• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.27 no.5
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• pp.555-563
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• 2009

When a mobile mapping system or a robot is equipped with only a GPS (Global Positioning System) and multiple stereo camera system, a transformation from a local camera coordinate system to GPS coordinate system is required to link camera poses and 3D data by V-SLAM (Vision based Simultaneous Localization And Mapping) to GIS data or remove the accumulation error of those camera poses. In order to satisfy the requirements, this paper proposed a novel method that calculates a camera rotation in the GPS coordinate system using the three pairs of camera positions by GPS and V-SLAM, respectively. The propose method is composed of four simple steps; 1) calculate a quaternion for two plane's normal vectors based on each three camera positions to be parallel, 2) transfer the three camera positions by V-SLAM with the calculated quaternion 3) calculate an additional quaternion for mapping the second or third point among the transferred positions to a camera position by GPS, and 4) determine a final quaternion by multiplying the two quaternions. The final quaternion can directly transfer from a local camera coordinate system to the GPS coordinate system. Additionally, an update of the 3D data of captured objects based on view angles from the object to cameras is proposed. This paper demonstrated the proposed method through a simulation and an experiment.

• Journal of Distribution Science
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• v.18 no.5
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• pp.71-81
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• 2020

Purpose: This case study illustrates the successful entry of Saudi Aramco in the Korean market and how it grows to become one of the world's largest integrated energy enterprises. Research design, data and methodology: This case investigates diverse secondary sources to examine the entry strategy of Aramco in Korea, such as several interviews including public and anonymous dialogues, periodicals, dispatches (i.e. news articles and magazines), annual reports, industrial reports, and others. Results: The main concern for the international strategic approaching of Saudi Aramco is to enter into Korean market by joint venture with SsangYong Oil (today's S-Oil Corporation) in 1991 and finally, ending by Acquisition of S-Oil in 2015. This acquisition of local No.3 company, S-Oil, in Korea is the successful case in Asian Markets overcoming liability of foreignness. Moreover, Saudi Aramco's global distribution strategy through localization in the Korean market is appropriate given the market conditions, timing, effectiveness, and efficiency by sharing their resources and collaborating. Conclusions: It would be valuable, unique, and real story to analyze global leading company's entry and globalization strategy in overseas market. In addition, this study provides decision-makers with a significant and more strategic implication for the overseas expansion of businesses.

• ETRI Journal
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• v.36 no.6
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• pp.913-923
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• 2014

This paper proposes a global mapping algorithm for multiple robots from an omnidirectional-vision simultaneous localization and mapping (SLAM) approach based on an object extraction method using Lucas-Kanade optical flow motion detection and images obtained through fisheye lenses mounted on robots. The multi-robot mapping algorithm draws a global map by using map data obtained from all of the individual robots. Global mapping takes a long time to process because it exchanges map data from individual robots while searching all areas. An omnidirectional image sensor has many advantages for object detection and mapping because it can measure all information around a robot simultaneously. The process calculations of the correction algorithm are improved over existing methods by correcting only the object's feature points. The proposed algorithm has two steps: first, a local map is created based on an omnidirectional-vision SLAM approach for individual robots. Second, a global map is generated by merging individual maps from multiple robots. The reliability of the proposed mapping algorithm is verified through a comparison of maps based on the proposed algorithm and real maps.

• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.3
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• pp.126-135
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• 2008

The development of an unmanned vehicle basically requires the robust and reliable performance of major functions which include global localization, lane detection, obstacle avoidance, path planning, etc. The implementation of major functional subsystems are possible by integrating and fusing data acquired from various sensory systems such as GPS, vision, ultrasonic sensor, encoder, and electric compass. This paper focuses on implementing the functional subsystems, which are designed and developed by a graphical programming tool, NI LabVIEW, and also verifying the autonomous navigation and remote control of the unmanned vehicle.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2011.04a
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• pp.278-281
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• 2011

The global coordinates generated from Isomap algorithm provide a simple way to analyze and manipulate high dimensional observations in terms of their intrinsic nonlinear degrees of freedom. Thus, Isomap can find globally meaningful coordinates and nonlinear structure of complex data sets, while neither principal component analysis (PCA) nor multidimensional scaling (MDS) are successful in many cases. It is demonstrated that the adapted Isomap algorithm successfully enhances the quality of pattern classification for damage identification in various numerical examples.

