• 제어로봇시스템학회논문지
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• 제15권2호
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• pp.155-162
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• 2009

In walking guide robot, a guide vehicle detects an obstacle distribution in the walking space using range sensors, and generates a 3D grid map to map the obstacle information and the tactile display. And the obstacle information is transferred to a blind pedestrian using tactile feedback. Based on the obstacle information a user plans a walking route and controls the guide vehicle. The algorithm for 3D detection of an obstacle distribution and the method of mapping the generated obstacle map and the tactile display device are proposed in this paper. The experiment for the 3D detection of an obstacle distribution using ultrasonic sensors is performed and estimated. The experimental system consisted of ultrasonic sensors and control system. In the experiment, the detection of fixed obstacles on the ground, the moving obstacle, and the detection of down-step are performed. The performance for the 3D detection of an obstacle distribution and space mapping is verified through the experiment.

• 센서학회지
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• 제32권2호
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• pp.75-81
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• 2023

The significance of gas sensors has been emphasized in various industries and applications, owing to the growing significance of environmental, social, and governance (ESG) management in corporate operations. In particular, the monitoring of hazardous gas leakages and detection of fugitive emissions have recently garnered significant attention across several industrial sectors. As industrial workplaces evolve to ensure the safety of their working environments and reduce greenhouse gas emissions, the demand for high-performance gas sensors in industrial sectors dealing with toxic substances is on the rise. However, conventional gas-sensing systems have limitations in monitoring fugitive gas leakages at both critical and subcritical concentrations in complex environments. To overcome these difficulties, recent studies in the field of gas sensors have employed techniques such as mobile robotic olfaction, remote optical sensing, chemical grid sensing, and remote acoustic sensing. This review highlights the significant progress made in various technologies that have enabled accurate and real-time mapping of gas distribution and localization of hazardous gas sources. These recent advancements in gas-sensing technology have shed light on the future role of gas-detection systems in industrial safety.

• Journal of Mechanical Science and Technology
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• 제17권10호
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• pp.1411-1422
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• 2003

The detection of free spaces between obstacles in a scene is a prerequisite for navigation of a mobile robot. Especially for stereo vision-based navigation, the problem of correspondence between two images is well known to be of crucial importance. This paper describes multi-range approach of area-based stereo matching for grid mapping and visual navigation in uncertain environment. Camera calibration parameters are optimized by evolutionary algorithm for successful stereo matching. To obtain reliable disparity information from both images, stereo images are to be decomposed into three pairs of images with different resolution based on measurement of disparities. The advantage of multi-range approach is that we can get more reliable disparity in each defined range because disparities from high resolution image are used for farther object a while disparities from low resolution images are used for close objects. The reliable disparity map is combined through post-processing for rejecting incorrect disparity information from each disparity map. The real distance from a disparity image is converted into an occupancy grid representation of a mobile robot. We have investigated the possibility of multi-range approach for the detection of obstacles and visual mapping through various experiments.

• 한국측량학회지
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• 제3권2호
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• pp.1-10
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• 1985

모아레는 음영 모아레와 투영모아레로 나뉘어지는데, 본 연구에서는 일반적인 지상 사진 측량에 의한 결과와 비교하므로써 투영모아레 system의 기준면 방향의 결정 방법을 제시하는 데 목적을 두었다. 본 연구를 위해 기준점 측량을 행하였고, 이로부터 얻은 결과와 모아레 사진에 의한 좌표값을 비교 분석하였다. 투영 모아레 기법에서는 투영점과 촬영점을 이동하지 않고도 대상물상에 생기는 주격자와 보조격자의 격자 간격을 달리하므로써, 각각 다른 기준면 방향의 모아레 등고선을 용이하게 얻을 수 있었으며, 대상물과 평행한 기준면 방향의 모아레 등고선도는 대상물 상에서의 두 격자 간격이 같을 때 얻어짐을 알았다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 춘계학술대회 논문집
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• pp.7-8
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• 2008

• 한국동물학회:학술대회논문집
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• 한국동물학회 1997년도 한국생물과학협회 학술발표대회
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• pp.166.2-166
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• 1997

