• Journal of the Institute of Electronics Engineers of Korea SC
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• v.47 no.1
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• pp.67-75
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• 2010

This paper presents localization algorithm for mobile robot in outdoor environment. Outdoor environment includes the uncertainty on the ground. Magnetic sensor or IMU(Inertial Measurement Unit) has been used to estimate robot's heading angle. Two sensor is unavailable because mobile robot is electric car affected by magnetic field. Heading angle estimation algorithm for mobile robot is implemented using gyro sensor module consisting of 1-axis gyro sensors. Localization algorithm applied Extended Kalman filter that utilized GPS and encoder, gyro sensor module. Experiment results show that proposed localization algorithm improve considerably localization performance of mobile robots.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.3
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• pp.484-490
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• 2016

Full-duplex communication can enhance wireless capacity by enabling simultaneous transmission and reception of the signals on the same frequency spectrum. Such a benefit, however, is only achieved when strong self-interference is well canceled below a sufficient level. To achieve this goal, there have been several approaches for cancellation, each of which is combined with digital-domain cancellation for a higher gain. In this paper, we implement two self-interference cancellation techniques and integrate them with a software defined radio-based wireless communication testbed. Two cancellation techniques (antenna cancellation and noise subtraction) are implemented and the cancellation gain is measured via real experiments. The results show that the gain of the antenna placement technique highly depends on the placement of a receiving antenna and the highest gain is achieved at the expected point, and we show that combining the noise subtraction circuit with the antenna placement further improves the cancellation gain.

• Journal of the Korea Society of Computer and Information
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• v.7 no.4
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• pp.204-210
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• 2002

The self-organizing feature map of Kohonen has disadvantage that needs too much input patterns in order to converge into the equilibrium state when it trains. In this paper we proposed the method of improving the convergence speed and rate of self-organizing feature map converting the interaction set into Dynamic Gaussian function. The proposed method Provides us with dynamic Properties that the deviation and width of Gaussian function used as an interaction function are narrowed in proportion to learning times and learning rates that varies according to topological position from the winner neuron. In this Paper. we proposed the method of improving the convergence rate and the degree of self-organizing feature map.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.1
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• pp.55-62
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• 2004

A semi-automatic registration process of determining specified points is presented, which is required to register brain MR images based on Talairach atlas. Generally, ten specified points that define Talairach coordinates are anterior commissure(AC), posterior commissure (PC), anterior feint (AP), posterior point (PP), superior point (SP), inferior point (IP), left point (LP), right point (RP) and two points for the midline of the brain. The suggested method reduces user interaction for S points, and finds the necessary points for registration in a more stable manner by finding AC and PC using two-level shape matching of the corpus callosum (CC) in an edge-enhanced brain M image. Remaining points are found using the intensity information of cutview.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.9
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• pp.749-757
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• 2001

We present a simple artificial landmark model and robust landmark tracking algorithm for mobile robot localization. The landmark model, consisting of symmetric and repetitive color patches, produces color histograms that are invariant under the geometric and photometric distortions. A stochastic approach based on the CONDENSATION tracks the landmark model robustly even under the varying illumination conditions. After the landmark detection, relative position of the mobile robot to the landmark is calculated. Experimental results show that the proposed landmark model is effective and can be detected and tracked in a clustered scene robustly. With the tracked single landmark, we extract geometrical information than achieve accurate localization.

• Journal of Korean Society for Geospatial Information Science
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• v.4 no.2 s.8
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• pp.79-90
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• 1996

It is well known that point positioning using a C/A-code receiver is severely biased by errors in pseudorange. This paper shows the procedures of quantitive analysis for several error elements and that some methods to monitor SA(selective availability) of witch process is not opened are proposed. It is possible to verify the effects of SA in the Doppler shift and receiver clock drift variation. Easy methods to reduce SA effects are to fit second order polynomials for the one and a linear function for the other. With periodic autocorrelation functions. SA effects are analyzed and first order Gauss-Markov process parameters are decided.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.8 no.3
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• pp.239-242
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• 2015

In this paper, we propose a walking assisting system for blind people using Android smartphone and Arduino board. In our proposed system, we use an Android smartphone case and an external ultrasonic sensor to detect the obstacles ahead. In this manner, blind people is able to aware unexpected objects by smartphone speakers or vibration functionality. In addition, the walking assisting system is also designed a notice system which will be triggered by built-in smartphone camera flash when blind people walk in some darkness place. The experimental results from real experiments on blind people have demonstrated the applicability of our walking assisting system, when it not only efficiently helps blind people avoid obstacles ahead but also possible traffic collisions in darkness condition.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.1
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• pp.151-156
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• 2017

In case of massive water leakage, it's crucial for field manager to quickly positioning the problematic valve and related ones. However, it's not easy for the system to find the corresponding valve and even if it's found, it can not respond quickly because it can't know the relevant information immediately. In this paper, we implement the system for identifying sluice valve positions using GPS and AR techniques. The proposed system is composed of hand held android device, remote database server and data acquisition device for DB creation. We utilize the android device's sensors including GPS, gyro, accelerometer, magnetic sensor. The system identifies the valve with matching between the position data from the remote database server, and current GPS locations of device. We use AR techniques to overlay the graphics pattern of valve positions and some additional informations on captured real scene. With this system, it will be fast and accurate for maintenance of sluice valve of municipal water system.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.7
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• pp.655-663
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• 2017

With the development of ICT technology, the indoor utilization of robots is increasing. Research on transportation, cleaning, guidance robots, etc., that can be used now or increase the scope of future use will be advanced. To facilitate the use of mobile robots in indoor spaces, the problem of self-location recognition is an important research area to be addressed. If an unexpected collision occurs during the motion of a mobile robot, the position of the mobile robot deviates from the initially planned navigation path. In this case, the mobile robot needs a robust controller that enables the mobile robot to accurately navigate toward the goal. This research tries to address the issues related to self-location of the mobile robot. A robust position recognition system was implemented; the system estimates the position of the mobile robot using a combination of encoder information of the mobile robot and the absolute space coordinate transformation information obtained from external video sources such as a large number of CCTVs installed in the room. Furthermore, vector field histogram method of the pass traveling algorithm of the mobile robot system was applied, and the results of the research were confirmed after conducting experiments.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.5
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• pp.1123-1131
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• 2005

In this paper, optimal position of optical phase conjugator (OPC) for best compensating distorted WDM channels due to both chromatic dispersion and self phase modulation (SPM) in $8{\times}40$ Gbps WDM systems is numerically investigated, and the eye opening penalty (EOP) and bit error rate (BER) characteristics of overall WDM channels at this position is investigated, comparing with that in case of OPC placed at mid-way of total transmission length. It is confirmed that the compensation extents in WDM system with OPC is more improved by the shifting OPC position from the mid-way of total transmission length, depending on the modulation format and fiber dispersion coefficient. Ant it is confirmed that, from a viewpoint of the reception performance, EOP of each channel is more or less different with one another, but the BER characteristics of overall channels are almost equal.