• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2010년도 추계학술대회 논문집
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• pp.144-145
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• 2010

3-D noise map of Mugue Dong of the Ulsan City has been constructed. Comparing with the measured noise level, the predicted noise level has been confirmed for its accuracy. Correction factors for better prediction result using the constructed noise map have been investigated proving that its method is useful. The procedure of noise map construction method has also been introduced using RLS-90, Cadna A.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1127-1130
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• 2003

This paper introduces histogramic in-motion mapping for real-time map building with the Eyebot in motion. A histogram grid used in HIMM is updated through three PSD sensors. HIMM makes it possible to make fast map-building and avoid obstacles in real-time. Fast map-building allows the robot to immediately use the mapped information in real-time obstacle-avoidance algorithms. HIMM has been tested on the Eyebot. The Eyebot sends PSD data to computer and computer builds a 3D-Map based on PSD data.

• 대한수학회논문집
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• 제11권3호
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• pp.789-796
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• 1996

A complete open manifold with nonnegative curvature is diffeomorphic to the normal bundle of the soul, and the projection map is a Riemannian submersion. Under certain circumstances, we prove that a harmonic map from a compact manifold followed by the projection is again harmonic. Therefore we obtain a harmonic map onto the soul when there is a harmonic map into an open manifold.

• 대한수학회보
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• 제49권1호
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• pp.57-61
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• 2012

It is well known that one could use a fixed loxodromic or parabolic element of a non-elementary group $G{\subset}M(\bar{\mathbb{R}}^n)$ as a test map to test the discreteness of G. In this paper, we show that a test map need not be in G. We also construct an example to show that the similar result using an elliptic element as a test map does not hold.

• 조명전기설비학회논문지
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• 제20권9호
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• pp.45-53
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• 2006

This paper proposes a method for an effective intelligent route decision for automatic moving robots(AMR) using a 2D spatial map of a stereo camera system. In this method, information about depth and disparity map are detected in the inputting images of a parallel stereo camera. The distance between the automatic moving robot and the obstacle is detected, and a 2D spatial map is obtained from the location coordinates. Then the relative distances between the obstacle and other objects are deduced. The robot move automatically by effective and intelligent route decision using the obtained 2D spatial map. From experiments on robot driving with 240 frames of stereo images, it was found that the error ratio of the calculated distance to the measured distance between objects was very low, 1.52[%] on average.

• 제어로봇시스템학회논문지
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• 제20권11호
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• pp.1170-1174
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• 2014

This paper suggests using the ICP (Iterative Closet Point) algorithm to compensate a two-dimensional map. ICP algorithm is a typical algorithm method using matching distance data. When building a two-dimensional map, using data through the value of a laser scanner, it occurred warping and distortion of a two-dimensional map because of the difference of distance from the value of the sensor. It uses the ICP algorithm in order to reduce any error of line. It validated the proposed method through experiment involving matching a two-dimensional map based reference data and measured the two-dimensional map.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.129.3-129
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• 2001

In this paper, a novel navigation method is presented for the cleaning robot in the unknown workspace. In order to do this, we propose a new map representation method and a complete coverage navigation method. First, we discuss a triangular cell map representation which makes the cleaning robot navigate with shorter path and increased flexibility than a rectangular cell map representation. Then we proposed a complete coverage navigation and map construction method which the cleaning robot can navigate the complete workspace although it has perfectly no information about environment. Finally, we evaluate the performance of our proposed triangular cell map comparing to that of the rectangular cell map via the existing ...

• 대한임베디드공학회논문지
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• 제9권2호
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• pp.101-107
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• 2014

Mobile robots use an environment map of its workspace to complete the surveillance task. However grid-based maps that are commonly used map format for mobile robot navigation use a large size of memory for accurate representation of environment. In this reason, grid-based maps are not suitable for path planning of mobile robots using embedded board. In this paper, we present the path planning algorithm that produce a secure path rapidly. The proposed approach utilizes a hybrid map that uses less memory than grid map and has same efficiency of a topological map. Experimental results show that the fast path planning uses only 1.5% of the time that a grid map based path planning requires. And the results show a secure path for mobile robot.

• 로봇학회논문지
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• 제2권3호
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• pp.227-233
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• 2007

Representing an environment as the probabilistic grids is effective to sense outlines of the environment in the mobile robot area. Outlines of an environment can be expressed factually by using the probabilistic grids especially if sonar sensors would be supposed to build an environment map. However, the difficult problem of a sonar such as a specular reflection phenomenon should be overcome to build a grid map through sonar observations. In this paper, the NRF(Neighborhood Recognition Factor) was developed for building a grid map in which the specular reflection effect is minimized. Also the reproduction rate of the gird map built by using NRF was analyzed with respect to a true map. The experiment was conducted in a home environment to verify the proposed technique.

• BMB Reports
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• 제41권6호
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• pp.479-484
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• 2008

In the present study, we demonstrate that ephrin-A5 is able to induce a transient increase of MAP kinase activity in PC12 cells. However, the effects of ephrin-A5 on the MAP kinase signaling pathway are about three-fold less than that of EGF. In addition, we demonstrate that EphA4 is the only Eph member expressed in PC12 cells, and that tyrosine phosphorylation induced by ephrin-A5 treatment is consistent with the magnitude and longevity of MAP kinase activation. Experiments using the Ras dominant negative mutant N17Ras reveal that Ras plays a pivotal role in ephrin-A5-induced MAP kinase activation in PC12 cells. Importantly, we found that the EphA4 receptor is rapidly internalized by endocytosis upon engagement of ephrin-A5, leading to a subsequent reduction in the MAP kinase activation. Together, these data suggest a novel regulatory mechanism of differential Ras-MAP kinase signaling kineticsexhibited by the forward signaling of EphA4 in PC12 cells.