• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.10
• /
• pp.907-914
• /
• 2013

A FastSLAM is an algorithm for SLAM (Simultaneous Localization and Mapping) using a Rao-Blackwellized particle filter and its performance is known to degenerate over time due to the loss of particle diversity, mainly caused by the particle depletion problem in the resampling phase. In this paper, the GeSPIR (Geographically Stratified Particle Information-based Resampling) technique is proposed to solve the particle depletion problem. The proposed algorithm consists of the following four steps : the first step involves the grouping of particles divided into K regions, the second obtaining the normal weight of each region, the third specifying the protected areas, and the fourth resampling using regional equalization weight. Simulations show that the proposed algorithm obtains lower RMS errors in both robot and feature positions than the conventional FastSLAM algorithm.

• 한국HCI학회:학술대회논문집
• /
• 2008.02a
• /
• pp.354-359
• /
• 2008

This Audio-Visual Interactive Installation is composed of a video projection of a video Projection and digital Interface technology combining with the viewer's voice recognition. The Viewer can interact with the computer generated moving images growing on the screen by blowing his/her breathing or making sound. This symbiotic audio and visual installation environment allows the viewers to experience an illusionistic spacephysically as well as psychologically. The main programming technologies used to generate moving water waves which can interact with the viewer in this installation are visual C++ and DirectX SDK For making water waves, full-3D rendering technology and particle system were used.

• Korean Management Science Review
• /
• v.29 no.1
• /
• pp.143-152
• /
• 2012

Location area planning (LAP) problem is to partition the cellular/mobile network into location areas with the objective of minimizing the total cost in location management. The minimum cost has two components namely location update cost and searching cost. Location update cost is incurred when the user changes itself from one location area to another in the network. The searching cost incurred when a call arrives, the search is done only in the location area to find the user. Hence, it is important to find a compromise between the location update and paging operations such that the cost of mobile terminal location tracking cost is a minimum. The complete mobile network is divided into location areas. Each location area consists of a group of cells. This partitioning problem is a difficult combinatorial optimization problem. In this paper, we use particle swarm optimization (PSO) to obtain the best/optimal group of cells for 16, 36, 49, and 64 cells network. Experimental studies illustrate that PSO is more efficient and surpasses those of precious studies for these benchmarking problems.

• Journal of the Korean Society for Precision Engineering
• /
• v.31 no.12
• /
• pp.1107-1113
• /
• 2014

In this article, the megasonic cleaning system for cleaning micro/nano particles from flat panel display (FPD) surfaces was developed. A piezoelectric actuator and a waveguide were designed by finite element method (FEM) analysis. The calculated peak frequency value of the quartz waveguide was 1002 kHz, which agreed well with the measured value of 1003 kHz. The average acoustic pressure of the megasonic cleaning system was 43.1 kPa, which is three times greater than that of the conventional type of 13.9 kPa. Particle removal efficiency (PRE) tests were performed, and the cleaning efficiency of the developed system was proven to be 99%. The power consumption of the developed system was 64% lower than that of the commercial system. These results show that the developed megasonic cleaning system can be an effective solution in particle removing from FPD substrate with higher energy efficiency and lower chemical and ultra pure water (UPW) consumption.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.22 no.5
• /
• pp.47-52
• /
• 2008

In this paper partial discharge were simulated by conducted particle, a fine protrusion, surface discharge, which could be easy accumulated charge and concentrated electric field in the model GIS. In this times this paper measured and analyzed the radiated electromagnetic waves by using spectrum analyzer and antenna ($30{\sim}2,000[MHz]$ for measurement of EMI EMC in accordance with occurrence and propagation of partial discharge. In the basis of this results, a novel UHF(Ultra High Frequency) spherical sensor is presented. The measured impedance bandwidth of the proposed antenna is from 0.3[GHz] to 1.7[GHz]. Form results of this study, this antenna will be playing an important role for the sensor for insulation diagnosis system by UHF method of real site GIS and power equipment using $SF_6$ gas.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.21 no.1
• /
• pp.148-156
• /
• 2007

