• Journal of the Korea Society of Computer and Information
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• v.13 no.2
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• pp.235-242
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• 2008

An Autonomous mobile robot is a very useful system to achieve various tasks in dangerous environment, because it has the higher performance than a fixed base manipulator in terms of its operational workspace size as well as efficiency. A method for estimating the position of an object in the Cartesian coordinate system based upon the geometrical relationship between the image captured by 2-DOF active camera mounted on mobile robot and the real object, is proposed. With this position estimation, a method of determining an optimal path for the autonomous mobile robot from the current position to the position of object estimated by the image information using homogeneous matrices. Finally, the corresponding joint parameters to make the desired displacement are calculated to capture the object through the control of a mobile robot. The effectiveness of proposed method is demonstrated by the simulation and real experiments using the autonomous mobile robot.

• The korean journal of orthodontics
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• v.28 no.4 s.69
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• pp.487-498
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• 1998

This study was conducted to investigate changes of airway size, tongue and hyoid position following orthognathic surgery in mandibular prognathism, and how they are adapted to new environment in time dependent manner. 37 patients, who had recieved orthognathic surgery, were selected for this study. lateral cephalogram of each patient was taken at preoperation, immediate postoperation, and over 6 month after operation, and were traced and analyzed The findings of this study were as follows : 1. The size of airway was not changed at PNS and Epiglottis level after operation, but it was changed slightly at 2nd cervical vertebra level. 2. The hyoid was moved inferoposteriorly at immediate postoperation, and then it shifted toward preoperative position, but it remained slightly inferoposterior position. The distance from hyoid to genial tubercle decreased continuously. 3. The position of tongue was moved inferoposteriorly at immediate postoperatioa and then it shifted toward preoperation position, but the root of the tongue remained inferoposteriorly. 4. The distance between tongue and hyoid was increased at immediate postoperation and slightly decreased during follow-up period. 5. The change of the mandibular position was not significantly correlated with changes of airway size, hyoid position, tongue morphology and tongue position.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.6
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• pp.1493-1504
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• 2010

The localization service which provides the location information of mobile user, is one of important service provided by sensor network. Many methods to obtain the location information of mobile user have been proposed. However, these methods were developed for only one mobile user so that it is hard to extend for multiple mobile users. If multiple mobile users start the localization process concurrently, there could be interference of beacon or ultrasound that each mobile user transmits. In the paper, we propose LME, the localization technique for multiple mobile nodes in mobile wireless sensor networks. In LME, collision of localization between sensor nodes is prevented by forcing the mobile node to get the permission of localization from anchor nodes. For this, we use CTS packet type for localization initiation by mobile node and RTS packet type for localization grant by anchor node. NTS packet type is uevento reject localization by anchor node for interference avoidance.nghe experimental result shows that the number of interference between nodes are increased in proportion to the number of mobile nodes and LME provides efficient localization.

• Journal of KIISE:Databases
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• v.33 no.5
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• pp.495-512
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• 2006

Recently, researches on a future position prediction of moving objects have been progressed as the importance of the future position retrieval increases. New index structures are required to efficiently retrieve the consecutive positions of moving objects. Existing index structures significantly degrade the search performance of the moving objects because the search operation makes the unnecessary extension of the node in the index structure. To solve this problem, we propose a space partition based index structure considering the mobility of moving objects. To deal with the overflow of a node, our index structure first merges it and the sibling node. If it is impossible to merge them, our method splits the overflow node in which moving properties of objects are considered. Our index structure is always partitioned into overlap free subregions when a node is split. Our split strategy chooses the split position by considering the parameters such as velocities, the escape time of the objects, and the update time of a node. In the internal node, the split position Is determined from preventing the cascading split of the child node. We perform various experiments to show that our index structure outperforms the existing index structures in terms of retrieval performance. Our experimental results show that our proposed index structure achieves about $17%{\sim}264%$ performance gains on current position retrieval and about $107%{\sim}19l%$ on future position retrieval over the existing methods.

• Journal of the Korea Society of Computer and Information
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• v.15 no.5
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• pp.23-31
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• 2010

With the advances in the information technology and mobile communications, we now face increasing demands for various services based on both of position tracking of moving objects and their efficient index scheme. Accordingly, the $TPR^*$-tree, which were proposed for efficiently tracking moving objects and predicting their positions in the future time, has drawn much intention. As the $TPR^*$-tree came from the R-tree that is suitable for indexing static objects, it does not support cheap update costs. Therefore, it seems to be very costly to index moving objects if there are frequent occurrences of node updates caused by continuously changing velocities and positions. If some moving objects with high velocities have node updates, in particular, then the $TPR^*$-tree may suffer from many unnecessary updates in the wide range of tree regions. To avoid such a problem, we propose a method that can keep fast-moving objects in the child nodes of the root node, thereby saving node update costs in the $TPR^*$-tree. To show our performance advantages and retaining $TPR^*$-tree features, we performed some performance experiments using a simulation technique.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39C no.5
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• pp.407-412
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• 2014

