• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.18 no.1
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• pp.41-49
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• 2000

This study was performed to establish PC-based Urban Infrastructure Information System(UIIS) using GPS and TotalStation as an alternative to UNIX-based UIIS. After carryig out this study, the following conclusions were derived: PC-based UIIS costs less time and money than UNIX-based UIIS. The coordinates of the control point of the site were obtained using DGPS, then based on this point, locational data were obtained using RTK GPS and TotalStation in the site with realtime data capture to enhance the accuracy of locational data. And image data were also entered into database together with the text data. So, the multimedia database is possible in UIIS.

• Journal of information and communication convergence engineering
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• v.11 no.1
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• pp.30-44
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• 2013

Traffic congestion has become a serious problem with the recent exponential increase in the number of vehicles. In urban areas, almost all traffic congestion occurs at intersections. One of the ways to solve this problem is road expansion, but it is difficult to realize in urban areas because of the high cost and long construction period. In such cases, traffic signal control is a reasonable method for reducing traffic jams. In an actual situation, the traffic flow changes randomly and its randomness makes the control of traffic signals difficult. A prediction of traffic jams is, therefore, necessary and effective for reducing traffic jams. In addition, an autonomous distributed (stand-alone) point control of each traffic light individually is better than the wide and/or line control of traffic lights from the perspective of real-time control. This paper describes a stochastic optimum control of crossroads and multi-way traffic signals. First, a stochastic model of traffic flows and traffic jams is constructed by using a Bayesian network. Secondly, the probabilistic distributions of the traffic flows are estimated by using a cellular automaton, and then the probabilistic distributions of traffic jams are predicted. Thirdly, optimum traffic signals of crossroads and multi-way intersection are searched by using a modified particle swarm optimization algorithm to realize real-time traffic control. Finally, simulations are carried out to confirm the effectiveness of the real-time stochastic optimum control of traffic signals.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.2
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• pp.108-114
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• 2015

Automated driving systems require a high level of performance regarding environmental perception, especially in urban environments. Today's on-board sensors such as radars or cameras do not reach a satisfying level of development from the point of view of robustness and availability. Thus, map data is often used as an additional data input to support these systems. An accurate digital map is used as a powerful additional sensor. In this paper, we propose a new approach for vehicle localization using a lane map and a single-layer LiDAR. The maps are created beforehand using a highly accurate DGPS and a single-layer LiDAR. A pose estimation of the vehicle was derived from an iterative closest point (ICP) match of LiDAR's intensity data to the lane map, and the estimated pose was used as an observation inside a Kalmanfilter framework. The achieved accuracy of the proposed localization algorithm is evaluated with a highly accurate DGPS to investigate the performance with respect to lateral vehicle control.

• Journal of Korean Society on Water Environment
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• v.36 no.5
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• pp.405-422
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• 2020

Land use change by urbanization has significantly affected the hydrological process including the runoff characteristics. Due to this situation, it has been becoming more complicated to manage non-point source pollutions caused by rainfall. In order to effectively control non-point sources, it is necessary to identify the reduction efficiency of the various management method based on land use characteristics. Thus, the purpose of this study is to analyze the reduction efficiency of non-point source pollution management practices targeting three different watersheds with the different land use characteristics using the Soil and Water Assessment Tool (SWAT). To do this, the vulnerable subwatersheds to non-point source pollution occurrence within each watershed were selected based on the streamflow and water quality simulation results. Then, considering the land use, low impact development (LID) or best management practices (BMPs) were applied to the selected subwatersheds and the efficiency of each management was analyzed. As a result of analysis of the non-point source pollution reduction efficiency, when LID was applied to urban areas, the average reduction efficiencies of SS, NO₃-N, and TP were 5.92%, 4.62%, and 10.35%, respectively. When BMPs were applied to rural areas, the average reduction efficiencies of SS, TN and TP were 35.45%, 4.37%, and 10.16%, respectively. The results of this study can be used as a reference for determining appropriate management methods for non-point source pollution in urban, rural, and complex watersheds.

• Journal of Korean Society on Water Environment
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• v.30 no.1
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• pp.87-94
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• 2014

According to the technical guideline of water pollutant load management, the rainfall captured ratio which can be estimated by the empirical formula is an important element to estimate reduction loads of non-point pollutants water quality control basin. In this study, the rainfall captured ratio is altered to stormwater captured ratio considering its meaning in the technical guideline of water pollutant load management, and the new empircal formula of stormwater captured ratio is suggested. In order to do this, we calculate stormwater captured ratio by using the hourly rainfall data of seven urban weather stations (Busan, Daegu, Daejeon, Gangreung, Seoul, Gwangju, and Jeju) for 43 years. The regression coefficients of the existed empirical formula cannot reflect the catchment properties at all, because they are fixed values regardless of regions. However the empirical formula of stormwater captured ratio has flexible regression coefficients by runoff coefficient(C), so it is allowed to consider the characteristics of runoff in catchment. It is expected that reduction loads of storage based water quality control basin can be more reasonably estimated than before.

