• 한국전자통신학회논문지
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• 제8권1호
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• pp.1-6
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• 2013

본 논문에서는 그린 IT의 지식 맵 작성을 위한 기반 단계 그린 IT의 전세계적인 환경 분석을 위한 전제로서 개요들을 살펴본다. 이 전제를 기반으로 그린 IT에 대하여 본격적인 환경을 분석할 수 있으며 이 환경 분석 후에 지식 재산권을 기반으로 경쟁력을 분석하는데 이용할 수 있을 것으로 기대한다.

• International Journal of Control, Automation, and Systems
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• 제4권1호
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• pp.77-86
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• 2006

A new method in robot path generation is presented using an analysis of the characteristics of multi-robot collision avoidance. The research is based on the concept of the collision map, where the collision between two robots is presented by a collision region and a crossing curve TLVSTC (traveled length versus servo time curve). Analytic collision avoidance is considered by translating the collision region in the collision map. The 4 different translations of collision regions correspond to the 4 parallel movements of the actual original robot path in the real world. This analysis is applied to path modifications where the analysis of collision characteristics is crucial and the resultant path for collision avoidance is generated. Also, the correlations between the translations of the collision region and robot paths are clarified by analyzing the collision/non-collision areas. The influence of the changes of robot velocity is investigated analytically in view of collision avoidance as an example.

• Journal of information and communication convergence engineering
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• 제7권3호
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• pp.281-285
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• 2009

Mobile robot has various sensors for describing the external world. The ultrasonic sensor widely applied to the most mobile robot to detect the obstacle and environment owing to low cost, its easy to use. However, ultrasonic sensor has major problems: the uncertainty information of sensor, false readings caused by specular reflection, multi path effect, low angular resolution and sensitivity to changes in temperature and humidity. This paper describes a sensor system for map building of mobile robot. It was made of low cost PSD (Position Sensitive Detector) sensor array and high speed RISC MPU. PSD sensor is cost effective and light weighting but its output signal has many noises. We propose heuristic S/W filter to effectively remove these noises. The developed map building sensor system was equipped on a mobile robot and was compared with ultrasonic sensor through field test.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2011년도 한국컴퓨터종합학술대회논문집 Vol.38 No.1(C)
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• pp.142-144
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• 2011

In a world in constant changes, more and more devices are producing data and it is indispensable to manage these data. That is why map reduce framework is a solution to manage a large amount of data in a fast and right way. In the other hand semantic web (RDF/OWL) is getting popular and can be a solution to manage data in an efficient way, so that such data can be retrieved and understood by both human and machine. In this paper we describes and analyze some projects that manages RDF with Map-Reduce framework.

• 한국멀티미디어학회논문지
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• 제22권9호
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• pp.1122-1131
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• 2019

This paper covers research on terrain construction for unmanned aerial vehicle simulators using spatial information that was distributed by public institutions. Aerial photography, DEM, vector maps and 3D model data were used in order to create a realistic terrain simulator. A data converting method was suggested while researching, so it was generated to automatically arrange and build city models (vWorld provided) and classification methods so that realistic images could be generated by 3D objects. For example: rivers, forests, roads, fields and so on, were arranged by aerial photographs, vector map (land cover map) and terrain construction based on the tile map used by DEM. In order to verify the terrain data of unmanned aircraft simulators produced by the proposed method, the location accuracy was verified by mounting onto Unreal Engine and checked location accuracy.

• 전자공학회논문지 IE
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• 제43권4호
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• pp.128-135
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• 2006

본 논문에서는 이동로봇 주변의 자기위치인식, 광학식 엔코더의 위치 데이터 및 초음파 센서의 환경 지도를 이용하여 퍼지 기반 센서융합 제어방식을 제시하였다. 영상 카메라를 이용하여 자기위치 인식성능을 높이고 초음파 센서에서 감지한 목표물의 형태, 거리와 특징을 퍼지 기반 제어기를 통하여 처리하여 이동로봇 주변의 환경지도를 만들어 자기위치 인식능력의 개선을 실험을 통하여 구현하였다.

