• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.2017-2022
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• 2004

Data association is a process that matches a recent observation with known data set, which is used for the localization of mobile robots. Edges in topological maps have rich information which can be used for the data association. However, no systematic approach on using the edge data for data association has been reported. This paper proposes a systematic way of utilizing the edge data for data association. First, we explain a Local Generalized Voronoi Angle(LGA) to represent the edge data in 1-dimension. Second, we suggest a key factor extraction procedure from the LGA to reduce the number by $2^7-2^8$ times, for computational efficiency using the wavelet transformation. Finally we propose a way of data association using the key factors of the LGA. Simulations show that the proposed data association algorithm yields higher probability for similar edges in computationally efficient manner.

• Proceedings of the Korean Society of Computer Information Conference
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• 2016.07a
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• pp.79-81
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• 2016

무선 센서 네트워크 환경에서 사건을 탐지하거나 정보를 추적하는 등의 업무를 수행하기 위해 센서 노드가 있는 곳의 위치를 측정하는 문제는 매우 중요한 문제이다. DV-Hop 알고리즘은 위치를 알 수 없는 미지 노드들이 비콘 노드가 전송한 비콘과 홉거리 정보를 이용하여 센서 노드의 위치를 찾는 방법으로 거리 오차가 크다고 할 수 있다. 본 논문에서는 비콘 노드와 미지 노드 사이의 통신 반경 측정을 통하여 DV-Hop 알고리즘을 개선하고, MATLAB을 이용하여 개선 알고리즘의 성능을 평가하였다.

• International Journal of Aeronautical and Space Sciences
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• v.14 no.2
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• pp.112-121
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• 2013

An approach for composing a performance optimized computational code is suggested for the latest microprocessors. The concept of the code optimization, termed localization, is maximizing the utilization of the second level cache that is common to all the latest computer systems, and minimizing the access to system main memory. In this study, the localized optimization of the LU-SGS (Lower-Upper Symmetric Gauss-Seidel) code for the solution of fluid dynamic equations was carried out in three different levels and tested for several different microprocessor architectures widely used these days. The test results of localized optimization showed a remarkable performance gain of more than two times faster solution than the baseline algorithm for producing exactly the same solution on the same computer system.

• 한국전산유체공학회:학술대회논문집
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• 2001.05a
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• pp.45-50
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• 2001

An approach of composing a performance optimized computational code is suggested for latest microprocessors. The approach named as localization is a concept of minimizing the access to system's main memory and maximizing the utilization of second level cache that is common to all the latest computer system. The localized compositions of LU-SGS scheme for fluid dynamics were made in three different levels and tested on three different microprocessor architectures most widely used in these days. The test results of localization concept showed a remarkable performance, that is the showing gain up to 4.5 times faster solution than the baseline algorithm $450\%$ for producing an exactly the same solution.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.527-529
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• 2006

In this paper, we find a robot's path using a Virtual Reality Modeling Language and overlay vision. For correct robot's path we describe a method for localizing a mobile robot in its working environment using a vision system and VRML. The robt identifies landmarks in the environment, using image processing and neural network pattern matching techniques, and then its performs self-positioning with a vision system based on a well-known localization algorithm. After the self-positioning procedure, the 2-D scene of the vision is overlaid with the VRML scene. This paper describes how to realize the self-positioning, and shows the overlap between the 2-D and VRML scenes. The method successfully defines a robot's path.

• Proceedings of the KIEE Conference
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• 2005.05a
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• pp.258-260
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• 2005

We describe a method for localizing a mobile robot in the working environment using a vision system and VRML. The robot identifies landmarks in the environment and carries out the self-positioning. The image-processing and neural network pattern matching technique are employed to recognize landmarks placed in a robot working environment. The robot self-positioning using vision system is based on the well-known localization algorithm. After self-positioning, 2D scene is overlaid with VRML scene. This paper describes how to realize the self-positioning and shows the result of overlaying between 2D scene and VRML scene. In addition we describe the advantage expected from overlapping both scenes.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.2
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• pp.102-107
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• 2011

In this paper we present cooperation of heterogeneous robot team, composed of a wheeled robot and a helicopter for localization and map building. This heterogeneous robot team can successfully fulfill task by combining the abilities of both robots than single robot because wheeled robot and helicopter have complementing ability. The scenario describes a tightly cooperative task, where the wheeled robot move carrying the helicopter and detect obstacles, if there are obstacles, helicopter take off for map building and land, then robot team move destination avoiding obstacles. We present PID controller for position control of helicopter and transformation algorithm to global coordinate from image pixel coordinate. Experimental result show that the proposed method is valid.

• ETRI Journal
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• v.28 no.6
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• pp.761-769
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• 2006

In this paper, we address the problem of closely spaced source localization using sensor array processing. In particular, the performance efficiency (measured in terms of the root mean square error) of the unconditional maximum likelihood (UML) algorithm for estimating the direction of arrival (DOA) of near-field sources is evaluated. Four parameters are considered in this evaluation: angular separation among sources, signal-to-noise ratio (SNR), number of snapshots, and number of sources (multiple sources). Simulations are conducted to illustrate the UML performance to compute the DOA of sources in the near-field. Finally, results are also presented that compare the performance of the UML DOA estimator with the existing multiple signal classification approach. The results show the capability of the UML estimator for estimating the DOA when the angular separation is taken into account as a critical parameter. These results are consistent in both low SNR and multiple-source scenarios.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1899-1900
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• 2008

현재 센서 네트워크에서 센서의 위치를 추정(Localization) 하고자 하는 많은 방법들이 나와 있고, 계속해서 연구 주제로 다루어 지고 있다. 이 논문에서는 서포트 벡터 머신(SVM)의 기본적인 내용과 센서 네트워크 분야에서 위치 추정 분야에서 다루어지고 내용들을 서술하고 마지막으로 서포트 벡터 머신을 이용하여, 개선되고 향상된 algorithm을 제시하고자 하는 것이 아닌 SVM을 이용한 적용 사례들과 연구 동향들에 대해 살펴본 뒤 그것들의 적용방법들과 갖는 한계점들, 그리고 그것을 이용한 미래에 연구방향에 대해 고찰해 보고자 한다.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.352-354
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• 2007

This paper presents a method to estimate the position of a mobile robot by using a gyro sensor and accelerometer sensors on it. Together with contact sensors we propose a mapmaking algorithm for an indoor environment where the robot moves. The direction of robot can be estimated through a gyro sensor and the distance is founded out by accelerometers. Then one can presume the position of robot. Using the direction and distance values vector-based mapmaking job can be performed. Tactile sensors help the robot recognize the boundary limit value of indoor environment and decide outer wall line of the map.