• Journal of Institute of Control, Robotics and Systems
• /
• v.7 no.9
• /
• pp.758-765
• /
• 2001

This paper proposes a method to automatically extract stable visual landmarks from sensory data. Given a 2D occupancy map, a mobile robot first extracts vertical line features which are distinct and on vertical planar surfaces, because they are expected to be observed reliably from various viewpoints. Since the feature information such as position and length includes uncertainty due to errors of vision and motion, the robot then reduces the uncertainty by matching the planar surface containing the features to the map. As a result, the robot obtains modeled stable visual landmarks from extracted features. This extraction process is performed on-line to adapt to an actual changes of lighting and scene depending on the robot’s view. Experimental results in various real scenes show the validity of the proposed method.

• Journal of the Korea Society of Computer and Information
• /
• v.19 no.1
• /
• pp.9-21
• /
• 2014

In this paper, we propose the auto correction technique of photography composition by which the eye line is concentrated and the stable image of the structure can be obtained in case the general user takes a picture. Because the general user photographs in most case without background knowledge about the composition of the photo, the subject location is not appropriate and the unstable composition is contrasted with the stable composition of pictures which the experts take. Therefore, we provide not the method processing the image after photographing, but he method presenting automatically the stable composition when the general users take a photograph. The proposed method analyze the subject through Saliency Map, Image Segmentation, Edge Detection, etc. and outputs the subject at the location where the stable composition can be comprised along with the guideline of the Rule of Thirds. The experimental result shows that the good composition was presented to the user automatically.

• Journal of Institute of Control, Robotics and Systems
• /
• v.2 no.2
• /
• pp.108-114
• /
• 1996

We present proofs of the stability and convergence of Self-organizing feature map (SOFM) neural network with time-invarient learning rate and binary reinforcement function. One of the major problems in Self-organizing feature map neural network concerns with learning rate-"Kalman Filter" gain in stochsatic control field which is monotone decreasing function and converges to 0 for satisfying minimum variance property. In this paper, we show that the stability and convergence of Self-organizing feature map neural network with time-invariant learning rate. The analysis of the proposed algorithm shows that the stability and convergence is guranteed with exponentially stable and weak convergence properties as well.s as well.

• BMB Reports
• /
• v.35 no.5
• /
• pp.465-471
• /
• 2002

From fruiting bodies of L. edodes strain L-54, single-spore isolates (SSIs) were collected. Two parental types of L-54 were regenerated via monokaryotization. By means of random-amplified polymorphic DNA (RAPD), DNA samples from L-54, its two parental types, and 32 SSIs were amplified with arbitrary primers. Dedikaryotization was demonstrated, and 91 RAPD-based molecular markers were generated. RAPD markers that were segregated at a 1:1 ratio were used to construct a linkage map of L. edodes. This RAPD-linkage map greatly enhanced the mapping of other inheritable and stable markers [such as those that are linked to a phenotype (the mating type), a known gene (priA) and a sequenced DNA fragment (MAT)] with the aid of mating tests, bulked-segregant analysis, and PCR-single-strand conformational polymorphism. These markers comprised a genetic map of L. edodes with 14 linkage groups and a total length of 622.4 cM.

• Honam Mathematical Journal
• /
• v.32 no.1
• /
• pp.167-176
• /
• 2010

Let (B, $\check{g}$) and (N, $\hat{g}$) be Einstein manifolds. Then, we get a complete (necessary and sufficient) condition for the warped product manifold $B\;{\times}_f\;N\;:=\;(B\;{\times}\;N,\;\check{g}\;+\;f{\hat{g}}$) to be Einstein, and obtain a complete condition for the Einstein warped product manifold $B\;{\times}_f\;N$ to be weakly stable. Moreover, we get a complete condition for the map i : ($B,\;\check{g})\;{\times}\;(N,\;\hat{g})\;{\rightarrow}\;B\;{\times}_f\;N$, which is the identity map as a map, to be harmonic. Under the assumption that i is harmonic, we obtain a complete condition for $B\;{\times}_f\;N$ to be Einstein.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.10 no.3
• /
• pp.203-209
• /
• 2010