Concerns and demands for the Location Based Services (LBS) using Global Positioning System (GPS) and Wi-Fi are largely increased in the world in the present. In some experimental results, it was noted that many errors are frequently occurred when the distances between an anchor node and a mobile node acre measured in indoor localization environment of Wireless Personal Area Network (WPAN). In this paper, localization compensation algorithm based on maximum measurement value ($LCA_{MMV}$) for moving objects in WPAN is proposed, and the performance of the algorithm is analyzed by experiments on three scenarios for movement of mobile nodes. From the experiments, it was confirmed that the average localization accuracy of suggested algorithm was more increased than Symmetric Double-Sided Two-Way Ranging (SDS-TWR) and triangulation as average 40.9cm, 77.6cm and 6.3cm, respectively on scenario 1-3.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2005.05a
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• pp.775-783
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• 2005

이동통신 네트워크의 위치영역 설계는 위치관리 비용을 최소화하도록 네트워크를 위치영역으로 분리하는 문제이다. 기존 위치영역 설계 관련 연구는 설계의 모수가 되는 호 발생률 및 셀 간 가입자 이동률을 고정된 것으로 가정하였다. 그러나 실제 환경에서의 두 모수는 시간에 따라 변화하고, 일정한 패턴을 나타내며, 시간 당 셀 내 인구에 영향을 받는다. 본 연구에서는 이러한 인구유동 및 호 발생의 불확실성 및 시간에 따는 패턴 변화를 고려하여 기준 이상의 페이징 서비스 품질을 만족시키고, 비용을 최소화 하는 위치영역 설계 방식을 제안하였다. 모수의 변동에 일정 서비스 품질을 보장하기 위해 시간대 및 가동률 상한의 개념을 도입하여 추계적 문제를 정적 그래프 분리문제로 변환하였고, 이에 대한 솔루션은 Simulated Annealing을 응용한 경험적 최적해 도출 알고리즘을 이용하여 도출했다.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2008.04a
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• pp.43-45
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• 2008

위 인식은 이동 로봇의 자율 주행을 위한 필수 기능이다. 위치 추정을 위해서 Bayes Filter를 기본으로한 칼만 필터 방법들이 주로 제안되어졌고 최근에는 Particle Filter 방법이 제안되어져 사용되고 있다. 본 연구에서는 영역센서를 장착한 이동 로봇의 위치 추정을 위해 레이저 영역 센서를 이용하는 Particle Filter 방법을 구현하였다. Particle Filter방법은 Kalman Filter 방법에 비해서 구현이 간단하면서도 Kidnapping 문제에도 대응할 수 있는 장점이 있다. 본 연구를 통하여 위치 추정의 수렴도, 정확도, 그리고 Kidnapping 발생시의 위치 추정 성능등을 분석하여, 기존 방법의 성능을 개선하는 방법을 제안한다.

• Proceedings of the Korea Information Processing Society Conference
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• 2019.10a
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• pp.660-663
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• 2019

본 논문은 진공을 이용한 흡착방식과 바퀴형 이동방식을 사용하는 벽면이동로봇의 균열 위치 추정에 관한 연구로써, 로봇의 Yaw값에 대해 PID제어를 통해 로봇의 방향을 제어 하고 이를 바탕으로 엔코더 모터의 홀센서와 IMU를 기반으로 하여 균열 위치를 추정 한다. 위치 추정 성능을 검증하기 위해 실제 위치와 추정된 위치를 비교하고 결과를 제시하였다.

• Proceedings of the Korea Information Processing Society Conference
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• 2011.11a
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• pp.249-252
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• 2011

본 논문은 실내 공간에서 RFID와 센서를 이용하여 이동로봇이 자기 위치를 파악하고 목표 물체를 인식할 수 있는 기법을 제안한다. RFID를 지면과 목표물체에 설치하고 로봇은 리더기와 다양한 센서를 갖춤으로써 이동시 자기 위치를 파악하고 물체로부터도 고유정보를 얻을 수 있게 구성하였다. 초음파 센서 신호의 귀환시간을 활용하여 전방 물체의 거리를 추출하며 바닥의 RFID로부터 이미 획득한 자기 위치를 활용하여 물체의 절대 위치를 구한다. 이는 로봇을 중심으로한 경로지도를 실시간으로 작성하는 것이 가능하며, 실내의 구조 및 목표 물체의 위치등을 포함한 전체적인 지도를 작성할 수 있다. 최종적으로는 최적의 경로 계획을 세워 로봇이 목표 위치로 이동하거나 자율적 탐색이 가능하도록 한다.