• 로봇학회논문지
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• 제7권1호
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• pp.45-56
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• 2012

This paper proposes how to improve the performance of CSS-based indoor localization system. CSS based localization utilizes signal flight time between anchors and tag to estimate distance. From the distances, the 3-dimensional position is calculated through trilateration. However the error in distance caused from multi-path effect transfers to the position error especially in indoor environment. This paper handles a problem of reducing error in raw distance information. And, we propose the new localization method by pattern matching instead of the conventional localization method based on trilateration that is affected heavily on multi-path error. The pattern matching method estimates the position by using the fact that the measured data of near positions possesses a high similarity. In order to gain better performance of localization, we use EKF(Extended Kalman Filter) to fuse the result of CSS based localization and robot model.

• 한국정밀공학회지
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• 제14권8호
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• pp.122-129
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• 1997

In this paper, we propose a Hopfield model for solving the part-matching in case that is the number of parts and positions are changed. The goal of this paper is to minimize part-connection in pairs and total path of part-connections. Therefore, this kind of problem is referred to as a combinatiorial optimization problem. First of all, we review the theoretical basis for Hopfield model and present two optimal algorithms of part-matching. The first algorithm is Traveling Salesman Problem(TSP) which improved the original and the second algorithm is Wdighted Matching Problem (WMP). Finally, we show demonstration through com- puter simulation and analyze the stability and feasibility of the generated solutions for the proposed con- nection methods. Therefore, we prove that the second algorithm is better than the first algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.143-146
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• 1996

In this paper, we propose a hopfield model for solving the part-matching which is the number of parts and positions are changed. The goal of this paper is to minimize part-connection in pairs and net total path of part-connection. Therefore, this kind of problem is referred to as a combinatorial optimization problem. First of all, we review the theoretical basis for hopfield model to optimization and present two method of part-matching; Traveling Salesman Problem (TSP) and Weighted Matching Problem (WMP). Finally, we show demonstration through computer simulation and analyzes the stability and feasibility of the generated solutions for the proposed connection methods.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제3권5호
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• pp.492-506
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• 2009

Index structures that are based on sequence matching for XPath processing such as ViST, PRIX and LCS-TRIM have recently been proposed to reduce the search time of XML documents. However, ViST can cause a lot of unnecessary computation and I/O when processing structural joint queries because its numbering scheme is not optimized. PRIX and LCS-TRIM require much processing time for matching XML data trees and queries. In this paper, we propose a novel index structure that solves the problems of ViST and improves the performance of PRIX and LCS-TRIM. Our index structure provides the minimum sequence matching scheme to efficiently process structural queries. Finally, to verify the superiority of the proposed index structure with the minimum sequence matching scheme, we compare our index structure with ViST, PRIX and LCS-TRIM in terms of query processing of a single path or of a branching path including wild-cards ('*' and '//' ).

• 한국멀티미디어학회논문지
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• 제7권9호
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• pp.1195-1207
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• 2004

스키마 매칭은 XML문서의 자동 변환을 위한 전처리 과정으로서 필수적이다. 스키마 매칭에 관한 기존 연구는 의미적으로 대응 가능한 모든 매칭관계를 고려하기 때문에 다대다의 대응관계를 추출한다. 이에 명확한 매칭관계를 필요로하는 XML문서의 자동변환에는 적합하지 않다. 본 논문에서는 스키마 사이의 일대일 대응관계를 추출할 수 있는 효율적인 스키마 매칭 알고리즘을 제안한다. 제안된 알고리즘은 두 단계로 구성된다. 먼저 단발노드 사이의 언어적 유사도와 데이터타입 유사도를 이용하여 후보매칭을 계산한다. 계산된 후보매칭의 경로유사도 비교를 통해 일대일 매칭을 추출하게 된다. 특히 제안된 방법은 보다 정교한 수준의 스키마 매칭을 위하여 축약어 사전, 동의어 사전, 그리고 도메인 온탈로지에 기반한다. 제안된 알고리즘의 성능을 평가하기 위해서 전자상거래 분야에서 사용 중인 스키마를 대상으로 실험한 결과, 평균적으로 97%의 정확률을 보여 기존 연구보다 우수하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 추계학술대회 논문집 학회본부 D
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• pp.747-749
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• 2000