No Abstract, See Full Text

• 대한원격탐사학회지
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• 제39권5_2호
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• pp.771-783
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• 2023

This study aims to compare the performance of each machine learning model for preparing a grid-based disaster risk map related to flooding in Jung-gu, Ulsan, for Typhoon Chaba which occurred in 2016. Dynamic data such as rainfall and river height, and static data such as building, population, and land cover data were used to conduct a risk analysis of flooding disasters. The data were constructed as 10 m-sized grid data based on the national point number, and a sample dataset was constructed using the risk value calculated for each grid as a dependent variable and the value of five influencing factors as an independent variable. The total number of sample datasets is 15,910, and the training, verification, and test datasets are randomly extracted at a 6:2:2 ratio to build a machine-learning model. Machine learning used random forest (RF), support vector machine (SVM), and k-nearest neighbor (KNN) techniques, and prediction accuracy by the model was found to be excellent in the order of SVM (91.05%), RF (83.08%), and KNN (76.52%). As a result of deriving the priority of influencing factors through the RF model, it was confirmed that rainfall and river water levels greatly influenced the risk.

• 한국수자원학회논문집
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• 제55권1호
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• pp.71-84
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• 2022

본 연구의 목적은 간단한 입력자료로 정확한 홍수해석을 수행할 수 있는 2차원 침수모형을 개발하는데 있다. 현재 침수예상도 작성을 위해 사용되는 2차원 침수해석 모형들은 복잡한 입력자료 및 격자 생성 도구를 필요로 한다. 이는 때때로 침수 모델링을 위해 많은 시간과 노력이 요구되며, 상황에 따라서는 입력자료의 구축에 어려움이 있을 수도 있다. 이러한 단점들을 보완하기 위해, 본 연구에서는 정확한 지형자료를 간단한 입력자료로 반영하여, 정확하고 신속한 침수해석을 도출할 수 있는 그리드 기반 모형을 개발하였다. 기존의 2×2 Sub-grid 모형을 5×5 Sub-grid까지 확장하여 계산의 효율성을 개선하였다. 모형의 정확성 및 적용성을 검토하기 위해, 태풍 루사로 인해 내수침수와 외수범람이 동시에 발생한 감천유역에 적용하였다. 사용자의 선택에 따른 효율적인 홍수분석을 위해, 격자 크기와 Sub-grid 개수에 따른 홍수파 전파양상, 침수해석의 정확성, 모형의 수행시간을 조사하였다. 개발된 모형은 정확한 침수해석 결과를 보여주는 침수예상도에서부터 대략적인 침수여부만을 보여주는 홍수위험도까지 다양한 상황에 맞는 침수해석 결과를 제시할 수 있으며, 재해지도 작성에도 활용성이 높을 것으로 기대된다.

• 한국산학기술학회논문지
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• 제10권4호
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• pp.785-794
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• 2009

워게임모델에서 가상환경격자정보에 관한 개선과 구축기법을 연구하였다. 가상환경자료는 지상, 해상, 공중으로 구분하여 관리 및 운용한다. 가상환경자료는 지리정보와 지형형태정보로 구축 및 관리한다. 지리정보는 격자(Grid) 형태로서 격자위치좌표와 수심을 파일로 관리한다. 그 격자정보파일의 수심값을 이동가능대표값(GCV)으로 개선하고, 조석차가 심한지역에 대해서 동적가상환경구축기법을 제안하였다. 제안된 시스템 의 구현 및 시험을 통하여 동적 가상환경을 워게임모델에 적용이 가능하다는 것을 알 수 있었다.

• Journal of information and communication convergence engineering
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• 제5권2호
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• pp.144-149
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• 2007

Grid technologies make it possible for IT resources to be shared across organizational and security domains. The traditional identity-based access control mechanisms are unscalable and difficult to manage. Thus, we propose the FAS (Federation Agent Server) model which is composed of three modules: Certificate Conversion Module (CCM), Role Decision Module (RDM), and Authorization Decision Module (ADM). The proposed FAS model is an extended Role-Based Access Control (RBAC) model which provides resource access capabilities based on roles assigned to the users. FAS can solve the problem of assigning multiple identities to a shared local name in grid-map file and mapping the remote entity's identity to a local name manually.