This paper explains stocker system that is operated in the long distance and linear area. The power system of stocker system uses Contactless Power Supply(CPS) to reduce problems of particle generation. The circuit configuration of CPS is simplified than the conventional ones, and the prototype is designed for commercial product. To transfer output data(information) from crane(secondary vehicle system) of the CPS to Primary system optical modem and TMS320F243(DSP, TI) are used between primary and secondary. power system are used, and the output voltage is controlled by operating frequency modulation. This paper is applied to stocker system controlled as one to one communication between the moving part(secondary system) and fixed part(primary system) of crane using optical modem. The study makes one to multi communication between fixed part and moving part for the purpose of multi crane operation of stocker system and must be done in the future.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.50 no.1
• /
• pp.232-238
• /
• 2013

This paper study the position estimation of MBK system according to the non-linear filter for non-Gaussian noise in underwater sensor networks. In the filter to estimate location, recently, the extended Kalman filter (EKF) and particle filter are getting attention. EKF is widely used due to the best algorithm in the Gaussian noise environment, but has many restrictions on the usage in non-Gaussian noise environment such as in underwater. In this paper, we propose the improved One-Dimension Particle Filter (ODPF) using the distribution re-interpretation techniques based on the maximum likelihood. Through the simulation, we compared and analyzed the proposed particle filter with the EKF in non-Gaussian underwater sensor networks. In the case of both the sufficient statistical sample and the sufficient calculation capacity, we confirm that the ODPF's result shows more accurate localization than EKF's result.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.23 no.5
• /
• pp.418-422
• /
• 2013

This paper has considered the location estimation problem in two dimension space by using a non-linear filter under non-Gaussian noise in underwater acoustic sensor networks(UASNs). Recently, the extended Kalman filter (EKF) is widely used in location estimation. However, the EKF has a lot of problems in the non-linear system under the non-gaussian noise environment like underwater environment. In this paper, we propose the improved Two-Dimension Particle Filter (TDPF) using the re-interpretation distribution techniques based on the maximum likelihood (ML). Through the simulation, we compared and analyzed the proposed TDPF with the EKF under the non-Gaussian underwater sensor networks. Finally, we determined that the TDPF's result shows more accurate localization than EKF's result.

• Proceedings of the Korean Society of Propulsion Engineers Conference
• /
• 2017.05a
• /
• pp.838-842
• /
• 2017

The thruster valve, which is one of the key components applied to the mono-propellant system for the satellite, has a circular plate spring structure. It can be designed as a structure that does not have positional deformation and particles by friction and repetitive motion. In this study, finite element analysis and verification were performed by setting the width of the circular plate spring as a design parameter with the material, thickness and radius of the circular plate spring as fixed variables. The linearity of the spring constant is shown by the graph that is spring force with displacement. It is confirmed that the optimization design of the circular plate spring is possible by the spring force tendency according to the total area of circular plate spring.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.43 no.5 s.311
• /
• pp.1-9
• /
• 2006

Because most applications of vision-based object tracking demonstrate satisfactory operations only under very constrained environments that have simplifying assumptions or specific visual attributes, these approaches can't track target objects for the highly variable, unstructured, and dynamic environments like a traffic scene. An adaptive fusion framework is essential that takes advantage of the richness of visual information such as color, appearance shape and so on, especially at cluttered and dynamically changing scenes with partial occlusion[1]. This paper develops a particle filter based adaptive fusion framework and improves the robustness and adaptation of this framework by adding a new distinctive visual attribute, an image feature descriptor using SIFT (Scale Invariant Feature Transform)[2] and adding an automatic teaming scheme of the SIFT feature library according to viewpoint, illumination, and background change. The proposed algorithm is applied to track various traffic objects like vehicles, pedestrians, and bikes in a driver assistance system as an important component of the Intelligent Transportation System.