• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.92.3-92
• /
• 2002

A lot of localization algorithms have been developed in order to achieve autonomous navigation. However, most of localization algorithms are restricted to certain conditions. In this paper, Monte Carlo localization scheme with a map-matching algorithm is suggested as a robust localization method for the Public Service Robot to accomplish its tasks autonomously. Monte Carlo localization can be applied to local, global and kidnapping localization problems. A range image based measure function and a geometric pattern matching measure function are applied for map matching algorithm. This map matching method can be applied to both polygonal environments and un-polygonal environments and achieves...

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2003.06a
• /
• pp.468-471
• /
• 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.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.06a
• /
• pp.499-502
• /
• 2005

A process map has been developed, which can identify the process conditions for weak mechanical bonding at the contact surface during the direct extrusion of a Cu-Ti bimetal bar. Bonding mechanism between Cu and Ti was assumed as a cold pressure welding. Then, the plastic deformation at the contact zone causes mechanical bonding and a new bonding criterion for pressure welding was developed as a function of the principal stretch ratio and normal pressure at the contact surface by analyzing micro local extrusion at the contact zone. Finite element analyses for extrusion of Cu-Ti bimetal bars were performed for various process conditions. The deformation history at the contact surface was traced and the proposed new bonding criterion was applied to predict whether the mechanical bonding at the Cu-Ti contact surface happens. Finally, a process map for the extrusion of Cu-Ti bimetal bar is suggested.

• Nuclear Engineering and Technology
• /
• v.33 no.4
• /
• pp.441-456
• /
• 2001

ABB-CE＇s regionalization methodology for the core inlet flow distribution map is reviewed. This methodology merges the test data of fuel assembly locations which are either in symmetry or strongly correlated with others. It increases the number of available test data for each regional flow factor It makes up effectively for the deficiency due to limited number of test data. It also contributes to making the core inlet flow distribution smoother not only locally but also over the entire core, and to relieving the impacts of test errors that may happen due to some do- calibrated local pressure measurement taps. As a result, the core inlet How distribution data becomes more statistically useful and thus the conservatism involved in handling the core inlet flow factors for the thermal margin analysis is expected to be reduced. Meanwhile, the regionalized map may lose the unique local characteristics in core inlet flow distribution too much. By an alternative approach introduced in the present work, it is shown that such a disadvantage can be mitigated somewhat if the engineering judgement is made more

• The Journal of Korea Robotics Society
• /
• v.1 no.2
• /
• pp.117-124
• /
• 2006

In this paper, we develope the navigation system for patrol robots in indoor environment. The proposed system consists of PDA map modelling, a localization algorithm based on a global position sensor and an automatic charging station. For the practical use in security system, the PDA is used to build object map on the given indoor map. And the builded map is downloaded to the mobile robot and used in path planning. The global path planning is performed with a localization sensor and the downloaded map. As a main controller, we use PXA270 based hardware platform in which embedded linux 2.6 is developed. Data handling for various sensors and the localization algorithm are performed in the linux platform. Also, we implemented a local path planning algorithm for object avoidance with ultra sonar sensors. Finally, for the automatic charging, we use an infrared ray system and develop a docking algorithm. The navigation system is experimented with the two-wheeled mobile robot using North-Star localization system.

• The Journal of Information Systems
• /
• v.17 no.1
• /
• pp.131-153
• /
• 2008

So many location based service systems, including automobile navigation system logistic management, taxi fleet management, and so on, are being used everywhere. However, these are all outdoors. This paper provides a stepping stone for commercial indoor location based services by developing an integrated system of our indoor positioning and map viewer modules. For the indoor positioning, we propose WLAN (Wireless Local Area Network) based EKF (Extended Kalman Filter) which estimates user's current location and tracts user's trace in the sequence of time. Our map viewer renders a map recorded in an Autocad DXF file and provides functions of map manipulation such as zoom-in, zoom-out, and move. We integrate our indoor positioning and map viewer modules and discuss the experimental results of the integrated system.