• Advances in robotics research
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• v.2 no.1
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• pp.1-11
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• 2018

To monitor the environment and determine the source of a pollutant gradient using a multiple robot swarm, we propose a hybrid algorithm that combines two bio-inspired algorithms mimicking chemotaxis and pheromones of bacteria. The algorithm is implemented in virtual robot agents in a simulator to evaluate their feasibility and efficiency in gradient maps with different sizes. Simulation results show that the chemotaxis controller guided robot agents to the locations with higher pollutant concentrations, while the pheromone marked in a virtual field increased the efficiency of the search by reducing the visiting redundancy. The number of steps required to reach the target point did not increase proportionally as the map size increased, but were less than those in the linear whole-map search method. Furthermore, the robot agents could function with simple sensor composition, minimum information about the map, and low calculation capacity.

• Proceedings of the KSRS Conference
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• 2007.10a
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• pp.14-17
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• 2007

To make use of surveying data obtained from different sensors and different techniques in a common reference frame, it is a pre-requite step to register them in a common coordinate system. For this purpose, we have developed a methodology to register IKONOS-2 Satellite Imagery using ALS data. To achieve this, conjugate features from these data should be extracted in advance. In the study, linear features are chosen as conjugate features because they can be accurately extracted from man-made structures in urban area, and more easily than point features from ALS data. Then, observation equations are established from similarity measurements of the extracted features. During the process, considering the characteristics of systematic errors in IKONOS-2 satellite imagery, the transformation function were selected and used. In addition, we also analyzed how the number of linear features and their spatial distribution used as control features affect the accuracy of registration. Finally, the results were evaluated statistically and the results clearly demonstrated that the proposed algorithms are appropriate to register these data.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.65 no.3
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• pp.151-157
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• 2016

This paper proposes the variable wind generation system based on the direct torque control(DTC)for the interior permanent magnet synchronous generator. The proposed system can achieve the MPPT control without wind speed in addition to the speed and position sensorless control as well as the conventional current control method. The DTC has several advantages such as simply system configuration, ease of the flux weakening control and the sensorless control. The experimental results show the performance of the proposed wind generation system.

• Journal of Auto-vehicle Safety Association
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• v.13 no.4
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• pp.14-19
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• 2021

This paper presents LiDAR static obstacle map based vehicle dynamic state estimation algorithm for urban autonomous driving. In an autonomous driving, state estimation of host vehicle is important for accurate prediction of ego motion and perceived object. Therefore, in a situation in which noise exists in the control input of the vehicle, state estimation using sensor such as LiDAR and vision is required. However, it is difficult to obtain a measurement for the vehicle state because the recognition sensor of autonomous vehicle perceives including a dynamic object. The proposed algorithm consists of two parts. First, a Bayesian rule-based static obstacle map is constructed using continuous LiDAR point cloud input. Second, vehicle odometry during the time interval is calculated by matching the static obstacle map using Normal Distribution Transformation (NDT) method. And the velocity and yaw rate of vehicle are estimated based on the Extended Kalman Filter (EKF) using vehicle odometry as measurement. The proposed algorithm is implemented in the Linux Robot Operating System (ROS) environment, and is verified with data obtained from actual driving on urban roads. The test results show a more robust and accurate dynamic state estimation result when there is a bias in the chassis IMU sensor.

• Journal of Wetlands Research
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• v.14 no.4
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• pp.581-589
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• 2012

Non-point source pollutant is exerting a serious influence on the water quality, since the characteristics of stormwater runoff is varied by the land usage pattern of an area and a basin, and all sorts of pollutants on the earth in rainfall flow into the urban stream. This study estimated EMC of each pollutant to investigate the characteristics of stormwater runoff by separating the urban area as the housing area and industrial area. As a result of the analysis, the first flush effect occurred in the non-point source pollutant of housing area and industrial area, as the runoff concentration gradually reduces after it rapidly increases in the initial rainfall, and in case of the non-point source pollutant the control of first stage rain-water. It is considered to require the continuous follow-up study such as the scale of long-term rainfall event and water quality data, land usage pattern by GIS method, database of topography and geological features, and so forth.