• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.468-471
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• 2003

The A＊ algorithm is usually used in game programming, mainly because it is fast in finding a optimal path to goal. In this paper. This algorithm was utilized for path finding, HIMM(Histogramic In-Motion Mapping) method is used in map-building. Map is updated continuously with range data sampled by PSD sensors From the map, A＊ algorithm finds a optimal path and sends subsequently the most suitable point to the Eyebot. A＊ algorithm has been tested on the Eyebot in various unknown maps of unknown and proved to work well. It could escape the local minimum, also.

• 한국전산유체공학회지
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• 제2권1호
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• pp.84-92
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• 1997

In this paper a new structured grid generation technique is introduced. This new technique utilizes predictor-corrector approach, and is a marching scheme in the global sense as the hyperbolic scheme is. In the predictor step, one layer of grid cells is obtained by using Modified Advancing Front Method which generates a collection of quadrilateral cells simultaneously. In the corrector step, the layer of grid cells that is calculated in the predictor step is adjusted by solving Laplace equations to prevent grid lines from skewing and overlapping in highly curved configurations. It is shown that the resultant algorithm, named a MAP scheme, which combines the Modified Advancing Front Method as a Predictor with an elliptic scheme as a corrector can be used to generate globally smooth and locally near-orthogonal grids for external flow fields even for highly curved configurations. Examples of grid generations for external flow fields about several configurations by use of the present approach are given, and its applicability and flexibility have been demonstrated and discussed.

• 제어로봇시스템학회논문지
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• 제20권11호
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• pp.1170-1174
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• 2014

This paper suggests using the ICP (Iterative Closet Point) algorithm to compensate a two-dimensional map. ICP algorithm is a typical algorithm method using matching distance data. When building a two-dimensional map, using data through the value of a laser scanner, it occurred warping and distortion of a two-dimensional map because of the difference of distance from the value of the sensor. It uses the ICP algorithm in order to reduce any error of line. It validated the proposed method through experiment involving matching a two-dimensional map based reference data and measured the two-dimensional map.

• 대한전기학회논문지:전력기술부문A
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• 제48권10호
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• pp.1349-1355
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• 1999

A power distribution facility map is drawn on cadastral map. Besides, grid lines are added on the map for sectionalization. For automatic recognition of the map, we first extract recognizing regions. In this paper, we propose an extraction method of recognizing regions by partially extending thinned image. The proposed method is consist of three phases, binarization phase, thinning phase and partial extending phase. The first phase generate a binary image using threshold value which is obtained by histogram analysis. The binary image contains many part of recognizing regions, but not all. The second phase generate thinned image which is generated by appling thinning operator to the binary image. And the third phase extends thinned image from terminal point until satisfying termination condition. The proposed method is tested on several power distribution facility maps, and the results are presented.

• 방송공학회논문지
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• 제18권6호
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• pp.859-871
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• 2013

본 논문에서는 스테레오 영상에서 얻은 다양한 특징들과 차폐영역에 대한 정보들을 활용하여 그리드 메쉬(grid-mesh) 기반의 영상워핑 기법을 통해 다시점 영상을 생성하는 방법을 제안한다. 제안된 기법에서는 먼저 주어진 스테레오 영상에서 영상 특징 지도(image saliency map), 직선 성분(line segments) 그리고 변이 특징 지도(disparity saliency map)를 추출하고, 추출된 특징들에 대하여 품질을 향상시키는 과정을 거친다. 이 과정은 두 가지 단계로 나뉘는데, 먼저 차폐영역에 대한 정보를 활용하여 객체의 경계 부근에서 추출된 변이 특징 지도의 신뢰도를 향상시킨다. 다음으로 스테레오 영상에서의 시간적 일관성(temporal consistency)에 대한 정보를 활용하여 추출된 영상 특징들의 시간적 일관성을 높인다. 이렇게 품질이 향상된 특징 성분들을 활용하여 그리드 메쉬 기반의 영상 워핑 기법을 통해 다시점 영상을 생성한다. 실험 결과를 통해 제안된 기법으로 생성한 다시점 영상의 주관적 화질 측면에서 기존의 다시점 영상 생성 기법들보다 우수한 것을 확인할 수 있었다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.551-554
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• 2002

