• The Journal of Korea Robotics Society
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• v.9 no.3
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• pp.170-177
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• 2014

This paper proposes a novel upward-looking camera-based global localization using a ceiling image map. The ceiling images obtained through the SLAM process are integrated into the ceiling image map using a particle filter. Global localization is performed by matching the ceiling image map with the current ceiling image using SURF keypoint correspondences. The robot pose is then estimated by the coordinate transformation from the ceiling image map to the global coordinate system. A series of experiments show that the proposed method is robust in real environments.

• Communications of the Korean Mathematical Society
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• v.17 no.2
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• pp.253-260
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• 2002

For an outer action $\alpha$ of a finite group G on a factor M, it was proved that H is a, normal subgroup of G if and only if there exists a finite group F and an outer action $\beta$ of F on the crossed product algebra M $\times$$_{\alpha}$ G = (M $\times$$_{\alpha}$ F. We generalize this to infinite group actions. For an outer action $\alpha$ of a discrete group, we obtain a Galois correspondence for crossed product algebras related to normal subgroups. When $\alpha$ satisfies a certain condition, we also obtain a Galois correspondence for fixed point algebras. Furthermore, for a minimal action $\alpha$ of a compact group G and a closed normal subgroup H, we prove $M^{G}$ = ( $M^{H}$)$^{{beta}(G/H)}$for a minimal action $\beta$ of G/H on $M^{H}$.f G/H on $M^{H}$.TEX> H/.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.758-761
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• 1991

Using one chip microcontroller 87Cl96 (On chip EPROM type) and EPLD (Erasable & Programable Logic Device), an implantable control system to drive pendulum type electromechanical total artificial heart was developed. This control system consists of 4 parts, main management system, motor driver with power regulator, state monitoring system and communication part. The main system has the functions for speed detection, PI(proportional and integration) control, PWM generation, communication and analog data processor. Two kinds of power system were used and separated by 8 photo coupler arrays to improve the system stability. The performances of each compartments were compared with our previous z80 microprocessor based control system and good correspondences was shown. Logic power consumption was reduced to a one third of our previous controller. Using mock circulation tests, the overall performances of control system are evaluated.

• Proceedings of the IEEK Conference
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• 2002.07b
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• pp.1145-1148
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• 2002

This paper presents a new method which is calculated to use only three vanishing points in order to compute the dimensions of object and its pose from a single image of perspective projection taken by a camera and the problem of recovering 3D models from three vanishing points of box scene. Our approach is to compute only three vanishing points without this information such as the focal length, rotation matrix, and translation from images in the case of perspective projection. We assume that the object can be modeled as a linear function of a dimension vector ν. The input of reconstruction is a set of correspondences between features in the model and features in the image. To minimize each the dimensions of the parameterized models, this reconstruction of optimization can be solved by the standard nonlinear optimization techniques with a multi-start method which generates multiple starting points for the optimizer by sampling the parameter space uniformly.

• Proceedings of the KSME Conference
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• 2002.08a
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• pp.249-252
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• 2002

Turbulent properties of the wake of a circular cylinder were measured The diameter of the cylinder is l0mm and the Reynolds number is 420. A new 3D-PTY system was constructed and a genetic algorithm (GA) was introduced in order to increase the number of instantaneous three-dimensional velocity vectors. In the GA two fitness functions were introduced in order to enhance the correspondences of the particles. The measurement system consists of three CCD cameras, Ar-ion laser, an image grabber and a host computer. More than 3000 instantaneous three-dimensional velocity vectors were obtained by the system. The database of the turbulent properties of the circular cylinder was constructed by the constructed 3D-PTV system.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.858-863
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• 1990

A synthesis of feedback control-law with combined H$_{2}$/H$_{\infty}$ perfoemance criteria is proposed for discrete-time systems, under the assumption that the state is available for feedback. An auxiliary minimization problem is defined to enforce the H$_{\infty}$ disturbance attenuation constrain while minimizing the H$_{2}$ performance bound. The design equation is presented in terms of a modified Riccati equation which leads to the standard LQ solution when the H$_{\infty}$ constraint is completely relaxed. The results of the paper clarity the correspondences between H$_{2}$/H$_{\infty}$ results in discrete-time systems and their continuous-time counter-parts.rts.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.36S no.11
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• pp.60-67
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• 1999

This paper proposes a robust oriented Hausdorff measure (ROHM) for 20D object matching. The ROHM is introduced by replacing the distance concept of the conventional Hausdorff distance (HD) algorithm by the accumulation scheme of the Hough transform (HT). The proposed algorithm can be considered as the modified directed HT using the distance transform (DT). The orientation information at each pixel is also used for removing incorrect correspondences. Experiments with various test images show that the performance of the proposed algorithm is better than that of conventional HD algorithms considered.

• Asia pacific journal of information systems
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• v.14 no.4
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• pp.23-47
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• 2004

This study was tried for the improvement of software process ability of the software firms, and analyzed empirically the impact that a software process infrastructure level influences on the software process level and process performance. The questionnaire were developed and data were collected from the process improvement correspondences or project quality managers of the 78 software firms. The result was shown that management-organization infrastructure was composed of software process improvement organization's role and activity, process standard and education, management system and supporting, management guides and procedures. And organization's standard development procedure or criteria, process asset, process support tools were included in technical infrastructure. This study provides that some components of software process infrastructure had an significant influence on the process level, process infrastructure management level, and software process performance.

• Journal of Advanced Marine Engineering and Technology
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• v.28 no.8
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• pp.1211-1224
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• 2004

Two round jets. impinged and pulsed. were measured with high-resolution 3D-PTV technique. The measurement system consists of three CCD cameras, Ar-ion laser, an image grabber and a host computer. Two fitness functions were introduced in a genetic algorithm in order to enhance the correspondences of the particles. One was based on a concept of the continuum theory and the other one was based on a minimum distance error. The velocity profiles of the impinged jet obtained by the constructed 3D-PTV system were compared with those of LDV measurements made in this study. The head vortex of the jet was visualized by LIF and was reconstructed by the constructed high-resolution 3D-PTV system for comparisons.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.109-114
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• 2000

A new method for the determination of camera system rotation and translation from in 3-D space using recursive least square method is presented in this paper. With this method, the calculation of the equation is found by a linear algorithm. Where the equation are either given or be obtained by solving five or more point correspondences. Good results can be obtained in the presence if more than the eight point. A main advantage of this new method is that it decouple rotation and translation, and then reduces computation. With respect to error in the solution point number in the input image data, adding one more feature correspondence to required minimum number improves the solution accuracy drastically. However, further increase in the number of feature correspondence improve the solution accuracy only slowly. The algorithm proposed by this paper is used to make camera system rotation and translation easy to recognize even when camera system attached at end effecter of six degrees of freedom industrial robot manipulator are applied industrial field.