• Proceedings of the KIEE Conference
• /
• 2006.10c
• /
• pp.567-569
• /
• 2006

This study proposes the method to make a map of moving environment area and passed area by sensor using for recognizing environment or avoiding obstacle. We win develop an efficient algorithm to use sensors and get the data by the user friendly system. Through this system, we win study the way to know of the driving environment of moving robot on the long distance point. To this, we use only one ultra-sonic sensor with a servo motor which rotates 180 degree and loads an ultra-sonic sensor. A sensor can measure 1m${\sim}$8m range and a servo motor can distinguish 15 degree by 12 divide of 180 degree. By this feature of operating system, the robot which has these sensor module detects around of area and moves another point. In this way, users gather the data of detecting distance and change the data to X-Y coordinates. And users derive a map from these accumulate data.

• Proceedings of the IEEK Conference
• /
• 2001.09a
• /
• pp.283-286
• /
• 2001

In this paper, we present a robust region segmentation method based on the watershed transformation of a pseudo-distance map (PDM). A usual approach for the segmentation of a gray-scale image with the watershed algorithm is to apply it to a gradient magnitude image or the Euclidean distance map (EDM) of an edge image. However, it is well known that this approach suffers from the oversegmentation of the given image due to noisy gradients or spurious edges caused by a thresholding operation. In this paper we show thor applying the watershed algorithm to the EDM, which is a regularized version of the EDM and is directly computed form the edgestrength function (ESF) of the input image, significantly reduces the oversegmentation, and the final segmentation results obtained by a simple region-merging process are more reliable and less noisy than those of the gradient-or EDM-based methods. We also propose a simple and efficient region-merging criterion considering both boundary strengths and inner intensities of regions to be merged. The robustness of our method is proven by testing it with a variety of synthetic and real images.

• Proceedings of the IEEK Conference
• /
• 2002.07c
• /
• pp.1499-1502
• /
• 2002

A method for acquiring an environmental map by integrating distance data obtained by sonars of a moving robot with web interface is proposed. Sonar data contains outliers in some cases such as ultrasonic beam is projected onto a corner of an object. Therefore, the influence of the outliers should be reduced by detecting outliers. In our method, the outliers are detected by two ways: (i) a method considering geometrical .elation among the observed surface and the projected ultrasonic beau, and (ii) a method considering consistency with data obtained by other sonars. By measurement by the sonar, the distance from the sonar to the obstacle is obtained. Assuming the two dimensional space we can know that the inside of the sector, whose renter coincide with the sonar and whose radius is equal to the obtained distance, is the free area, and a part of the arc of this sector is the obstacle area. The generation of the environmental map is done by integrating the free area and the obstacle area obtained by each measurement by the sonars. Before the integration, the outliers detection is done by two ways mentioned above. Experimental results show that obtained maps obtained by our methods with outliers defection are much better than those by a method without outliers detection.

• KOREAN JOURNAL OF CROP SCIENCE
• /
• v.48 no.4
• /
• pp.297-302
• /
• 2003

Genetic linkage maps serve the plant geneticist in a number of ways, from marker assisted selection in plant improvement to map-based cloning in molecular genetic research. Genetic map based upon DNA polymorphism is a powerful tool for the study of qualitative and quantitative traits in crops. The objective of this study was to develop genetic linkage map of soybean using the population derived from the cross of Korean soybean cultivar 'Kwangkyo, and wild accession 'IT182305'. Total 1,000 Operon random primers for RAPD marker, 49 combinations of primer for AFLP marker, and 100 Satt primers for SSR marker were used to screen parental polymorphism. Total 341 markers (242 RAPD, 83 AFLP, and 16 SSR markers) was segregated in 85 $\textrm{F}_2$ population. Forty two markers that shown significantly distorted segregation ratio (1:2:1 for codominant or 3:1 for domimant marker) were not used in mapping procedure. A linkage map was constructed by applying the computer program MAPMAKER/EXP 3.0 to the 299 marker data with LOD 4.0 and maximum distance 50 cM. 176 markers were found to be genetically linked and formed 25 linkage groups. Linkage map spanned 2,292.7 cM across all 25 linkage groups. The average linkage distance between pair of markers among all linkage groups was 13.0 cM. The number of markers per linkage group ranged from 2 to 55. The longest linkage group 3 spanned 967.4 cM with 55 makers. This map requires further saturation with more markers and agronomically important traits will be joined over it.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.35 no.7B
• /
• pp.991-1000
• /
• 2010

