• Journal of Mechanical Science and Technology
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• v.18 no.1
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• pp.132-144
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• 2004

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. The avoidability measure figures the degree of how easily a robot can avoid other robots considering the velocity of the robots. To implement the concept to avoid collision among multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. These repulsive force and attractive force are added to form the driving force for robot motion. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. In contrast, since the usual potential field method initiates avoidance motion later than the proposed method, it sometimes fails preventing collision or causes hasty motion to avoid other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.

• Asian-Australasian Journal of Animal Sciences
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• v.4 no.1
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• pp.31-40
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• 1991

Four pairs of draught oxen (two local and two Jersey crossbred) were studied when they ploughed dry land on local farms. Work done, distance traveled and body temperature of each ox were measured continuously over a 5 h working day. A different team worked each day, completing at least six days work each. Individual food intakes and digestibility of feed were measured when the animals were given rice straw and tree fodder, and housed and fed according to local husbandry practices. The Jersey crossbreds, particularly the longer legged type, had a higher rate of work than the local oxen in this study. They did significantly more work and covered a greater distance during the day. The absence of a hump in the crossbred oxen had no effect on the position of the yoke or the way the oxen pulled when ploughing. The longer legged type of Jersey crossbred tended to work more erratically than any of the other teams. A fast rate of work made the oxen more liable to heat stress. When fed according to local practices and given the same amount of feed as local oxen, Jersey crossbreds tended to do less well. During the ploughing months, the local oxen gained weight, while the crossbreds remained at the same or lost some weight. Although there were some disadvantages to keeping Jersey crossbreds for work, their favourable work output suggests that the introduction of the Jersey crossbred in the hills of Nepal is unlikely to be detrimental to the performance of the work oxen population.

• Journal of the Korea Society of Computer and Information
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• v.15 no.11
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• pp.67-73
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• 2010

In this paper, a new face detection method that is more accurate than the conventional methods is proposed. This method utilizes a hybrid of Hausdorff distance based on the geometric similarity between the two sets of points and the LBP distance based on the distribution of local micro texture of an image. The parameters for normalization and the optimal blending factor of the two different metrics were calculated from training sample images. Popularly used face database was used to show that the proposed method is more effective and robust to the variation of the pose, illumination, and back ground than the methods based on the Hausdorff distance or LBP distance. In the particular case, the average error distance between the detected and the true face location was reduced to 47.9% of the result of LBP method, and 22.8% of the result of Hausdorff method.

• Journal of Korea Multimedia Society
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• v.19 no.12
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• pp.1927-1935
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• 2016

This paper propose a framework for human body parts in RGB-D image. We conduct tasks of obtaining person area, finding candidate areas and local detection in order to detect hand, foot and head which have features of long accumulative geodesic distance. A person area is obtained with background subtraction and noise removal by using depth image which is robust to illumination change. Finding candidate areas performs construction of graph model which allows us to measure accumulative geodesic distance for the candidates. Instead of raw depth map, our approach constructs graph model with segmented regions by quadtree structure to improve searching time for the candidates. Local detection uses HOG based SVM for each parts, and head is detected for the first time. To minimize false detections for hand and foot parts, the candidates are classified with upper or lower body using the head position and properties of geodesic distance. Then, detect hand and foot with the local detectors. We evaluate our algorithm with datasets collected Kinect v2 sensor, and our approach shows good performance for head, hand and foot detection.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.20 no.4
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• pp.1395-1405
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• 1996

The purpose of this experimental research is to investigate the local heat transfer characteristics in the upward free water jet impinged on a downward flat plate of uniform heat flux. The inner shape of rectangular nozzle used was sine curve type and its contraction ratio of inlet to outlet area was five. Experimental parameters considered were Reynolds number, nozzle exit-flat plate distance, and level of supplementary water. Local Nusselt number was influenced by Reynolds number, Prandtl number, supplementary water level, and distance between the nozzle exit and flat plate. Within the impingement region, the Nusselt number has a maximum value on the nozzle center axis and decreases monotonically outward from center. Outside of the impingement region, on the other hand, the Nusselt number has a secondary peak near the position where the distance from nozzle center reaches four times the nozzle width. However if nozzle exit velocity exceeds 6.2 m/s, the secondary peak appears also in the impingement region. The empirical equation for the stagnation heat transfer is a function of Prandtl, Reynolds, and axial distance from the nozzle exit. The optimum level of supplementary water to augment the heat transfer rate at stagnation point was found to be twice the nozzle width.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2000.10a
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• pp.73-80
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• 2000

