• The Journal of Korea Robotics Society
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• v.10 no.2
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• pp.112-118
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• 2015

This paper proposes a pose-graph based SLAM method using an upward-looking camera and artificial landmarks for AGVs in factory environments. The proposed method provides a way to acquire the camera extrinsic matrix and improves the accuracy of feature observation using a low-cost camera. SLAM is conducted by optimizing AGV's explored path using the artificial landmarks installed on the ceiling at various locations. As the AGV explores, the pose nodes are added based on the certain distance from odometry and the landmark nodes are registered when AGV recognizes the fiducial marks. As a result of the proposed scheme, a graph network is created and optimized through a G2O optimization tool so that the accumulated error due to the slip is minimized. The experiment shows that the proposed method is robust for SLAM in real factory environments.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.49.3-49
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• 2001

In 1994 Adelman´s pioneer work demonstrated that deoxyribonucleic acid (DNA) could be used as a medium for computation to solve mathematical problems. He described the use of DNA based computational approach to solve the Hamiltonian Path Problem (HPP). Since then a number of combinatorial problems have been analyzed by DNA computation approaches including, for example: Maximum Independent Set (MIS), Maximal Clique and Satisfaction (SAT) Problems. In the present paper we propose a method of solving another classic combinatorial optimization problem - the eraph Coloring Problem (GCP), using specifically designed circular DNA plasmids as a computation tool. The task of the analysis is to color the graph so that no two nodes ...

• Journal of Korea Society of Industrial Information Systems
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• v.28 no.4
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• pp.1-9
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• 2023

In this paper, we propose a method to recognize the braille blocks for embedded devices in real time through deep learning. First, a deep learning model for braille block recognition is trained on a high-performance computer, and the learning model is applied to a lightweight tool to apply to an embedded device. To recognize the walking information of the braille block, an algorithm is used to determine the path using the distance from the braille block in the image. After detecting braille blocks, bollards, and crosswalks through the YOLOv8 model in the video captured by the embedded device, the walking information is recognized through the braille block path discrimination algorithm. We apply the model lightweight tool to YOLOv8 to detect braille blocks in real time. The precision of YOLOv8 model weights is lowered from the existing 32 bits to 8 bits, and the model is optimized by applying the TensorRT optimization engine. As the result of comparing the lightweight model through the proposed method with the existing model, the path recognition accuracy is 99.05%, which is almost the same as the existing model, but the recognition speed is reduced by 59% compared to the existing model, processing about 15 frames per second.

• The KIPS Transactions:PartA
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• v.18A no.3
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• pp.109-114
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• 2011

We describe a technique for automatically proving compiler optimizations sound, meaning that their transformations are always semantics-preserving. As is well known, IR (Intermediate Representation) optimization is an important step in a compiler backend. But unfortunately, it is difficult to detect and debug the IR optimization errors for compiler developers. So, we introduce a C level error check system for detecting the correctness of these IR transformation techniques. In our system, we first create an IR-to-C converter to translate IR to C code before and after each compiler optimization phase, respectively, since our technique is based on the Memory Comparison-based Clone(MeCC) detector which is a tool of detecting semantic equivalency in C level. MeCC accepts only C codes as its input and it uses a path-sensitive semantic-based static analyzer to estimate the memory states at exit point of each procedure, and compares memory states to determine whether the procedures are equal or not. But MeCC cannot guarantee two semantic-equivalency codes always have 100% similarity or two codes with different semantics does not get the result of 100% similarity. To increase the reliability of the results, we describe a technique which comprises how to generate C codes in IR-to-C transformation phase and how to send the optimization information to MeCC to avoid the occurrence of these unexpected problems. Our methodology is illustrated by three familiar optimizations, dead code elimination, instruction scheduling and common sub-expression elimination and our experimental results show that the C level error check system is highly reliable.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.7
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• pp.759-766
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• 2011

Recently, noise reduction in room air conditioners has been one of the important issues as well as cooling efficiency. The rotary compressor is the dominant noise source in an air conditioner. A number of studies have been conducted on reducing compressor noise through improving muffler and resonator design. However the noise from the accumulator, a noise delivering path between compressor and air conditioner, is not fully taken into consideration. The accumulator contains a large inner cavity, and usually generates additional resonance noise during operation. This paper aims to conduct an optimal design for reducing accumulator noise by maximizing the transmission loss within the target frequency range that represents high-order nonlinearity. Design of experiments and radial basis function neural network are used in the context of approximate meta-models, and genetic algorithm is used as an optimization tool.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.43 no.12 s.354
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• pp.23-32
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• 2006

Fast and accurate power bus design (FAPUD) method for multi-layers high-speed digital boards is devised for the power supply network design tool for accurate and precise high speed board. FAPUD is constructed, based on two main algorithms of the PBEC (Path Based Equivalent Circuit) model and the network synthesis method. The PBEC model exploits simple arithmetic expressions of the lumped 1-D circuit model from the electrical parameters of a 2-D power distribution network. The circuit level design based on PBEC is carried with the proposed regional approach. The circuit level design directly calculates and determines the size of on-chip decoupling capacitors, the size and the location of off-chip decoupling capacitors, and the effective inductances of the package power bus. As a design output, a lumped circuit model and a pre-layout of the power bus including a whole decoupling capacitors are obtained after processing FAPUD. In the tuning procedure, the board re-optimization considering simultaneous switching noise (SSN) added by I/O switching can be carried out because the I/O switching effect on a power supply noise can be estimated over the operation frequency range with the lumped circuit model. Furthermore, if a design changes or needs to be tuned, FAPUD can modify design by replacing decoupling capacitors without consuming other design resources. Finally, FAPUD is accurate compared with conventional PEEC-based design tools, and its design time is 10 times faster than that of conventional PEEC-based design tools.

