• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2301-2306
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• 2005

Even if there are lots of researches on localization using 2D range finder in static environment, very few researches have been reported for robust real-time localization of mobile robot in uncertain and dynamic environment. In this paper, we present a new localization method based on ICP(Iterative Closest Point) algorithm for navigation of mobile robot under dynamic or uncertain environment. The ICP method is widely used for geometric alignment of three-dimensional models when an initial estimate of the relative pose is known. We use the method to align global map with 2D scanned data from range finder. The proposed algorithm accelerates the processing time by uniformly sampling the line fitted data from world map of mobile robot. A data filtering method is also used for threshold of occluded data from the range finder sensor. The effectiveness of the proposed method has been demonstrated through computer simulation and experiment in an office environment.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2003.04a
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• pp.135-138
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• 2003

Recently, sandwich structures have been widely employed in load bearing structures due to their high specific stiffness and high specific strength. Some sandwich structures are subjected to not only static loads but also impact loads which might induce failure of structures at far less load than expected. Since sandwich structures can fail in various modes, estimation of the impact energy absorption is difficult. In this work, the impact failure modes and the impact energy absorption characteristics of the sandwich beams were predicted by the FE analysis and confirmed by the impact test. From the analytic and experimental results, the impact failure mode map was constructed with respect to non-dimensional parameters.

• Journal of the Korea Society of Computer and Information
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• v.20 no.12
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• pp.29-36
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• 2015

In this paper, we propose the horizontal line detection using the Haar-like features and linear regression in infrared images. In the marine environment horizon image is very useful information on a variety of systems. In the proposed method Haar-like features it was noted that the standard deviation be calculated in real time on a static area. Based on the pixel position, calculating the standard deviation of the around area in real time and, if the reaction is to filter out the largest pixel can get the energy map of the area containing the straight horizontal line. In order to select a horizontal line of pixels from the energy map, we applied the linear regression, calculating a linear fit to the transverse horizontal line across the image to select the candidate optimal horizontal. The proposed method was carried out in a horizontal line detecting real infrared image experiment for day and night, it was confirmed the excellent detection results than the legacy methods.

• Journal of Communications and Networks
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• v.7 no.4
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• pp.489-498
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• 2005

For better performance over a noisy channel, mobile wireless networks transmit packets with forward error correction (FEC) code to recover corrupt bits without retransmission. The static determination of the FEC code size, however, degrades their performance since the evaluation of the underlying channel state is hardly accurate and even widely varied. Our measurements over a wireless sensor network, for example, show that the average bit error rate (BER) per second or per minute continuously changes from 0 up to $10^{-3}$. Under this environment, wireless networks waste their bandwidth since they can't deterministically select the appropriate size of FEC code matching to the fluctuating channel BER. This paper proposes an adaptive FEC technique called adaptive FEC code control (AFECCC), which dynamically tunes the amount of FEC code per packet based on the arrival of acknowl­edgement packets without any specific information such as signal to noise ratio (SNR) or BER from receivers. Our simulation experiments indicate that AFECCC performs better than any static FEC algorithm and some conventional dynamic hybrid FEC/ARQ algorithms when wireless channels are modeled with two-state Markov chain, chaotic map, and traces collected from real sensor networks. Finally, AFECCC implemented in sensor motes achieves better performance than any static FEC algorithm.

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.242-242
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• 2002

The Earth's magnetic field acquired from KOMPSAT-1's TAM (Three-Axis Magnetometer) between June 19th and 21st 2000 was analyzed. The TAM, one of the KOMPSAT-1's Attitude and Orbit Control Subsystems, plays an important role in determining and controlling the satellite's attitude. This also can provide new insight on the Earth's magnetic field. By transforming the satellite coordinate from ECI to ECEF, spherical coordinate of total magnetic field was achieved. These data were grouped into dusk (ascending) and dawn (descending) data sets, based on their local magnetic times. This partitioning is essential for performing 1-D WCA (Wavenumber Correlation Analysis). Also, this enhances the perception of external fields in the Kompsat-1's TAM magnetic maps that were compiled according to different local. The dusk and dawn data are processed independently and then merged to produce a total field magnetic anomaly map. To extract static and dynamic components, the 1-D and 2-D WCAs were applied to the sub-parallel neighboring tracks and dawn-dusk data sets. The static components were compared with the IGRF, the global spherical harmonic magnetic field model. The static and dynamic components were analyzed in terms of corefield, external, and crustal signals based on their origins.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.6
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• pp.566-571
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• 2010

