• Journal of Korea Society of Industrial Information Systems
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• v.26 no.4
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• pp.11-18
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• 2021

We propose a method that combines learning in a virtual environment and a real environment for indoor autonomous driving through reinforcement learning. In case of learning only in the real environment, it takes about 80 hours, but in case of learning in both the real and virtual environments, it takes 40 hours. There is an advantage in that it is possible to obtain optimized parameters through various experiments through fast learning while learning in a virtual environment and a real environment in parallel. After configuring a virtual environment using indoor hallway images, prior learning was carried out on the desktop, and learning in the real environment was conducted by connecting various sensors based on Jetson Xavier. In addition, in order to solve the accuracy problem according to the repeated texture of the indoor corridor environment, it was possible to determine the corridor wall object and increase the accuracy by learning the feature point detection that emphasizes the lower line of the corridor wall. As the learning progresses, the experimental vehicle drives based on the center of the corridor in an indoor corridor environment and moves through an average of 70 steering commands.

• Proceedings of the IEEK Conference
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• 1998.06a
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• pp.169-172
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• 1998

A 3D-ray tracing using triangular ray tubes for predicting propagation in indoor environments is presented. Employed ray tracing scheme needs no reception sphere often suffered from how to assign the correct radius as a touching ray on the receiver. To verify the developed codes path loss for a rectangular corridor has been computed, measured, and compared with those by image methods, all shows good agreement to each other. Discussions are made on the path loss fluctuations along the distance in a rectangular corridor having a conducting knife.

• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.6
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• pp.1031-1040
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• 2023

Propagation characteristics in line-of-sight(LOS) paths in 3, 6, 10, and 17 GHz frequency bands were measured and analyzed in two different indoor corridors: second floors of Buildings D2 and E2. The measurement was designed to measure when the receiving antenna moved at 0.5 m intervals from 3 m to 30 m, while the transmission antenna was fixed. The analysis of the two indoor corridors was compared by applying basic transmission loss, root mean square (RMS) delay spread, and K-factor. For basic transmission loss, the loss coefficient of the floating intercept path loss model was higher in the indoor corridor of Building E2 than in that of Building D2. Similarly, the RMS delay spread in the time domain was greater in the indoor corridor of Building E2. However, the indoor corridor of Building D2 exhibited higher K-factor in the 3, 6, and 17 GHz bands with lower wave propagation in the 10 GHz band. Despite the 2 indoor corridors being identical, the propagation characteristics varied due to different internal structures and materials. The results provide measurement data for ITU-R Recommendations regarding various indoor environments.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2019.05a
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• pp.349-350
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• 2019

The autonomous driving drones experimented in the existing indoor corridor environment was a way to give the steering command to the drones by the neural network operation of the notebook due to the limitation of the operation performance of the drones. In this paper, to overcome these limitations, we have studied autonomous driving in indoor corridor environment using NVIDIA Jetson TX2 board.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.4
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• pp.555-562
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• 2022

This study measured and analyzed the propagation characteristics at frequencies 6, 10, and 17 GHz to discover the new propagation demands in a semi-basement indoor corridor environment for meeting the 4th industrial revolution requirements. The measured indoor environment is a straight corridor consisting of three lecture rooms and glass windows on the outside. The measurement scenario development and measurement system were constructed to match this environment. The transmitting antenna was fixed, and the frequency domain and time domain propagation characteristics were measured and analyzed in the line-of-sight environment based on the distance of the receiving antenna location. In the frequency domain, reliability was determined by the parameters of the floating intercept (FI) path loss model and an R-squared value of 0.5 or more. In the time domain, the root mean square (RMS) delay spread and the cumulative probability of K-factor were used to determine that 6 GHz had high propagation power and 17 GHz had low propagation power. These research results will be effective in providing ultra-connection and ultra-delay artificial intelligence services for WIFI 6, 5G, and future systems in a semi-basement indoor corridor environment.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.11
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• pp.1044-1049
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• 2015

This paper proposes an autonomous navigation system of mobile robots for indoor corridor environment. The system uses a laser scanner but does not use reflectors. The laser scanner measures the distance between robot and structures such as wall, pillar, and fixtures. Adaptive breakpoint detector and modified IEPF (iterative endpoint fit) are developed to find mark points from the distance data. The robot path for corridor is then generated using the angle histogram of the mark points. The experimental results are finally presented to show the effectiveness of the proposed method.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.1 no.1
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• pp.35-39
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• 2008

In this paper, we have developed a propagation loss prediction software with GUI (Graphic User Interface) functions, based on the geometrical ray optics model, which can predict radio parameters for the deployment of wireless indoor network. The program has two numerical modules consisted with electrical image and ray launching methods to implement UTD theory. The simulated results are compared with reported data measured in the foreign building environments for office and '一' type corridor, and measured and simulated results for the propagation loss agree with each other quite well. Simulation results for '一' type corridor and 'T' type corridor propagation environment are shown for reference.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.11
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• pp.1-8
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• 1997

A prediction model is proposed to describe the path loss in propagation environment of indoor microcell. This model includes the lineal corridor for line--of-sight(LOS) and T-shaped corridor for non-line-of-sight(NLOS). In computation of receiving power the ray tracing technique based on image method is utilized and also reflected waves bounced on the walls and ceilings are considered. To check validity of the computed resuls cross checks between the predicted and measured are being made, which shows a close agreement for LOS case whereas somewhat disagreement for NLOS case. UTD technique is incorporated with propagation path determination algorithm in the treatment of NLOS case.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.12 no.2
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• pp.199-207
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• 2001

In this paper, the technique of prediction and analysis on the characteristics of propagation in indoor environment is presented. This technique needs no reception sphere commonly used in 3D-ray tracing scheme, and thereby it lends us easy code realization. The validity of developed code is verified by comparing with the values of image methods and measurement. The developed technique applied to the structure of rectangular corridor with the iron door and we calculated the path loss for the variation of the iron door angle. The path loss decreased about 15 dB at the distance of30 m from the iron door and the delay spread increased approximately by four times. Based on the computation, we confirmed that indoor propagation in PCS is heavily affected by the iron door in corridor.

• Journal of Environmental Science International
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• v.6 no.5
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• pp.451-459
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• 1997

This paper alms to describe the indoor-outdoor air quality in school environment through the analyses of heavy metal concentration by inductively Coupled Plasma(ICPI, which were observed at some school environment, such as traffic area, industrial area seme-industrial area, and residence area. The results are as follows : (1) Regardless Indoor and outdoor, the area with the highest concentration of heavy metal is industrial area followed by traffic area, residence area and semi-industrial area in descending order of magnitude. And the heavy metal concentration of indoor is higher than that of outdoor. (2) The main heavy metal components with more high level concentration of Indoor than those of outdoor are Zn, Al, Ca and these heavy metal concentrations are higher in class than In corridor and outdoor.