, with a decrease in the proportion of plants with high wetland occurrence frequency and a relatively small number of new species. Wetlands with high artificial management intensity required specific management, as they had a large change in vegetation structure and a partially high possibility of new invasion. We reaffirmed the importance of continuous monitoring of vegetation communities and infrastructure for wetlands considering the function and use of urban wetlands, and restoration stages. These research results suggest the need to establish a sustainable wetland maintenance system through the establishment of long-term maintenance goals and monitoring methods that consider the environmental conditions and vegetation composition of wetlands.

• 대한원격탐사학회지
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• 제27권3호
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• pp.339-351
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• 2011

This study investigates the potentials of satellite, ground measurement data, and geo-spatial information within an urban area for the mapping of the Urban Environmental Quality (UEQ) parameters. The UEQ indicates a complex and various parameters resulting from both human and natural factors, which are greenness, climate, air pollution, the urban infrastructure, and etc. Multi-spectral remote sensing data from the Landsat ETM and TM sensors for the mapping of air pollution by the Haze Optimized Transform (HOT) technique, Urban Heat Island (UHO using the emissivity-fusion method in Seoul from 2000 to 2006 in fine resolution (30m) were analyzed for the estimation of UEQ index. Although the UHI values are similar ($8.4^{\circ}C{\sim}9.1^{\circ}C$) during these years, the spatial coverage of "hot" surface temperature (> $24^{\circ}C$) significantly increased from 2000 to 2006 due to the rapid urban development. Furthermore, high correlations between vegetation index and land surface temperature were achieved with a correlation coefficients of 0.85 (2000), 0.81 (2001), 0.84 (2002), and 0.89 (2006), respectively. It was found that the proposed method was successfully analyzed spatial structure of the UEQ and the scenarios of the best and worst areas within the city were also identified. Based on the quantifiable fine resolution satellite image parameters, UEQ can promote the understanding of the complex and dynamic factors controlling urban environment.

• 한국환경복원기술학회지
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• 제12권6호
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• pp.99-111
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• 2009

There have been continuous studies about urban parks since 1971 until now. However, there was neither deep analysis of park space nor research about green areas and lawn space. Below is the summary of the main results obtained based on the analysis of the problems with the spatial structure and park facilities of 8 examinatory parks. The analysis of use pattern revealed that lawns in green areas are becoming almost unusable spaces. Therefore plans for more active utilization of lawn space is necessary. There were high correlations among unnecessary and necessary factors of park, use of green areas and the reasons for not using it; thus the analysis suggested that other plans be considered for utilization of lawn space in oder to obtain stronger efficacy. The objective of the present research was to suggest an opinion concerning the improvement of spatial structure of urban parks, by making unusable spaces of parks usable through appropriate park structuring, so that users can utilize more parks. Especially with regard to green areas, the present research has a meaning in that it suggested a method of improving spatial structure by means of green areas desired by users and facilities they can use.

• 로봇학회논문지
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• 제11권3호
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• pp.115-126
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• 2016

This paper suggests the method of the spherical signature description of 3D point clouds taken from the laser range scanner on the ground vehicle. Based on the spherical signature description of each point, the extractor of significant environmental features is learned by the Deep Belief Nets for the urban structure classification. Arbitrary point among the 3D point cloud can represents its signature in its sky surface by using several neighborhood points. The unit spherical surface centered on that point can be considered to accumulate the evidence of each angular tessellation. According to a kind of point area such as wall, ground, tree, car, and so on, the results of spherical signature description look so different each other. These data can be applied into the Deep Belief Nets, which is one of the Deep Neural Networks, for learning the environmental feature extractor. With this learned feature extractor, 3D points can be classified due to its urban structures well. Experimental results prove that the proposed method based on the spherical signature description and the Deep Belief Nets is suitable for the mobile robots in terms of the classification accuracy.

• 한국환경과학회지
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• 제13권5호
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• pp.441-448
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• 2004

The purpose of this research was to investigate and analyse the internal structural organisation of UK's urban fringe management initiatives and its roles. Caerphilly Mountain Countryside Service and Thames Chase Community Forest Initiatives were investigated. The Caerphilly Mountain Countryside Service Initiative operates through a tiered structure consisting of the Caerphilly Mountain Joint Committee, the Officers' Working Party, and the management team. The Thames Chase Community Forest Initiative is operated through a tiered structure comprising the Thames Chase Joint Committee and the management team. Although the role of each management initiative is invested differently in certain internal organisational bodies, such as the governance body and the management body, what is common to all the urban fringe management initiatives is that the governance body within each management initiative tries to speak with one voice to bring about an effective operation process, and the management team employs a variety of devices to secure the enrolment of a variety of interest groups in its operational processes.

• 한국측량학회지
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• 제25권6_1호
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• pp.499-505
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• 2007

A method of improving the correctness and confidence in land use classification as well as urban spatial structure analysis of local governments using GIS and satellite imagery is suggested. This study also compares and analyzes LSAS (Land Suitability Assessment System) results using two approaches-LSAS with priority classification, and LSAS using standard estimation factors without priority classification. The conclusions that can be drawn from this study are as follows. First, a method of maintaining up-to-date local government data by updating the LSAS database using high-resolution satellite imagery is suggested. Second, to formulate a scientific and reasonable land use plan from the viewpoint of territory development and urban management, a method of simultaneously processing the two described approaches is suggested. Finally, LSAS was constructed by using varieties of land information such as the cadastral map, the digital topographic map, varieties of thematic maps, and official land price data, and expects to utilize urban management plan establishment widely and effectively through regular data updating and problem resolution of data accuracy.

• 한국터널지하공간학회 논문집
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• 제23권5호
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• pp.339-357
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• 2021

도심지에서의 교통인프라 개발이 활발해 지고, 대심도 지하터널을 이용한 도시의 기반시설 확충으로 인하여 기존 운영되거나 설치된 시설물 또는 구조물 상호 간의 근접시공이 많이 이루어지고 있다. 이에 따라 근접시공으로 인한 시설물 또는 구조물에 미치는 안정성 확보여부는 중요한 이슈가 되고 있으며, 관련법에 의하여 지하터널공사에 따른 지하안전영향 평가를 반드시 수행하여야 한다. 본 연구에서는 근접시공으로 인한 정거장구조물 의 거동특성을 파악하기 위해 동북선도시철도 터널이 계획된 노선 상부의 지하철 6호선 고려대역 정거장 구조물을 대상으로 신설터널에 의한 기존 구조물에 미치는 안전영향평가를 수행하였다. 이를 위하여 정거장구조물의 안전영역 평가 및 굴착방법에 대한 검토와 3차원 수치해석을 통한 상세검토를 수행하였다. 구조물 손상도 평가, 궤도 틀림 및 기존 구조물과 건물 안정성 평가 결과 근접터널공사에 따른 기존 정거장 구조물의 안정성은 확보되는 것으로 평가되었다. 본 연구는 도심지 터널공사에서 근접시 공시 기존의 인접구조물에 미치는 영향을 사전에 검토하는 경우 기본적인 기초 참고 자료로 활용될 수 있을 것으로 기대된다.