• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.4
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• pp.817-823
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• 2009

This paper proposes a robust method for mapping of a caterpillar-type mobile robot which inherently has uncertainty in its modeling by compensating for the estimated pose error of the robot. In general, a caterpillar type robot is difficult to model, which results in inaccuracy in Simultaneous Localization And Mapping(SLAM). To enhance the robustness of the SLAM for a caterpillar-type mobile robot, we factorize the SLAM posterior, where we used particle filter to estimate the position of the robot and Extended Kalman Filter(EKF) to map the environment. The simulation results show the effectiveness and robustness of the proposed method for mapping.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.4
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• pp.790-794
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• 2007

This paper presents a new index mapping method for DFT (Discrete Fourier Transform) and its application to multidimensional DFT. Unlike conventional index mapping methods such as DIT (Decimation in Time) or DIF (Decimation in Frequency) algorithms, the proposed method is based on two levels of decomposition and it can be very efficiently used for implementing multidimensional DFT as well as 1-dimensional DFT. The proposed pipelined architecture for multidimensional DFT is very flexible so that it can lead to the best tradeoff between performance and hardware requirements. Also, it can be easily extended to higher dimensional DFTs since the number of CEs (Computational Elements) and DCs (Delay Commutators) increase only linearly with the dimension. Various implementation options based on different radices and different pipelining depths will be presented.

• Proceedings of the Korean Printing Society Conference
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• 2000.12a
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• pp.0.3-0
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• 2000

Gamut mapping is a technique that acts on cross-media reproduction to transform a color between devices for the purpose of enhancing the appearance or preserving the appearance of an image. Gamut mapping essentially produces color conversion error which depends the gamut mapping method, source and destination devices, and sample points for gamut modeling. For color space conversion between monitor colors and printer colors, empirical representation using sample measurements is currently widely utilized. Color samples are uniformly selected in the device space such as CMY or RGB, represented as color patches, and then measured. However, in the case of printer, these color samples are not evenly distributed inside the printer gamut and the color conversion error is increased. Accordingly, this paper introduces a equally distributed color sampling method in CIELAB space, a device-independent color space, to reduce color conversion error, and the performance is analyzed via color space conversion experiments using tetrahedral interpolation.

• 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.

• Proceedings of the KIEE Conference
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• 2005.05a
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• pp.102-105
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• 2005

A Effective wall following plays important role for the mapping behaviors which determine the entire memory size and the shape of map before building a map. In case of wall following, attacking those cause by curved wall or obstacles brings a bad stuff that makes ripples on the moving trajectory. These types of ripples come to an end with problems that increase the load of calculation and sensing errors. In this paper, a new sensing method and its corresponding controller are suggested for problems. It minimizes the occurrence of the trajectory ripples.

• Kyungpook Mathematical Journal
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• v.52 no.4
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• pp.433-441
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• 2012

We adapt the concept of shrinking projection method of Takahashi et al. [J. Math. Anal. Appl. 341(2008), 276-286] to the iteration scheme studied by Kim and Lee [Kyungpook Math. J. 48(2008), 685-703] for two relatively weak nonexpansive mappings. By letting one of the two mappings be the identity mapping, we also obtain strong convergence theorems for a single mapping with two types of computational errors. Finally, we improve Kim and Lee's convergence theorem in the sense that the same conclusion still holds without the uniform continuity of mappings as was the case in their result.

• 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.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.32B no.8
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• pp.1091-1098
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• 1995

This paper proposes an efficient noiseless encoding method of vector quantization(VQ) index using a dynamic index mapping. Using high interblock correlation, the proposed index mapper transforms an index into a new one with lower entropy. In order to achieve good performance with low computational complexity, we adopt 'the sum of differences in pixel values on the block boundaries' as the cost function for index mapping. Simulation results show that the proposed scheme reduces the average bitrate by 40 - 50 % in ordinary VQ system for image compression. In addition, it is shown that the proposed index mapping method can be also applied to mean-residual VQ system, which allows the reduction of bitrate for VQ index by 20 - 30 %(10 - 20 % reduction in total bitrate). Since the proposed scheme is one for noiseless encoding of VQ index, it provides the same quality of the reconstructed image as the conventional VQ system.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.1759-1762
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• 2003

This paper proposes the method that design CLUT(color look-up table) simultaneously processing gamut mapping and color space conversion using only LUT without complex computation. After we construct LUT composed of scanner gamut and printer gamut, we extend L$\^$*/a$\^$*/b$\^$*/ points based on input L$\^$*/a$\^$*/b$\^$*/ to include input scanner L$\^$*/a$\^$*/b$\^$*/ Input RGB image of scanner is converted into CIEL$\^$*/a$\^$*/b$\^$*/ using regression (unction. CIELAB values of scanner are convened into CMY values including gamut mapping processing without additional gamut mapping using the proposed CLUT. In the experiments, the proposed method resulted in the similar color difference, but reduced the complexity computation compared with processing gamut mapping and color space conversion respectively

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.388-388
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• 2000

The complexity of nonlinear systems makes it difficult to ascertain their behavior using classical methods of analysis. Many efforts have been focused on the advanced algorithms and techniques that hold the promise of improving real-time optimal control while at the same time providing higher accuracy. In this paper, a fuzzy cell mapping method of real-time optimal control far nonlinear dynamical systems is proposed. This approach combines fuzzy logic with cell mapping techniques in order to find the optimal input level and optimal time interval in the finite set which change the state of a system to achieve a desired obiective. In order to illustrate this method, we analyze the behavior of an inverted pendulum using fuzzy cell mapping.