EPS (Electric Power Steering) is important device for improving vehicle's dynamics and static performances. This paper deals with simulator design for C-EPS (Colum type-EPS), development assist and returnability control algorithm. First, C-EPS system model was simply designed because EPS system is complex control system that has many unknown variables. These parameters were simplified through assumptions. Second, C-EPS simulator was designed for development of control algorithm. This simulator has SAS (Steering Angle Sensor), dual torque sensor, dual load cell for measuring rack force, dual linear actuator for generating tire force and Data Acquisition System. Using this simulator, control methods ware tested. Third, control algorithm was designed for torque assist and returnability. Assist torque map and returnability torque map were found by lots of simulation test. These torque maps were tuned for EPS actuator control. The simulation result was compared with non-EPS system result. In this research, the C-EPS simulator was designed for development of control algorithm about torque assistant and returnability. Using this simulator, control algorithm was improved.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.17 no.4
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• pp.383-391
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• 1999

This paper describe the interpretation of population density of rice pest in 1998 all over the country using GIS technique and the development of Internet GIS for sharing and analyzing information through Internee. Due to the widespread availability of computer network, GIS solution is available to users on your Internet via the web. Through Internet Rice Pest Information System developed visually the related information of rice pest all over the country and also interactive communication with the web interface concerning the existing system which provides simply static map, texts and numerical statement on the internet, the advantages of developed system are visually information, dynamic map, easy user interface and interactive map through the internet. This system provide more effective method of rice pest data to client.

• Journal of Power System Engineering
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• v.10 no.4
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• pp.56-64
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• 2006

This paper shows the development process of a straight-type five-hole pressure probe for measuring three-dimensional flow velocity components. The data reduction method using a bi-cubic curve-fitting program in a new calibration map was introduced in this study. This new calibration map can be applied up to the application angle, ${\pm}55^{\circ}$ of a probe. As a result, for the application angle of ${\pm}45^{\circ}$, an error for yaw and pitch angles appeared from $-1.76^{\circ}\;to\;1.83^{\circ}$ and from $-1.91^{\circ}\;to\;1.75^{\circ}$, respectively. Moreover, an error for a vector magnitude and a static pressure compared with a dynamic one showed from -7.83% to 4.87% and from -0.73 to 0.77, respectively. Even though this data reduction method showed unsatisfactory errors in a vector magnitude, it resulted in an easy and simple application method. Especially, when it was applied to an actual flow field including a swirling flow, a good result came out on the whole. However, in order to obtain a better result, it is thought that a more sophisticated interpolation method needs to be introduced.

• Journal of Korea Game Society
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• v.15 no.5
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• pp.99-108
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• 2015

To identify the location of the object and improve the realism in 3D game, shadow mapping is widely used to compute the depth values of vertices in view of the light position. Since the depth value of the shadow map is calculated by the world coordinate, the depth values of the static object don't need to be updated. In this paper, (1) in order to improve the rendering speed, using multiple render targets the depth values of static objects stored only once are separated from those of dynamic objects stored each time. And (2) in order to improve the shadow quality in the quarter view 3D game, the position of the light is located close to dynamic objects traveled along the camera each time. The effectiveness of the proposed method is verified by the experiments according to the different static and dynamics object configuration in 3D game.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2014.11a
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• pp.259-260
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• 2014

본 논문에서는 영상에 존재하는 운동정보를 이용하여 관심맵을 얻는 방법을 제안한다. 운동의 크기, 방향, 그리고 영상의 색을 이용한다. 이를 이용함으로써 기존의 static image에서 구하는 관심맵보다 향상된 결과를 얻을 수 있다. 실험에서는 다양한 모션이 존재하는 영상을 이용하여 제안방법의 우수성을 증명하였다.