In this paper, we proposed color stereo matching algorithm using dynamic programming. The conventional gray stereo matching algorithms show blur at depth discontinuities and non-existence of matching pixel in occlusion lesions. Also it accompanies matching error by lack of matching information in the untextured region. This paper defines new cost function makes up for the problems happening in conventional gray stereo matching algorithm. New cost function contain the following properties. I) Edge points are corresponded to edge points. ii) Non-edge points are corresponded to non-edge points. iii) In case of exiting the amount of edges, the cost function has some weight in proportion to path distance. Proposed algorithm was applied in various images obtained by parallel camera model. As the result, proposed algorithm showed improved performance in the aspect of matching error and processing in the occlusion region compared to conventional gray stereo matching algorithms.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.451-459
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• 2011

Fundamentally, there are 5 systems are needed for autonomous navigation of unmanned ground vehicle: Localization, environment perception, path planning, motion planning and vehicle control. Path planning and motion planning are accomplished based on result of the environment perception process. Thus, high reliability of localization and the environment perception will be a criterion that makes a judgment overall autonomous navigation. In this paper, via map matching using vehicle dynamic model and LIDAR sensors, replace high price localization system to new one, and have researched an algorithm that lead to robust autonomous navigation. Finally, all results are verified via actual unmanned ground vehicle tests.

• Journal of Electrical Engineering and Technology
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• 제10권2호
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• pp.676-687
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• 2015

Path planning algorithms are used to allow mobile robots to avoid obstacles and find ways from a start point to a target point. The general path planning algorithm focused on constructing of collision free path. However, a high continuous path can make smooth and efficiently movements. To improve the continuity of the path, the searched waypoints are connected by the proposed polynomial interpolation. The existing polynomial interpolation methods connect two points. In this paper, point groups are created with three points. The point groups have each polynomial. Polynomials are made by matching the differential values and simple matrix calculation. Membership functions are used to distribute the weight of each polynomial at overlapped sections. As a result, the path has $G^2$ continuity. In addition, the proposed method can analyze path numerically to obtain curvature and heading angle. Moreover, it does not require complex calculation and databases to save the created path.

• Journal of Communications and Networks
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• 제7권3호
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• pp.278-283
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• 2005

This paper proposes a blind channel estimation scheme for long code direct sequence code division multiple access (DS­CDMA) systems with multipath fading channels. This scheme combines the advantages of Toeplitz displacement and correlation matching methods to achieve improved performance. The basic idea is to remove the effects of noise and interferences with Toeplitz displacement operation and then estimate the multi path channel parameters with the correlation matching method. Simulation results are presented to show that the proposed scheme provides better MSE performance and robustness against the near-far problem.

• 한국멀티미디어학회논문지
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• 제10권7호
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• pp.807-816
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• 2007

1996년 W3C에서 XML을 제안한 이래, 다량의 XML(eXtensible Markup Language) 문서들이 인터넷에 확산되고 있다. 이런 이유로, XML과 관련된 연구의 필요성이 증가하고 있는 실정이다. 특히, XML 문서들을 저장, 검색, 그리고 관리하기 위한 XML 관리 시스템에 대한 연구가 활발히 진행되고 있다. 이런 연구들 중에서 XRel은 XML 문서 관리를 위한 대표적인 연구로써 인정되고 있으며, 비교 대상의 연구로서 사용되고 있다. 본 논문에서는 관계형 데이터베이스 시스템을 기반으로 한 XML문서에 대한 관리 기법을 제시한다. 이는 XRel처럼 모든 가능 경로를 저장하는 것이 아니라, 노드의 텍스트 값이나 속성 값이 존재하는 경로만을 저장하는 방식이다. 또, 노드 표현에 따라 고유 노드명 식별자(Node Expression Identifier)를 부여함으로써 부여된 노드 식별자를 매칭하는 숫자 매칭(Number Matching)기법을 제안한다. 마지막으로 제안 방식의 효율성을 입증하기 위해, 기존 방법과 XPath 질의에 대한 처리 성능을 비교함으로써 제안한 방법의 효율성을 제시한다.