This paper presents a hierarchical fuzzy motion planner for humanoid robots in 3D uneven environments. First, we define both motion primitives and locomotion primitives of humanoid robots. A high-level planner finds a global path from a global navigation map that is generated based on a combination of 2.5 dimensional maps of the workspace. We use a passage map, an obstacle map and a gradient map of obstacles to distinguish obstacles. A mid-level planner creates subgoals that help the robot efficiently cope with various obstacles using only a small set of locomotion primitives that are useful for stable navigation of the robot. We use a local obstacle map to find the subgoals along the global path. A low-level planner searches for an optimal sequence of locomotion primitives between subgoals by using fuzzy motion planning. We verify our approach on a virtual humanoid robot in a simulated environment. Simulation results show a reduction in planning time and the feasibility of the proposed method.

• Proceedings of the Korean Society for Bioinformatics Conference
• /
• 2005.09a
• /
• pp.278-283
• /
• 2005

Cell cycle is regulated cooperatively by several genes. The dynamic regulatory mechanism of protein interaction network of cell cycle will be presented taking the budding yeast as a sample system. Based on the mathematical model developed by Chen et at. (MBC, 11,369), at first, the dynamic role of the feedback loops is investigated. Secondly, using a bifurcation diagram, dynamic analysis of the cell cycle regulation is illustrated. The bifurcation diagram is a kind of ‘dynamic road map’ with stable and unstable solutions. On the map, a stable solution denotes a ‘road’ attracting the state and an unstable solution ‘a repelling road’ The ‘START’ transition, the initiation of the cell cycle, occurs at the point where the dynamic road changes from a fixed point to an oscillatory solution. The 'FINISH' transition, the completion of a cell cycle, is returning back to the initial state. The bifurcation analysis for the mutants could be used uncovering the role of proteins in the cell cycle regulation network.

• Journal of the Korean Mathematical Society
• /
• v.36 no.2
• /
• pp.403-419
• /
• 1999

We introduce a Hamiltonian system which consists of two balls in the vertical line colliding elastically with each other and the floor. Wojtkowski proved that for the system of two linear balls with a linear potential (with gravity), there is a periodic orbit which becomes linearly stable if m1

• Journal of KSNVE
• /
• v.9 no.1
• /
• pp.196-205
• /
• 1999

The existence. bifurcation. and the orbital stability of periodic motions, which is called nonlinear normal mode, in a nonlinear dual mass Hamiltonian system. which has 6th order homogeneous polynomial as a nonlinear term. are studied in this paper. By direct integration of the equations of motion. Poincare Map. which is a mapping of a phase trajectory onto 2 dimensional surface in 4 dimensional phase space. is obtained. And via the Birkhoff-Gustavson canonical transformation, the analytic expression of the invariant curves in the Poincare Map is derived for small value of energy. It is found that the nonlinear system. which is considered in this paper. has 2 or 4 nonlinear normal modes depending on the value of nonlinear parameter. The Poincare Map clearly shows that the bifurcation modes are stable while the mode from which they bifurcated out changes from stable to unstable.

• The Journal of Korea Robotics Society
• /
• v.2 no.3
• /
• pp.275-281
• /
• 2007

This paper presents a motion planning strategy for legged robots using locomotion primitives in the complex 3D environments. First, we define configuration, motion primitives and locomotion primitives for legged robots. A hierarchical motion planning method based on a combination of 2.5 dimensional maps of the 3D workspace is proposed. A global navigation map is obtained using 2.5 dimensional maps such as an obstacle height map, a passage map, and a gradient map of obstacles to distinguish obstacles. A high-level path planner finds a global path from a 2D navigation map. A mid-level planner creates sub-goals that help the legged robot efficiently cope with various obstacles using only a small set of locomotion primitives that are useful for stable navigation of the robot. A local obstacle map that describes the edge or border of the obstacles is used to find the sub-goals along the global path. A low-level planner searches for a feasible sequence of locomotion primitives between sub-goals. We use heuristic algorithm in local motion planner. The proposed planning method is verified by both locomotion and soccer experiments on a small biped robot in a cluttered environment. Experiment results show an improvement in motion stability.