• Journal of Information Processing Systems
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• v.14 no.6
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• pp.1445-1456
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• 2018

Environment perception and three-dimensional (3D) reconstruction tasks are used to provide unmanned ground vehicle (UGV) with driving awareness interfaces. The speed of obstacle segmentation and surrounding terrain reconstruction crucially influences decision making in UGVs. To increase the processing speed of environment information analysis, we develop a CPU-GPU hybrid system of automatic environment perception and 3D terrain reconstruction based on the integration of multiple sensors. The system consists of three functional modules, namely, multi-sensor data collection and pre-processing, environment perception, and 3D reconstruction. To integrate individual datasets collected from different sensors, the pre-processing function registers the sensed LiDAR (light detection and ranging) point clouds, video sequences, and motion information into a global terrain model after filtering redundant and noise data according to the redundancy removal principle. In the environment perception module, the registered discrete points are clustered into ground surface and individual objects by using a ground segmentation method and a connected component labeling algorithm. The estimated ground surface and non-ground objects indicate the terrain to be traversed and obstacles in the environment, thus creating driving awareness. The 3D reconstruction module calibrates the projection matrix between the mounted LiDAR and cameras to map the local point clouds onto the captured video images. Texture meshes and color particle models are used to reconstruct the ground surface and objects of the 3D terrain model, respectively. To accelerate the proposed system, we apply the GPU parallel computation method to implement the applied computer graphics and image processing algorithms in parallel.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.853-854
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• 2008

The terrain perception technology using passive sensors plays a key role to enhance autonomous mobility for UGV. We present an effective method to classify terrain covers based on the color information. Considering a real-time implementation, neural network is applied for the terrain classifier and wavelet features extracted from the images are used. Test results show that the proposed algorithm has a promising classification performance.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.5
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• pp.549-556
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• 2009

One of the basic technology for implementing the autonomy of UGV(Unmanned Ground Vehicle) is a path planning algorithm using obstacle and raw terrain information which are gathered from perception sensors such as stereo camera and laser scanner. In this paper, we propose a generation method of DVGM(Directional Velocity Grid Map) which have traverse speed of UGV for the five heading directions except the rear one. The fuzzy system is designed to generate a resonable traveling speed for DVGM from current patch to the next one by using terrain slope, roughness and obstacle information extracted from raw world model data. A simulation is conducted with world model data sampled from real terrain so as to verify the performance of proposed fuzzy inference system.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.8
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• pp.787-793
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• 2012

This paper introduces the autonomous vehicle Pharos, which participated in the 2010 Autonomous Vehicle Competition organized by Hyundai-Kia motors. PHAROS was developed for high-speed on/off-road unmanned driving avoiding diverse patterns of obstacles. For the high speed traveling up to 60 km/h, long range terrain perception, real-time path planning and high speed vehicle motion control algorithms are developed. This paper describes the major hardware and software components of our vehicle.

• Journal for History of Mathematics
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• v.35 no.1
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• pp.19-39
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• 2022

This paper aims to examine how the public perception of mathematics changed in England in the 19th century. As rapid industrial and social developments took place in the 19th century, the educational environment underwent great changes, and the value and public perception of mathematics also changed. Mathematics took a new position in the terrain of educational reform in the late 19th century. In this study, I analyzed the actual condition of mathematics education in elementary and secondary schools, popular educational institutions, and universities in England in the first half, middle, and second half of the 19th century, and compared what values and usefulness of mathematics education were justified in each institution. I also examined how satirical magazine Punch satirized the public understanding or view on mathematics at each period. It is to be hoped that this study will have significant implications for raising the public's positive perception of mathematics in modern society.

• The Journal of the Korea Contents Association
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• v.22 no.9
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• pp.76-84
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• 2022

In this paper, in order to compose the visual perception cognitive function training content that can be linked with the IPUZZLE image block, an interactive content device that utilizes photos and videos of smartphones. Four areas of visual memory, visual continuity, spatial relationship, and visual discrimination were derived and the content operation, application method, and scenario were written. It was intended to continuously give and induce children's desire to participate in training by designing the content image and developing the existing learning terrain visual and perceptual cognitive function training materials in the form of mobile mini-games. Experiential activities were conducted for general children and their guardians using the developed contents, and the results were found to be significant in terms of concentration, effect, and effect compared to basic puzzle toys. It is expected that this thesis will be a meaningful data for the study of cognitive function improvement activities based on digital toys and contents.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.2
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• pp.171-179
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• 2010

A fundamental technology of UGV(Unmanned Ground Vehicle) to perform a given mission with success in various environment is a path planning method which generates a safe and optimal path to the goal. In this paper, we suggest a local path-planning method of UGV based on the binary map using world model data which is gathered from terrain perception sensors. In specially, we present three core algorithms such as shortest path computation algorithm, path optimization algorithm and path smoothing algorithm those are used in the each composition module of LPP component. A simulation is conducted with M&S(Modeling & Simulation) system in order to verify the performance of each core algorithm and the performance of LPP component with scenarios.

