• The KIPS Transactions:PartD
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• v.15D no.6
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• pp.803-814
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• 2008

Product line architectures include variable parts to be selected according to product specific requirements. In order to derive architectures that are valid for a particular product from product line architectures, variabilities of product line architectures must be systematically managed. In this paper, we adopt an approach to variability management of product line architectures through an explicit mapping between a feature model and product line architecture models. If this mapping is incorrect or there exists inconsistency among product line architectural elements, variabilities of product line architectures cannot be managed correctly. Therefore, this paper formally defines product line architectural models in terms of conceptual, process, deployment, and module views, and mapping relationships between the feature model and the architectural models. Consistency rules for correct variability management of product line architectures are defined in terms of consistency in each of product line architecture model, consistency between different architectural view models, and consistency between a feature model and product line architectural models. These consistency rules provide a theoretical foundation for deriving valid product architecture from product line architectures.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.842-847
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• 2005

This paper proposes a novel real-time EMG pattern recognition for the control of a multifunction myoelectric hand from four channel EMG signals. To cope with the nonstationary signal property of the EMG, features are extracted by wavelet packet transform. For dimensionality reduction and nonlinear mapping of the features, we also propose a linear-nonlinear feature projection composed of PCA and SOFM. The dimensionality reduction by PCA simplifies the structure of the classifier, and reduces processing time for the pattern recognition. The nonlinear mapping by SOFM transforms the PCA-reduced features to a new feature space with high class separability. Finally a multilayer neural network is employed as the pattern classifier. We implement a real-time control system for a multifunction virtual hand. From experimental results, we show that all processes, including virtual hand control, are completed within 125 msec, and the proposed method is applicable to real-time myoelectric hand control without an operation time delay.

• Korean Journal of Remote Sensing
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• v.20 no.3
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• pp.207-214
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• 2004

This study focused on providing a methodology to utilize temporal information obtained from remotely sensed data for monitoring a wide variety of targets on the earth's surface. Generally, a methodology in understanding of global changes is composed of mapping, quantifying, and monitoring changes in the physical characteristics of land cover. The selected processing and analysis technique affects the quality of the obtained information. In this research, feature extraction methodology is proposed based on segmentation. It requires a series of processing of multitempotal images: preprocessing of geometric and radiometric correction, image subtraction/thresholding technique, and segmentation/thresholding. It results in the mapping of the change-detected areas. Here, the appropriate methods are studied for each step and especially, in segmentation process, a method to delineate the exact boundaries of features is investigated in multiresolution framework to reduce computational complexity for multitemporal images of large size.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.1
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• pp.60-65
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• 2010

This paper describes the results of 2D mapping, feature detection and matching to create the surrounding environment in the mounted stereo camera on Mobile robot. Extract method of image's feature in real-time processing for quick operation uses the edge detection and Sum of Absolute Difference(SAD), stereo matching technique can be obtained through the correlation coefficient. To estimate the location of a mobile robot using ZigBee beacon and encoders mounted on the robot is estimated by Kalman filter. In addition, the merged gyro scope to measure compass is possible to generate map during mobile robot is moving. The Simultaneous Localization and Mapping (SLAM) of mobile robot technology with an intelligent robot can be applied efficiently in human life would be based.

• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.179-188
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• 2021

Construction monitoring is one of the key modules in smart construction. Unlike structured urban environment, construction site mapping is challenging due to the characteristics of an unstructured environment. For example, irregular feature points and matching prohibit creating a map for management. To tackle this issue, we propose a system for data acquisition in unstructured environment and a framework for Intensity and Ambient Enhanced Lidar Inertial Odometry via Smoothing and Mapping, IA-LIO-SAM, that achieves highly accurate robot trajectories and mapping. IA-LIO-SAM utilizes a factor graph same as Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping (LIO-SAM). Enhancing the existing LIO-SAM, IA-LIO-SAM leverages point's intensity and ambient value to remove unnecessary feature points. These additional values also perform as a new factor of the K-Nearest Neighbor algorithm (KNN), allowing accurate comparisons between stored points and scanned points. The performance was verified in three different environments and compared with LIO-SAM.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.1272-1274
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• 2003

In this paper, we present a new algorithm for high dimensional data reduction based on wavelet decomposition and Genetic Algorithm (GA). Comparative results show the superiority of our algorithm for dimensionality reduction and accuracy improvement.

