• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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• pp.1098-1102
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• 2014

Localization of aerial vehicles and map building of flight environments are key technologies for the autonomous flight of small UAVs. In outdoor environments, an unmanned aircraft can easily use a GPS (Global Positioning System) for its localization with acceptable accuracy. However, as the GPS is not available for use in indoor environments, the development of a SLAM (Simultaneous Localization and Mapping) system that is suitable for small UAVs is therefore needed. In this paper, we suggest a vision-based SLAM system that uses vision sensors and an AHRS (Attitude Heading Reference System) sensor. Feature points in images captured from the vision sensor are obtained by using GPU (Graphics Process Unit) based SIFT (Scale-invariant Feature Transform) algorithm. Those feature points are then combined with attitude information obtained from the AHRS to estimate the position of the small UAV. Based on the location information and color distribution, a Gaussian process model is generated, which could be a map. The experimental results show that the position of a small unmanned aircraft is estimated properly and the map of the environment is constructed by using the proposed method. Finally, the reliability of the proposed method is verified by comparing the difference between the estimated values and the actual values.

• Computational Structural Engineering
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• v.9 no.1
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• pp.141-149
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• 1996

Efficient approximate reanalysis techniques based on substructuring are presented. In most optimal design problems, the analysis precedure must be repeated many times. In particular, one of the main obstacles in the structural optimization systems is high computational cost and time required for the repeated analysis of large-scale structural systems. The purpose of this paper is to show how to evaluate efficiently the sturctural behavior of new designs using information from the previous ones, instead of the multiple repeated analysis of basic equations for successive modification in the optimal design. The proposed reanalysis method is a combined Taylor series expansion and reduced basis method based on substructuring. Several numerical examples illustrate the effectiveness of the method.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.5
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• pp.583-586
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• 2004

Transition jitter noise is one of major sources of detection errors in high density recording channels. Implementation complexity of the optimal detector for such channels is high due to the data dependency and correlated nature of the jitter noise. In this paper, two types of hardware efficient sub-optimal detectors are derived by modifying branch metric of Viterbi algorithm and applied to partial response (PR) channels combined with run length limited modulation coding. The additional complexity over the conventional Viterbi algorithm to incorporate the modified branch metric is either a multiplication or an addition for each branch metric in the Viterbi trellis.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.29 no.11
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• pp.671-675
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• 2016

Skutterudite materials show PGEC (phonon glass electron crystal) characteristics which is an optimal strategy for designing high performance thermoelectric materials. Now two methods are in parallel to control thermal conductivity of skutterudites, a rattler-atoms doping method and a process for nanostructured bulk materials. Amount of rattler atoms in p-type skutterudite are depends on a Fe/Co ratio of matrix, and the optimal Fe/Co ratio has been reported about from 3:1 to 3.5:0.5 in $R(Fe,Co)_4Sb_{12}$ structure. In this paper, our discussion for rattler doping research was concentrated on double-rattler systems and DD-doped systems in p-type skutterudites. A melt spinning precess combined with high energy ball milling were suggested as a strategy for nanostructured bulk materials with PGEC (phonon glass electron crystal) characteristics in p-type skutterudites.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.6
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• pp.759-763
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• 2004

In this paper, real-time voice change method using pitch change technique is proposed to change one's voice to the other voice. For this purpose, sampling rate change method using DFT (Discrete Fourier Transform) method and time scale modification method using SOLA (Synchronized Overlap and Add) method is combined to change pitch. In order to evaluate the performance of the proposed method, voice transformation experiments were conducted. Experimental results showed that original speech signal is changed to the other speech signal in which original speaker's identity is difficult to find. The system is implemented using TI TMS320C6711DSK board to verify the system runs in real time.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.453-464
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• 2012

This is a research of an adaptive longitudinal control system for situated cognition in wide range, traffic accidents reduction and safety driving environment by integrated system which graft a road infrastructure's information based on IT onto the intelligent vehicle combined automobile and IT technology. The road infrastructure installed by laser scanner in intersection, speed limited area and sharp curve area where is many risk of traffic accident. The road infra conducts objects recognition, segmentation, and tracking for determining dangerous situation and communicates real-time information by Ethernet with vehicle. Also, the data which transmitted from infrastructure supports safety driving by integrated with laser scanner's data on vehicle bumper.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.6
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• pp.594-600
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• 2012

Accurate localization is very important to stable navigation of a mobile robot. This paper deals with local localization of a mobile robot especially for outdoor environments. The GPS information is the easiest way to obtain the outdoor position information. However, the GPS accuracy can be severely affected by environmental conditions. To deal with this problem, the GPS and wheel odometry can be combined using an EKF (Extended Kalman Filter). However, this is not enough for safe navigation of a mobile robot in outdoor environments. This paper proposes a novel method using lane features from the road image. The pose data of a mobile robot can be corrected by analyzing the detected lane features. This can improve the accuracy of the localization process substantially.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.6
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• pp.562-570
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• 2012

This paper proposes a robust object tracking algorithm using object features and on-line learning based particle filter for mobile robots. Mobile robots with a side-view camera have problems as camera jitter, illumination change, object shape variation and occlusion in variety environments. In order to overcome these problems, color histogram and HOG descriptor are fused for efficient representation of an object. Particle filter is used for robust object tracking with on-line learning method IPCA in non-linear environment. The validity of the proposed algorithm is revealed via experiments with DBs acquired in variety environment. The experiments show that the accuracy performance of particle filter using combined color and shape information associated with online learning (92.4 %) is more robust than that of particle filter using only color information (71.1 %) or particle filter using shape and color information without on-line learning (90.3 %).

• ETRI Journal
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• v.38 no.3
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• pp.479-486
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• 2016

System-on-chip (SoC) designs have a number of flip-flops; the more flip-flops an SoC has, the longer the associated scan test application time will be. A scan shift operation accounts for a significant portion of a scan test application time. This paper presents physical-aware approaches for speeding up scan shift operations in SoCs. To improve the speed of a scan shift operation, we propose a layout-aware flip-flop insertion and scan shift operation-aware physical implementation procedure. The proposed combined method of insertion and procedure effectively improves the speed of a scan shift operation. Static timing analyses of state-of-the-art SoC designs show that the proposed approaches help increase the speeds of scan shift operations by up to 4.1 times that reached under a conventional method. The faster scan shift operation speeds help to shorten scan test application times, thus reducing test costs.

• Asia pacific journal of information systems
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• v.16 no.1
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• pp.85-101
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• 2006

Actual type of aggregation performed by an ordered weighted averaging (OWA) operator heavily depends upon the weighting vector. A number of approaches have been suggested for obtaining the associated weights. In this paper, we present analytic forms of OWA operator weighting functions, each of which has such properties as rank-based weights and constant value of orness, irrespective of number of objectives aggregated. Specifically, we propose four analytic forms of OWA weighting functions that can be positioned at 0.25, 0.334, 0.667, and 0.75 on the orness scale. The merits for using these weights over other weighting schemes can be mentioned in a couple of ways. Firstiy, we can efficiently utilize the analytic forms of weighting functions without solving complicated mathematical programs once the degree of orness is specified a priori by decision maker. Secondly, combined with well-known OWA operator weights such as max, min, and average, any weighting vectors, having a desired value of orness and being independent of the number of objectives, can be generated. This can be accomplished by convex combinations of predetermined weighting functions having constant values of orness. Finally, in terms of a measure of dispersion, newly generated weighting vectors show just a few discrepancies with weights generated by maximum entropy OWA.