The Hierarchical Mobile IPv6 (HMIPv6) has been proposed to accommodate frequent mobility of the Mobile Node. HMIPv6 can effectively reduce the signaling overhead and latency. However, it has a problem that the registration of a mobile node concentrates on the furthest MAP(Mobility Anchor Point) when the mobile node enters into a new domain. This paper proposes a new load distribution mechanism by using the concept of Nash Bargaining Solution. The main advantage of the proposed scheme can prevent load concentration from being registered to the specified MAP based on the weight value according to the available resource-ratio of a MAP. With a simulation study, the proposed scheme can improve network performance under widely diverse traffic load intensities.

• Korean Journal of Environment and Ecology
• /
• v.28 no.4
• /
• pp.393-403
• /
• 2014

The aim of this study was to use the information deduced from biotopemap in Boryeong, Chungnam province conducted in 2011 and to select the wildlife survey point. The information used for the study was deduced from the knowledge and experience of wildlife specialists and was realized by 6 environmental variables (Outside distance from food vegetation, Outside distance from farm land, Outside distance from forest, Human density, Outside distance from road, Outside distance from water). 6 environmental variables were modeled by map overlay method and the model could deduce the correlation of 94.72% as a result of comparing with occurrence information. The areas predicted to have many occurrences were rural landscapes, forests, and valleys, and they can be used to deduce the quality wildlife survey results in the limit of survey range (area, schedule, and budget). However, it had the limit points such as the inside of forests was excluded, all species did not prefer the same habitat. The following studies are needed for this part in the future.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2012.05a
• /
• pp.277-278
• /
• 2012

• Journal of the Korean Institute of Telematics and Electronics S
• /
• v.34S no.12
• /
• pp.70-80
• /
• 1997

This paper proposes a hierarchical Hausdorff distance (HD) matching algorithm baased on coarse-to-fine approach. It reduces the computational complexity greatly by using the pyramidal structures consisting of distance transform (DT) and edge pyramids. Also, inthe proposed hierarchical HD matching, a thresholding method is presented to find an optimal matching position with small error, in which the threshold values are determined by using the property between adjacent level of a DT map pyramid. By computer simulation, the performance of the conventional and proposed hierarchical HD matching algorithms is compared in therms of the matching position for binary images containing uniform noise.

• Korean Journal of Plant Tissue Culture
• /
• v.27 no.5
• /
• pp.367-373
• /
• 2000

We have constructed a molecular linkage map of chili pepper (Capsicum spp.) in an interspecific (C. annuum cv. TF68 x C. chinense cv. Habanero) F$_2$ population of 107 plants with 150 RFLP and 430 AFLP markers. The resulting linkage map consists of 11 large (206-60.3 cM) and 5 small (32.6- 10.3 cM) linkage groups cover-ing 1,320 cM with an average map distance between framework markers of 7.5 cM. Most (80%) of the RFLP markers were pepper-derived clones and these markers were evenly distributed across the genome. By using 30 primer combinations, 444 AFLP markers were generated in the F$_2$population. The majority of the AFLP markers clustered in each linkage group, although PstI/MseI markers were more evenly distributed than Eco RI/MseI markers within the linkage groups. Genes for biosynthesis of carotenoids and capsaicinoids were mapped on our linkage map. This map will provide the basis of studying secondary metabolites in pepper.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.20 no.2
• /
• pp.133-138
• /
• 2011

RFID system can be used to improve object recognition, map building and localization for robot area. A novel method of indoor navigation system for a mobile robot is proposed using RFID technology. The mobile robot With a RFID reader and antenna is able to find what obstacles are located where in circumstance and can build the map similar to indoor circumstance by combining RFID information and distance data obtained from sensors. Using the map obtained, the mobile robot can avoid obstacles and finally reach the desired goal by $A^*$ algorithm. 3D map which has the advantage of robot navigation and manipulation is able to be built using z dimension of products. The proposed robot navigation system is proved to apply for SLAM and path planning in unknown circumstance through numerous experiments.