• International Journal of Control, Automation, and Systems
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• v.5 no.5
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• pp.577-583
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• 2007

Simultaneous Localization and Mapping (SLAM) is the process of building a map of an unknown environment and simultaneously localizing a robot relative to this map. SLAM is very important for the indoor navigation of a mobile robot and much research has been conducted on this subject. Although feature-based SLAM using an Extended Kalman Filter (EKF) is widely used, it has shortcomings in that the computational complexity grows in proportion to the square of the number of features. This prohibits EKF-SLAM from operating in real time and makes it unfeasible in large environments where many features exist. This paper presents an algorithm which reduces the computational complexity of EKF-SLAM by using topological information (TI) extracted through a thinning process. The global map can be divided into local areas using the nodes of a thinning-based topological map. SLAM is then performed in local instead of global areas. Experimental results for various environments show that the performance and efficiency of the proposed EKF-SLAM/TI scheme are excellent.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.132-138
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• 2009

In this paper, control of an omni-directional mobile robot is presented. Relying on encoder measurements to define the azimuth angle yields the dead-reckoned situation which the robot fails in localization. The azimuth angle error due to dead-reckoning is compensated and corrected by the magnetic compass sensor. Noise from the magnetic compass sensor has been filtered out. Kinematics and dynamics of the omni-directional mobile robot are derived based on the global coordinates and used for simulation studies. Experimental studies are also conducted to show the correction by the magnetic compass sensor.

• Journal of Microbiology and Biotechnology
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• v.17 no.2
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• pp.187-194
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• 2007

In order to utilize different nitrogen sources and to survive in a situation of nitrogen limitation, microorganisms have developed sophisticated mechanisms to adapt their metabolism to a changing nitrogen supply. In this communication, the recent knowledge of nitrogen regulation in the amino acid producer Corynebacterium glutamicum is summarized. The core adaptations of C. glutamicum to nitrogen limitation on the level of transcription are controlled by the global regulator AmtR. Further components of the signal pathway are GlnK, a $P_{II}-type$ signal transduction protein, and GlnD. Mechanisms involved in nitrogen control in C. glutamicum regulating gene expression and protein activity are repression of transcription, protein-complex formation, protein modification by adenylylation, change of intracellular localization, and proteolysis.

• Electronics and Telecommunications Trends
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• v.38 no.4
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• pp.25-35
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• 2023

As the global semiconductor supply chain falters, major countries are pushing to increase their self-sufficiency in semiconductors. In accordance with these global changes, R&D cooperation is evolving in the semiconductor industry. Previously, as for the case of Interuniversity Microelectronics Center (IMEC) in Europe, many cooperation initiatives were established regardless of nationality for improving productivity through measures such as reducing the time and cost required for joint research. Recently, however, cooperation aimed at strengthening one's own industry has been prominent, such as that led by Taiwan Semiconductor Research Institute (TSRI) and the United States National Semiconductor Technology Center (NSTC). Hence, the Korean semiconductor industry also needs to respond. Internally, technology localization should be promoted by strengthening the foundation for domestic R&D cooperation, while externally, it should expand close cooperation with companies from countries leading the semiconductor industry, such as the United States, Europe, and Japan.

• Journal of the Institute of Convergence Signal Processing
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• v.13 no.1
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• pp.32-38
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• 2012

Each sensor node can know its location in several ways, if the node process the information based on its geographical position in sensor networks. In the localization scheme using GPS, there could be nodes that don't know their locations because the scheme requires line of sight to radio wave. Moreover, this scheme is high costly and consumes a lot of power. The localization scheme without GPS uses a sophisticated mathematical algorithm estimating location of sensor nodes that may be inaccurate. AHLoS(Ad Hoc Localization System) is a hybrid scheme using both GPS and location estimation algorithm. In AHLoS, the GPS node, which can receive its location from GPS, broadcasts its location to adjacent normal nodes which are not GPS devices. Normal nodes can estimate their location by using iterative triangulation algorithms if they receive at least three beacons which contain the position informations of neighbor nodes. But, there are some cases that a normal node receives less than two beacons by geographical conditions, network density, movements of nodes in sensor networks. We propose an indirect localization scheme for low-density sensor nodes which are difficult to receive directly at least three beacons from GPS nodes in wireless network.