The paper discusses new approach for machining operation simulation using enhanced Z map algorithm. To extract the required geometric information from NC code, suggested algorithm uses supersampling method to enhance the efficiency of a simulation process. By executing redundant Boolean operations in a grid cell and averaging down calculated data, presented algorithm can accurately represent material removal volume though tool swept volume is negligibly small. Supersampling method is the most common form of antialiasing and usually used with polygon mesh rendering in computer graphics. The key advantage of enhanced Z map model is that the data structure is same with conventional Z map model, though it can acquire higher accuracy and reliability with same or lower computation time. By simulating machining operation efficiently, this system can be used to improve the reliability and efficiency of NC machining process as well as the quality of the final product.

• 대한기계학회논문집A
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• 제26권9호
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• pp.1814-1821
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• 2002

NC cutting simulation is an important factor in the development of products. The geometric modelling of cutter swept surface should be done in NC cutting simulation. A part of cutter swept surface is a ruled surface blended with silhouette curve and cutter path. Finding an intersection point between cutter swept surface and a line is one of major problems in Z-map based cutting simulation. In this paper, cutter swept surface is defined parametrically and it's intersection point with Z-map is found in an exact form. Triangular grid Z-map based 3-axis NC cutting simulation is performed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.71.1-71
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• 2001

In this paper, an improved method of environment map building and a region search algorithm for mobile robot are presented. For the environment map building of mobile robot, measurement data of ultrasonic sensors and certainty grid representation is usually used. In this case, inaccuracies due to the uncertainty of ultrasonic data are included in the map. In order to solve this problem, an environment map building method using a Bayesian model was proposed previously[5]. In this study, we present an improved method of probability map building that uses infrared sensors and shift division Gaussian probability distribution with the existing Bayesian update method using ultrasonic sensors. Also, a region search algorithm for ...

• 대한지리학회지
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• 제48권5호
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• pp.750-767
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• 2013

이 연구의 목적은 프랑스 혁명 초기의 행정구역 변경에 관한 지리적인 논의를 고찰하고, 이 과정에서 지도가 어떤 목적으로 활용하였는지를 살펴보는 것이다. 이를 위해 먼저 구체제의 행정구역 개편을 주장하는 개혁주의자들의 논거를 살펴보았는데, 일부 중농주의자들은 정교한 지도 활용을 통해 구체적인 행정구역 개편논리를 가지게 되었음을 확인하였다. 둘째, 제헌의회에서의 행정구역관련 논의를 의회회의록을 분석하여 고찰하였는데, 공간을 정각형으로 균등하게 분할하여 유토피아를 구현하려는 혁명가들의 사상의 근저에는 카시니의 기하학 정신에 영향을 받은 에슬른의 지도가 있음을 확인하였다. 셋째, 의원들은 에네킨의 지도를 근거로 데파르트망의 수와 경계를 확정하였다. 지역대표들과의 논의 과정에서 정사각형의 격자는 자연경계의 한계와 지역의 경제적 이익에 봉착하여 불규칙한 형태의 역사적 경계를 그대로 유지하는 불규칙한 다각형의 형태로 변했다. 넷째, 카시니 4세는 새로운 행정구역을 카시니 지도 위에 그려서 의회에 보고하였고 이는 새로운 행정구역으로 확정되었다.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2008년도 추계 학술발표회
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• pp.893-903
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• 2008

A method for predicting surface failures which occur during heavy rainfall on mountain slopes is proposed by using the digital land form model that is obtained by reading altitude on a topographical map at 10m grid point space. A depth of a potential failure layer is assumed at each grid point. In the layer, an infiltrated water movement from cell to cell is modeled in the study (cell is a square of the grid). Infiltrated ground water levels which show the three dimensional effects of a topographical factor in an area can be hourly calculated at every cell by the model. The safety factor of every cell is also calculated every hour by the infinite slope stability analysis method with the obtained infiltrated ground water level. Failure potential delineation is defined here as the time when the safety factor becomes less than unity under the assumptions that effective rainfall is 20mm/h and continues 20 hours.