• 한국디지털정책학회:학술대회논문집
• /
• 2006.06a
• /
• pp.225-233
• /
• 2006

This note attempts to present knowledge management strategies for the upcoming 4th elected local government. Despite the series of efforts by the central government of Korea, it seems that local governments and their affiliated organizations have been very slow even understanding the necessities of knowledge management as well as adopting any particular knowledge management system. This study analyzes the evolutionary process of knowledge management policies by the central government and presents knowledge management strategies.

• Journal of KIISE:Computer Systems and Theory
• /
• v.33 no.8
• /
• pp.536-546
• /
• 2006

Painterly animation is a method that expresses painterly images with a hand-painted appearance from a video, and the most crucial element for it is the temporal coherence of brush strokes between frames. A motion map is proposed in this paper as a solution to the issue of maintaining the temporal coherence in the brush strokes between the frames. A motion map is the region that frame-to-frame motions have occurred. Namely, this map refers to the region frame-to-frame edges move by the motion information with the motion occurred edges as a starting point. In this paper, we employ the optical flow method and block-based method to estimate the motion information. The method that yielded the biggest PSNR using the motion information (the directions and magnitudes) acquired by various methods of motion estimation has been chosen as the final motion information to form a motion map. The created motion map determine the part of the frame that should be re-painted. In order to express painterly images with a hand- painted appearance and maintain the temporal coherence of brush strokes, the motion information was applied to only the strong edges that determine the directions of the brush strokes. Also, this paper seek to reduce the flickering phenomenon between the frames by using the multiple exposure method and the difference map created by the difference between images of the source and the canvas. Maintenance of the coherence in the direction of the brush strokes was also attempted by a local gradient interpolation to maintain the structural coherence.

• Journal of the Institute of Electronics Engineers of Korea TC
• /
• v.45 no.12
• /
• pp.120-127
• /
• 2008

HMIPv6 draws lots of attentions in recent years for providing an efficient handover and reducing the signaling overhead. HMIPv6 employs MAP(Mobility Anchor Point) in order to minimize a signaling overhead and a local mobility management. MAP completes an efficient mobility management in HMIPv6 network environment with frequent handover. However, HMIPv6 causes load concentration at a paricular MAP and may have unnecessary latency between HN(Mobile Node) and CN(Correspondent Node) within the same network. A MAP may also disturb the route optimization in HMIPv6 network because all packets must be transmitted through a MAP. In this paper, we propose a scheme to optimize the route in HMIPv6 networks according to MAP load. We configure a threshold in order to support the better service into MAP domain. The packets do not pass through MAP and are directly transmitted to AR(Access Router) if the number of current MNs attached to the MAP exceed the desired threshold. We simulate the performance of the proposed scheme and compare with HMIPv6. Resultly, the proposed scheme reduces signaling costs and mitigates concentration of a paticular MAP as well.

• The KIPS Transactions:PartA
• /
• v.14A no.5
• /
• pp.301-308
• /
• 2007

This paper proposes high performance coprocessor architecture for real time dense disparity computation based on a phase-based binocular stereo matching technique called local weighted phase-correlation(LWPC). The algorithm combines the robustness of wavelet based phase difference methods and the basic control strategy of phase correlation methods, which consists of 4 stages. For parallel and efficient hardware implementation, the proposed architecture employs SIMD(Single Instruction Multiple Data Stream) architecture for each functional stage and all stages work on pipelined mode. Such that the newly devised pipelined linear array processor is optimized for the case of row-column image processing eliminating the need for transposed memory while preserving generality and high throughput. The proposed architecture is implemented with Xilinx HDL tool and the required hardware resources are calculated in terms of look up tables, flip flops, slices, and the amount of memory. The result shows the possibility that the proposed architecture can be integrated into one chip while maintaining the processing speed at video rate.