• Journal of Environmental Science International
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• v.24 no.8
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• pp.1003-1013
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• 2015

The Ministry of Trade, Industry and Energy is now placing emphasis on the importance of a new and renewable energy resource map service as an essential means of promoting the dissemination and adoption of renewable energy and other related industrial activities. To raise satisfaction with the new and renewable energy resource map service and promote its utilization, a survey was conducted on a sample group with an academic research background, i.e. employees of the Korea Institute of Energy Research (KIER) who have a thorough understanding of the technological concepts behind the new and renewable energy resource map. Statistical analysis of the survey results showed a high level of overall satisfaction with the web service for the new and renewable energy resource map. Therefore, it was concluded that the development of practical contents rather than the enhancement of web service convenience is required. A statistically significant trend was also observed whereby, the longer the professional career of the survey respondents, the greater their perception and utilization of, and satisfaction with, the enhanced service, which indicates that their level of understanding and utilization of technological concepts corresponds to their research experience record. In addition, the results obtained from the questionnaires regarding the evaluation of the utilization value of the resource map service indicated that use of the service was equally high in terms of political, business and academic applications. The results confirmed the need to develop multidimensional resource map contents that can be applied to as many fields as possible, rather than focusing on a specific terrain.

• Journal of Korea Game Society
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• v.9 no.5
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• pp.25-41
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• 2009

The objective of this study is to develop an analytic framework to code systematically the gamer's behaviour in MMO(Massively Multi-player Online) gameplay experience, to explore their gameplay as a problem solving procedure empirically. Previous studies about model human processor, content based protocol, and procedure based protocol are reviewed in order to build the outline of the analytic framework related to MMO gameplay. The specific gameplay actions and contents were derived by using concurrent protocol analysis method through the empirical experiment executed in MMORPG gameplay. Consequently, gameplay are divided into six actions : kinematics, perception, function, representation, simulation, and rule (heuristics, following, and transcedence). The analytic framework suitable for MMO gameplay was built. As a result of this study, we found three rule spaces in the problem solving domain of gameplay that are an heuristics, a following of the rule, and a transcendence of the rule. 'Heuristics' denotes the rule action that discovers the rule of game through trial-and-error. 'Following' indicates the rule action that follows the rule of game embedded in game by game designers. 'Transcendence' presents the rule action that transcends that. The new discovered rule spaces where 'Following' and 'Transcendence' actions occur and the gameplay pattern in them is provided with the key basis to determine the level design elements of MMO game, such as terrain feature, monster attribute, item, and skill et cetera. Therefore, this study is concludes with key implications to support game design to improve the quality of MMO game product.

• The Journal of Sustainable Design and Educational Environment Research
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• v.16 no.3
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• pp.9-17
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• 2017

This study investigates and analyzes the convenience facilities to strengthen or mitigate the Barrier Free awareness and Kindergarten Barrier Free for the kindergarten school staff and the public facility officials of the education office. In addition, to improve the Barrier Free, the improvement facilities of the kindergarten were investigated and analyzed. First, from the institutional viewpoint, it is necessary to amend the existing regulations of the Act for the Promotion of the Convenience Promotion of Disabled Persons, Elderly and Pregnant Women in Korea, and to change the facilities for duties and recommended installation of the kindergarten and the Barrier Free certification standards. Second, in order to apply the Barrier Free certification system to the kindergarten in terms of facility environment, it is necessary to activate the barrier kind of the kindergarten so as to receive the Barrier Free certification by lowering the score of the items difficult to improve due to the terrain or building structure. Third, the perception of Barrier Free is still not high in terms of social awareness. The purpose of this study is to investigate the method of creating a Barrier Free for a kindergarten in the education and living space of children who are the socially underprivileged. Therefore, based on this study, it is anticipated that it will be an opportunity to promote change of Barrier Free in Kindergarten if an attempt is made to improve the Barrier Free certification index suitable for public kindergarten.