The distance correction term -logA0 of the local magnitude scale was estimated for earthquakes in southern Korea using linear least-squares inversion and interpolation scheme. Total 1054 short-period velocity seismograms from 107 local events recorded at hypocentral distances ranging from 10 to 480 km were used in this study. Simulated Wood-Anderson amplitudes were obtained from velocity seismograms with use of revised Wood-Anderson instrument response with static magnification 2080, damping factor 0.7, and natural period 0.8 sec. The estimated distance correction term for southern Korea is found to be -logA0=1.137 log(r/17) + 0.001159(r-17) + 20, where r is hypocentral distance in kilometers. The attenuation rate of this distance correction term falls between those of southern California and eastern North America.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.9
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• pp.1692-1698
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• 2010

In this paper we use wireless sensor network and ultrasonic sensors to estimate local position of mobile robots, and to navigate it. Ultra sonic sensor is simple and accurate so it is good to use in local estimation and navigation of mobile robots. But to obtain accurate distance of two sensors they need to face each others as possible as they can. To solve this problem we rotate ultra sonic sensor which is attached to robot in 360 degrees and obtain accurate distance. We can estimate precise position of mobile robot by triangulation using obtained distance information. A mobile robot navigates using embedded encoder and compensates its coordinates by ultrasonic sensors. Results of Experiments show proposed method obtains accurate distance between sensors and coordinates of position of robot. And mobile robots can navigate designated path well.

• Asian-Australasian Journal of Animal Sciences
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• v.13 no.8
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• pp.1040-1043
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• 2000

The genomic mapping of Red Jungle Fowl (Gallus gallus), local Village Chicken, and broiler was carried out by random amplified polymorphism DNA (RAPD) technique. Two different sets of arbitrary primers were used (Operon OPA01-20 and Genemed GM01-50). All the genomes of the three species of chickens were amplified with OPA01-20 primers. The genomes of the Red Jungle Fowl and local Village Chicken were further amplified with GM01-50 primers. Analysis of the results based on band sharing (BS) and the molecular size of individually amplified DNA fragments showed that Red Jungle Fowl and local Village Chicken shared the species similarity of 66% with Operon primers 01-20, 64% between local Village Chicken and broiler, and 63% when DNA bands between Red Jungle Fowl and broiler were compared. With GM01-50, the BS between Red Jungle Fowl and local village chicken increased to 72%. The results showed that the local village chicken is more closely related to Red Jungle Fowl than to broiler in the genetic distance. On the other hand, broiler is 1% closer in genetic distance to local village chicken than to Red Jungle Fowl. The results also indicated that primers like OPA-7, 8 and 9 can be used as species specific DNA markers for these three species of chickens.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.10
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• pp.956-961
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• 2007

We propose a new distance measurement method and local positioning system for the autonomous mobile robots localization. The distance measurement method is able to measure long-range distances with a high accuracy by using ultrasonic sensors. The time of flight of the ultrasonic waves include various noises is calculated accurately by the proposed period detecting method. The proposed local positioning system is composed of four ultrasonic transmitters and one ultrasonic receiver. The ultrasonic transmitter and receiver are separated but they are synchronized by RF (Radio frequency) signal. The proposed system using ultrasonic waves is represented as USAT(Ultrasonic Satellite System). USAT is able to estimate the position using the least square estimation. The experimental results show that the proposed local positioning system enables to estimate the absolute position precisely.

• Journal of Advanced Navigation Technology
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• v.12 no.5
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• pp.412-419
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• 2008

Genetic algorithms are efficient techniques for searching optimum solution but have the premature convergence problem getting stuck in the local optimum according to the evolutionary operator. In this paper we analyzed the reason for converging to the local optimum and proposed the method which able transit to the global optimum from the local optimum. In these methods we used the variable evolutionary operator with the average hamming distance, to maintain the genetic diversity of the population for getting out of the local optimum. The theoretical results are proved by the simulation experiments.