• The KIPS Transactions:PartB
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• v.18B no.5
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• pp.255-264
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• 2011

In this paper, we propose a forward vehicle detection algorithm using column detection and bird's-eye view mapping based on stereo vision. The algorithm can detect forward vehicles robustly in real complex traffic situations. The algorithm consists of the three steps, namely road feature-based column detection, bird's-eye view mapping-based obstacle segmentation, obstacle area remerging and vehicle verification. First, we extract a road feature using maximum frequent values in v-disparity map. And we perform a column detection using the road feature as a new criterion. The road feature is more appropriate criterion than the median value because it is not affected by a road traffic situation, for example the changing of obstacle size or the number of obstacles. But there are still multiple obstacles in the obstacle areas. Thus, we perform a bird's-eye view mapping-based obstacle segmentation to divide obstacle accurately. We can segment obstacle easily because a bird's-eye view mapping can represent the position of obstacle on planar plane using depth map and camera information. Additionally, we perform obstacle area remerging processing because a segmented obstacle area may be same obstacle. Finally, we verify the obstacles whether those are vehicles or not using a depth map and gray image. We conduct experiments to prove the vehicle detection performance by applying our algorithm to real complex traffic situations.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.10
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• pp.68-77
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• 1990

In this paper, a neural patten recognition method for the automatic circuit diagram reading system is proposed. The proposed procedure to recognize a deformed logic symbols is composed of three stages: feature detection, log mapping, and pattern classification. In the feature detection stage, a modified competitive learning algorithm where each pattern has the inhibition weight as well as the activation weight is developed. The global information of hand-written logic symbols is obtained by the feature detection neural network having both the inhibition and activation weights. The obtained global data is then transformed into a log space by the conformal mapping where according to the Schwartz's theory about the human visual signal process-ing, the degree of rotation and the scale change are mapped into the translation change. Logic symbols are finally classified by a three layer perceptron trained by the error back propagation algorithm. The computer simulation demonstrates that the proposed multistage neural network system can recognize well the deformed patterns of hand-written logic circuit diagrams.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.15 no.3
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• pp.1078-1099
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• 2021

Traditional image steganography hides secret information by embedding, which inevitably leaves modification traces and is easy to be detected by steganography analysis tools. Since coverless steganography can effectively resist steganalysis, it has become a hotspot in information hiding research recently. Most coverless image steganography (CIS) methods are based on mapping rules, which not only exposes the vulnerability to geometric attacks, but also are less secure due to the revelation of mapping rules. To address the above issues, we introduced camouflage images for steganography instead of directly sending stego-image, which further improves the security performance and information hiding ability of steganography scheme. In particular, based on the different sub-features of stego-image and potential camouflage images, we try to find a larger similarity between them so as to achieve the reversible steganography. Specifically, based on the existing CIS mapping algorithm, we first can establish the correlation between stego-image and secret information and then transmit the camouflage images, which are obtained by reversible sub-feature retrieval algorithm. The received camouflage image can be used to reverse retrieve the stego-image in a public image database. Finally, we can use the same mapping rules to restore secret information. Extensive experimental results demonstrate the better robustness and security of the proposed approach in comparison to state-of-art CIS methods, especially in the robustness of geometric attacks.

• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.385-394
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• 2017

Side scanning sonar (SSS) provides valuable information for robot navigation. However using the side scanning sonar images in the navigation was not fully studied. In this paper, we use range data, and side scanning sonar images from UnderWater Simulator (UWSim) and propose measurement models in a feature based simultaneous localization and mapping (SLAM) framework. The range data is obtained by echosounder and sidescanning sonar images from side scan sonar module for UWSim. For the feature, we used the A-KAZE feature for the SSS image matching and adjusting the relative robot pose by SSS bundle adjustment (BA) with Ceres solver. We use BA for the loop closure constraint of pose-graph SLAM. We used the Incremental Smoothing and Mapping (iSAM) to optimize the graph. The optimized trajectory was compared against the dead reckoning (DR).