• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.2
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• pp.102-108
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• 2008

This paper describes a mapping and localization based on wave algorithm[11] and Kalman filter for effective SLAM. Each robot in a multi robot system has its own task such as building a map for its local position. By combining their data into a shared map, the robot scans actively seek to verify their relative locations. For simultaneous localization the algorithm which is well known as Kalman Filter (KF) is used. For modelling the robot position we wish to know three parameters (x, y coordinates and its orientation) which can be combined into a vector called a state variable vector. The Kalman Filter is a smart way to integrate measurement data into an estimate by recognizing that measurements are noisy and that sometimes they should ignored or have only a small effect on the state estimate. In addition to an estimate of the state variable vector, the algorithm provides an estimate of the state variable vector uncertainty i.e. how confident the estimate is, given the value for the amount of error in it.

• Journal of Computing Science and Engineering
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• v.2 no.4
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• pp.321-338
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• 2008

This paper presents a Modified Multiple Depth First Search algorithm for the exploration of the indoor environments occupied with obstacles in random distribution. The proposed algorithm was designed and implemented to employ one or a team of Khepera II mini robots for the exploration process. In case of multi-robots, the BlueCore2 External Bluetooth module was used to establish wireless networks with one master robot and one up to three slaves. Messages are sent and received via the module's Universal Asynchronous Receiver/Transmitter (UART) interface. Real exploration experiments were performed using locally developed teleworkbench with various autonomy features. In addition, computer simulation tool was also developed to simulate the exploration experiments with one master robot and one up to ten slaves. Computer simulations were in good agreement with the real experiments for the considered cases of one to one up to three networks. Results of the MMDFS for single robot exhibited 46% reduction in the needed number of steps for exploring environments with obstacles in comparison with other algorithms, namely the Ants algorithm and the original MDFS algorithm. This reduction reaches 71% whenever exploring open areas. Finally, results performed using multi-robots exhibited more reduction in the needed number of exploration steps.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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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.

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.6
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• pp.37-45
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• 2011

As vehicles become more intelligent, in-vehicle networking (IVN) systems such as controller area network (CAN) or FlexRay are essential for convenience and safety of drivers. To expand the applicability of IVN systems, attention is currently being focused on the communication between heterogeneous networks such as body networking and chassis networking systems. A gateway based on message mapping method was developed to interconnect FlexRay and CAN networks. However, this type of gateways has the following shortcomings. First, when a message ID was changed, the gateway must be reloaded with a new mapping table reflecting the change. Second, if the number of messages to be transferred between two networks increase, software complexity of gateway increases very rapidly. In order to overcome these disadvantages, this paper presents FlexRay-CAN gateway based on node mapping method. More specifically, this paper presents a node mapping based FlexRay-CAN gateway operation algorithm along with the experimental evaluation for ID change.

• Journal of KIISE:Software and Applications
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• v.27 no.1
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• pp.41-49
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• 2000

This paper describes a method of generating MPHFs(Minimal Perfect Hash Functions) for large static search key sets. The MOS(Mapping-Ordering-Searching) approach is widely used presently in MPHF generation. In this research, the MOS approach is improved and a SOMS(Selecting-Ordering-Mapping-Searching) approach is proposed, where the Selecting step is newly introduced and the Orderng step is performed before the Mapping step to generate MPHFs more effectively. The MPHF generation algorithm proposed in this research is probabilistic and the expected processing time is linear to the number of keys. Experimental results show that MPHFs are generated fast and the space needed to represent the hash functions is small.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.12A
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• pp.1340-1348
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• 2004

In this paper, we propose a PAPR-minimized sequence mapping scheme that achieves the minimum Peak-to-Average Power Ratio (PAPR) and the minimum amount of computations for the OFDM system. To reduce the PAPR, the mapping table is created with information about block index and symbol patterns of the lower signal power. When the input data sequence comes, it performed division by the block length to find the quotient and remainder. The symbol pattern of the lower signal power can be found in terms of the block index as the quotient in the mapping table and transmitted with remainder as the side information to distinguish and recover the original data sequence in the receiver. The two methods with the proposed mapping scheme are proposed in this paper. One is with mapping table to recover the O%M signal in both transmitter and receiver. The other is with mapping table only in transmitter to reduce the load and the complexity in the mobile system. We show that this algorithm provides the PAPR reduction, the simple processing and less computational complexity to be implemented for the multi-carrier system.

• Wind and Structures
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• v.15 no.3
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• pp.223-245
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• 2012

Multivariate simulation is necessary for cases where non-Gaussian processes at spatially distributed locations are desired. A simulation algorithm to generate non-Gaussian wind pressure fields is proposed. Gaussian sample fields are generated based on the spectral representation method using wavelet transforms method and then mapped into non-Gaussian sample fields with the aid of a CDF mapping transformation technique. To illustrate the procedure, this approach is applied to experimental results obtained from wind tunnel tests on the domes. A multivariate Gaussian simulation technique is developed and then extended to multivariate non-Gaussian simulation using the CDF mapping technique. It is proposed to develop a new wavelet-based CDF mapping technique for simulation of multivariate non-Gaussian wind pressure process. The efficiency of the proposed methodology for the non-Gaussian nature of pressure fluctuations on separated flow regions of different rise-span ratios of domes is also discussed.

• Korean Journal of Computational Design and Engineering
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• v.2 no.3
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• pp.133-141
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• 1997

In the process of car body design, various surfaces are generated from the given boundary curves. Depending upon the method of the surface generation and the quality of the boundary curves provided, the resulting surfaces may have global or local irregularities in many cases. Thus it would be necessary for the designer to evaluate the surface quality and to modify the surface or to use the different generation method based on the evaluation results. This capability is very important because the defect of the surface quality detected in the production stage will require the rework of the dies and will cause a big loss in cost and time. A method of surface interrogation using reflection line is introduced. In this paper, We applied reflection mapping to generate reflection lines on the trimmed NURBS surface. Since reflection lines are obtained from reflection mapping that uses simple and physically acceptable mapping algorithm, they can be efficiently used to simulate the reflection test on the real part in the production line.

• Journal of Korea Game Society
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• v.10 no.4
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• pp.73-80
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• 2010

This paper proposes an effective method to select MIP-Map level of texture images for ray-traced texture mapping. This MIP-Map level selection method requires only the total length of intersected ray. By supporting MIP-Map for texture mapping, we can reduce the texture aliasing effects, while our approach decreases rendering performance very slightly.

• 한국전산유체공학회:학술대회논문집
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• 1995.10a
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• pp.82-89
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• 1995

In the present paper, a method of nearly orthogonal grid generation in an arbitrary simply-connected 3D domain will be presented. The method is a new direct and non-iterative scheme based on the concept of the decomposition of the global orthogonal transformation into consecutive mapping of a conformal mapping and an auxiliary orthogonal mapping, which was suggested by King and Leal [4]. In our numerical scheme. Kang and Leal's method is extended from 2D problems to 3D problems while the advantage of the non-iterative algorithm is maintained. The essence of the present mapping method is that an iterative scheme can be avoided by introducing a preliminary step. This preliminary step corresponds to a conformal map and is based on the boundary element method(BEM). This scheme is applied to generate several nearly-orthogonal grid systems which are orthogonal at boundaries.