• 한국측량학회:학술대회논문집
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• 한국측량학회 2006년도 춘계학술발표회 논문집
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• pp.359-367
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• 2006

A map is defined as model of 3D spatial phenomena of the real world. Because most of the maps are represented on the 2D plane, limited information is provided. In consequence, applications are also limited with 2D maps and map users of various fields require 3D form of map. Without doubt, state-of-the-art information technology such as telematics and ubiquitous is location based system, therefore, role of the 3D mapping is getting more significant. It is obvious that 3D maps provide more visual perception than 2D maps. The main object of this stud)r is focused on generation of 3D digital maps in economical and efficient way using photogrammetrically compiled data. Topographic maps are required updating and revision in a certain period and the period is getting shorter Therefore, development of the map editing system is key issue for maintaining quality and updating of the maps to provide reliable geographic information. Special requirements should be taken account into 3D digital map editing. Therefore. design, configuration and functions of the editing system were explored.

• 한국ITS학회 논문지
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• 제9권4호
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• pp.13-21
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• 2010

대부분의 교통 관리 시스템은 웹을 통한 교통정보 제공 기능을 포함하고 있으며, 지도를 기반으로 교통정보를 표출하는 방식을 채택하고 있다. 일반적으로 지도 기반의 시스템을 구현할 때에는 지리정보시스템(GIS)을 이용하는 것이 효율적이다. 하지만 많은 교통 정보 제공 시스템은 어도비 플래시 등의 그래픽/애니메이션 전문 소프트웨어를 위한 별도의 전자지도를 이용하고 있어서, 전자 지도의 변경에 유연하게 대처하기 어렵다. 본 논문에서는 이러한 문제점을 해결한 GIS 기반의 교통정보 제공 시스템을 제안한다. 제안하는 시스템은 교통정보 제공 클라이언트에서 지도 출력 엔진과 지도 데이터를 분리하고, 지도 데이터는 출력에 적합한 형태로 실시간 변환하여 전송함으로써 GIS 상에서 구축된 전자지도를 교통정보 제공 시스템에서 효율적으로 이용할 수 있도록 한다.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권9호
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• pp.539-546
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• 2005

This paper describes a method of building the probability grid map for an autonomous mobile robot using the ultrasonic DAF(data association filter). The DAF, which evaluates the association of each data with the rest and removes the data affected by the specular reflection effect, can improve the reliability of the data for the Probability grid map. This method is based on the evaluation of possibility that the acquired data are all from the same object. Namely, the data from specular reflection have very few possibilities of detecting the same object, so that they are excluded from the data cluster during the process of the DAF. Therefore, the uncertain data corrupted by the specular reflection and/or multi-path effect, are not used to update the probability map, and hence building a good quality of a grid map is possible even in a specular environment. In order to verify the effectiveness of the DAF, it was applied to the Bayesian model and the orientation probability model which are the typical ones of a grid map. We demonstrate the experimental results using a real mobile robot in the real world.

• 로봇학회논문지
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• 제18권4호
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• pp.487-495
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• 2023

This paper presents a method for autonomous exploration of indoor environments using a 2-dimensional Light Detection And Ranging (LiDAR) scanner. The proposed frontier-based exploration method considers navigability from the current robot position to extracted frontier targets. An approach to constructing the point cloud grid map that accurately reflects the occupancy probability of glass obstacles is proposed, enabling identification of safe frontier grids on the safety grid map calculated from the point cloud grid map. Navigability, indicating whether the robot can successfully navigate to each frontier target, is calculated by applying the skeletonization-informed rapidly exploring random tree algorithm to the safety grid map. While conventional exploration approaches have focused on frontier detection and target position/direction decision, the proposed method discusses a safe navigation approach for the overall exploration process until the completion of mapping. Real-world experiments have been conducted to verify that the proposed method leads the robot to avoid glass obstacles and safely navigate the entire environment, constructing the point cloud map and calculating the navigability with low computing time deviation.