• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.920-923
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• 1996

This paper presents a new algorithm for the self-localization of a mobile robot using perspective invariant(Cross Ratio). Most of conventional model-based self-localization methods have some problems that data structure building, map updating and matching processes are very complex. Use of the simple cross ratio can be effective to the above problems. The algorithm is based on two basic assumptions that the ground plane is flat and two parallel walls are available. Also it is assumed that an environmental map is available for matching between the scene and the model. To extract an accurate steering angle for a mobile robot, we take advantage of geometric features such as vanishing points(V.P). Point features for computing cross ratios are extracted robustly using a vanishing point and the intersection points between floor and the vertical lines of door frames. The robustness and feasibility of our algorithms have been demonstrated through experiments in indoor environments using an indoor mobile robot, KASIRI-II(KAist SImple Roving Intelligence).

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.169.2-169
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• 2001

In this paper, we propose the face recognition system using the neural network. A difficult procedure in constructing the entire recognition systems is the feature extraction from the face imga. And a key poing is the design of the matching function that relates the set of feature values to the appropriate face candidates. We use the length and angle values as feature values that are extracted from the face image normalized to the range of [0,1]. These features values are applied to the input layer of the neural network. Then, these multi-layered perceptron learns or gives otput result. By using the neural network we need not to design the matching function. This function may have nonlinear attributes considerably and would be ...

• 제어로봇시스템학회논문지
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• 제18권6호
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• pp.571-578
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• 2012

In the paper, we proposed a ring type structured light image based embedded ranging sensor for a mobile robot. Since the proposed ranging sensor obtains omnidirectional object distance, it is useful for autonomous navigation of a mobile robot. By matching the local omnidirectional distance map with a given global object map, it is possible to get position and heading angle of mobile robot in the global coordinates. Experiments for matching and navigation were carried out to verify the performance of the proposed ranging sensor.

• 제어로봇시스템학회논문지
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• 제11권8호
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• pp.678-687
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• 2005

This paper describes a relative localization algorithm using odometry data and consecutive local maps. The purpose of this paper is the odometry error correction using the area matching of two consecutive local maps. The local map is built up using a sensor module with dual laser beams and USB camera. The range data form the sensor module is measured using the structured lighting technique (active stereo method). The advantage in using the sensor module is to be able to get a local map at once within the camera view angle. With this advantage, we propose the AVS (Aligned View Sector) matching algorithm for. correction of the pose error (translational and rotational error). In order to evaluate the proposed algorithm, experiments are performed in real environment.

• Journal of information and communication convergence engineering
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• 제10권3호
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• pp.269-275
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• 2012

In this paper, we proposed a novel location estimation algorithm based on the concept of space-time signature matching in a moving target environment. In contrast to previous fingerprint-based approaches that rely on received signal strength (RSS) information only, the proposed algorithm uses angle, delay, and RSS information from the received signal to form a signature, which in turn is utilized for location estimation. We evaluated the performance of the proposed algorithm in terms of the average probability of error and the average error distance as a function of target movement. Simulation results confirmed the effectiveness of the proposed algorithm for location estimation even in moving target environment.

• ETRI Journal
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• 제31권3호
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• pp.271-281
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• 2009

This paper presents a novel multiband microstrip-fed right angle slot antenna design technique for multiple independent frequency bands. The new technique uses various slot sizes at various appropriate positions. We first propose a tri-band slot antenna consisting of three right angle slots. Then, a quad-band slot antenna is developed with four right angle slots which achieves slant ${\pm}45^{\circ}$ linear polarization, omnidirectional pattern coverage, good antenna gain, and acceptable impedance bandwidths over all the operating frequency range. Moreover, an open-circuited tuning stub is introduced to achieve good impedance matching. Both proposed antennas are designed on a ground plane of RT/duroid 5880 substrate with a thickness of 1.575 mm. The real measurable results show that the desired frequencies used in wireless communication systems, namely, WLAN and WiMax, are efficiently achieved.

• 한국군사과학기술학회지
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• 제13권6호
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• pp.998-1005
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• 2010

Rifling force has a torsion impulse effect on the gun tube and thus generates undesirable vibration of the gun tube about its bore axis, putting additional stress on the projectile. High rifling force at the muzzle of the gun tube may adversely influence the trajectory of the projectile. And, the service life of rifled gun barrels is known to depend on the rifling force. Rifling force along the path of the projectile in the longitudinal direction of the gun tube can be described with projectile mass, projectile velocity, gas pressure curve and rifling angle. Under the same conditions, the character of the rifling of the gun barrel decisively influences the rifling force curve. To reduce the above mentioned harmful effect, locally distinct maximum of rifling force has to be avoided and maximum rifling force needs to be minimized. The best way to minimize the maximum rifling force is to design a rifling angle function so that the rifling force curve has a near trapezoidal shape. In this paper a new approach to make the optimal rifling force curve is described. The rifling angle determining the rifling force is developed by combined Fourier series and polynomial function to satisfy both the convergence and boundary condition matching problems.

• 한국광학회지
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• 제7권3호
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• pp.213-218
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• 1996

액정셀에서 액정분자의 선경사각과 액정층의 두께를 함께 결정하며 측정범위와 정밀도를 높이는 개선된 결정회전법을 고안하고 그 타당성을 실험으로 확인하였다. 이 방법은 종래의 입사각에 따른 편광투과율의 변화를 재는 대신, 직교하는 두 선편광이 액정셀을 지나올 때의 위상차를 재고 그 결과를 바탕으로 액정층의 두께와 선경사각을 결정한다. 아울러 굴절율이 유리기판과 비슷한 액체가 채원진 액체통에 액정셀을 넣고 실험하여 유리판 표면에서의 빛의 반사를 줄이고 액정층에서의 굴절각의 범위를 늘려서 측정의 정밀도를 높였다. 이 방법을 쓰면 액정층의 두께가 10.mu.m보다 적거나 선경사각이 10.deg. 이상인 액정셀에 대해서도 선경사각과 액정층의 두께를 동시에 잴 수 있다.

• 대한원격탐사학회지
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• 제34권6_3호
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• pp.1445-1456
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• 2018

본 연구의 목적은 in-track과 cross-track에서 촬영된 KOMPSAT-3 입체영상으로 제작된 매칭 DEM의 품질 및 특성을 비교 분석하는 것이다. 이를 위하여 동일 지역을 촬영한 두 쌍의 KOMPSAT-3영상을 수집하였다. 두 쌍의 입체영상은 B/H, convergence angle 등 스테레오 기하 요소가 거의 유사하다. DEM 제작을 위한 센서모델링은 수 개의 지상기준점를 이용한 RFM affine 보정으로 수행하였다. 연구에 사용된 지상기준점은 NGII에서 제공하는 0.25 m급 항공정사영상과 5 m급 DEM에서 추출하였다. 또한, 참조 DEM과 동일한 해상도로 매칭 DEM을 제작하여 상호간 비교 분석을 실시하였다. 실험 결과, 검사점의 수평 및 수직 오차는 1~3픽셀의 정확도를 나타냈다. 또한, 자연 또는 인공적 지형지물의 영향이 적은 지역에서는 생성된 두 DEM의 형태 및 정확도가 거의 유사하였다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 하계종합학술대회 논문집
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• pp.211-214
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• 1999

Periodical surfaces with the sawtooth profile are studied on their backscattering by the TE plane wave incident. The backscattering is calculated by the mode-matching method. The surfaces are perfect conductor and are covered with dielectric materials to make a flat surface. It is observed that a cover filled with multiple dielectric layers can be used to reduce the backscattering at an arbitrary incident angle.