• Journal of KIISE:Software and Applications
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• v.37 no.12
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• pp.882-891
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• 2010

Many automated dynamic test data generation technique have been proposed. The techniques evaluate fitness of test data through executing instrumented Software Under Test (SUT) and then generate new test data based on evaluated fitness values and optimization algorithms. Previous researches and experiments have been showed that these techniques generate effective test data. However, optimization algorithms in these techniques incur much time to generate test data, which results in huge test case generation cost. In this paper, we propose a technique for reducing the time of evaluating a fitness of test data among steps of dynamic test data generation methods. We introduce the concept of Fitness Evaluation Program (FEP), derived from a path constraint of SUT. We suggest a test data generation method based on FEP and implement a test generation tool, named ConGA. We also apply ConGA to generate test cases for C programs, and evaluate efficiency of the FEP-based test case generation technique. The experiments show that the proposed technique reduces 20% of test data generation time on average.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.4
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• pp.350-358
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• 2009

This paper describes a result of the guidance and control for re-entry vehicle during TAEM phase. TAEM phase (Terminal Aerial Energy Management phase) has many conditions, such as density, velocity, and so on. Under these conditions, we have optimized trajectory and other states for guidance in TAEM phase. The optimized states consist of 7 variables, down-range, cross range, altitude, velocity, flight path angle, vehicle's azimuth and flight range. We obtained the optimized reference trajectory by DIDO tool, and used feedback linearization with neural network for control re-entry vehicle. By back propagation algorithm, vehicle dynamics is approximated to real one. New command can be decided using the approximated dynamics, delayed command input and plant output, NARMA-L2. The result by this control law shows a good performance of tracking onto the reference trajectory.

• Journal of Korean Ophthalmic Optics Society
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• v.8 no.1
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• pp.35-39
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• 2003

The display technology on the retina is the key role in inspecting the condition of the patients. 2-dimensional retina image is widely used in the eye examination as of today. Recently, 3-dimensional retina image ones have been introduced to this area, but the quality of the image is not fully satisfied to the operator. For the purpose of developing 3-D retina imaging instrument, the optimization of a 3-D retina imaging system using Code-V tool was investigated in this thesis. He-Ne laser having the wavelength 632.8 nm was used to make a power source to detect the retina. Several lenses and mirrors installed on sledge which were developed to perform focus control on 3-D device were designed to make a beam focusing and direct line. Polygon scanner having 24 mirror facets and galvanometer making tilting movement were utilized to make a 2-D laser plane. Also, design of eye ball had been fulfilled to see the focus of the 2-D plane. Reflected ray from retina detected on the sensor array with the same path. All cognitive components were optimized for aberration correction in order to focus on retina. Results of optimization were compared to those of initial designed optics system. On the basis of above results, the result of third aberration has been corrected to stable values to the optical system. MTF evaluating the resolution of an image has been closely correlated to the diffraction limit and PSF indicating the strength distribution of an image has shown the SR value as 0.9998 having high performance. The possibility of new and powerful 3-D retina image instrument was verified by simulating each component of the instrument by Code-V.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.1
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• pp.146-170
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• 2017

Joint channel assignment and routing is a well-known problem in multi-radio wireless mesh networks for which optimal configurations is required to optimize the overall throughput and fairness. However, other objectives need to be considered in order to provide a high quality service to network users when it deployed with high traffic dynamic. In this paper, we propose a re-configuration optimization model that optimizes the network throughput in addition to reducing the disruption to the mesh clients' traffic due to the re-configuration process. In this multi-objective optimization model, four objective functions are proposed to be minimized namely maximum link-channel utilization, network average contention, channel re-assignment cost, and re-routing cost. The latter two objectives focus on reducing the re-configuration overhead. This is to reduce the amount of disrupted traffic due to the channel switching and path re-routing resulted from applying the new configuration. In order to adapt to traffic dynamics in the network which might be caused by many factors i.e. users' mobility, a centralized heuristic re-configuration algorithm called State-Aware Joint Routing and Channel Assignment (SA-JRCA) is proposed in this research based on our re-configuration model. The proposed algorithm re-assigns channels to radios and re-configures flows' routes with aim of achieving a tradeoff between maximizing the network throughput and minimizing the re-configuration overhead. The ns-2 simulator is used as simulation tool and various metrics are evaluated. These metrics include channel-link utilization, channel re-assignment cost, re-routing cost, throughput, and delay. Simulation results show the good performance of SA-JRCA in term of packet delivery ratio, aggregated throughput and re-configuration overhead. It also shows higher stability to the traffic variation in comparison with other compared algorithms which suffer from performance degradation when high traffic dynamics is applied.