• 로봇학회논문지
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• 제6권3호
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• pp.247-254
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• 2011

This paper presents a method of sonar grid map matching for topological place recognition. The proposed method provides an effective rotation invariant grid map matching method. A template grid map is firstly extracted for reliable grid map matching by filtering noisy data in local grid map. Using the template grid map, the rotation invariant grid map matching is performed by Ring Projection Transformation. The rotation invariant grid map matching selects candidate locations which are regarded as representative point for each node. Then, the topological place recognition is achieved by calculating matching probability based on the candidate location. The matching probability is acquired by using both rotation invariant grid map matching and the matching of distance and angle vectors. The proposed method can provide a successful matching even under rotation changes between grid maps. Moreover, the matching probability gives a reliable result for topological place recognition. The performance of the proposed method is verified by experimental results in a real home environment.

• 로봇학회논문지
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• 제18권4호
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• pp.487-495
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• 2023

This paper presents a method for autonomous exploration of indoor environments using a 2-dimensional Light Detection And Ranging (LiDAR) scanner. The proposed frontier-based exploration method considers navigability from the current robot position to extracted frontier targets. An approach to constructing the point cloud grid map that accurately reflects the occupancy probability of glass obstacles is proposed, enabling identification of safe frontier grids on the safety grid map calculated from the point cloud grid map. Navigability, indicating whether the robot can successfully navigate to each frontier target, is calculated by applying the skeletonization-informed rapidly exploring random tree algorithm to the safety grid map. While conventional exploration approaches have focused on frontier detection and target position/direction decision, the proposed method discusses a safe navigation approach for the overall exploration process until the completion of mapping. Real-world experiments have been conducted to verify that the proposed method leads the robot to avoid glass obstacles and safely navigate the entire environment, constructing the point cloud map and calculating the navigability with low computing time deviation.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2002년도 추계 학술대회논문집
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• pp.84-87
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• 2002

When computing the flow around complex three dimensional configurations, the generation of grid is the sunt time consuming part of any calculation. The object of this study is to develop the grid duster techniques capable of resolving complex flows with shock waves, expansion waves, shear layers, and cursive shapes, The Dot insert method of Non-Uniform Rational B-Splines is described as a id control method.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• 제16권1호
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• pp.31-49
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• 2012

In this paper, we propose a very efficient method which reconstructs the high resolution surface from a set of unorganized points. Our method is based on the level set method using adaptive octree. We start with the surface reconstruction model proposed in [20]. In [20], they introduced a very fast and efficient method which is different from the previous methods using the level set method. Most existing methods[21, 22] employed the time evolving process from an initial surface to point cloud. But in [20], they considered the surface reconstruction process as an elliptic problem in the narrow band including point cloud. So they could obtain very speedy method because they didn't have to limit the time evolution step by the finite speed of propagation. However, they implemented that model just on the uniform grid. So they still have the weakness that it needs so much memories because of being fulfilled only on the uniform grid. Their algorithm basically solves a large linear system of which size is the same as the number of the grid in a narrow band. Besides, it is not easy to make the width of band narrow enough since the decision of band width depends on the distribution of point data. After all, as far as it is implemented on the uniform grid, it is almost impossible to generate the surface on the high resolution because the memory requirement increases geometrically. We resolve it by adapting octree data structure[12, 11] to our problem and by introducing a new redistancing algorithm which is different from the existing one[19].

• 전자공학회논문지A
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• 제32A권1호
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• pp.222-233
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• 1995

For effective module generation, a detailed router which can handle complicated routing regions on multimple layers of interconnection under various constraints is necessary. In this paper, a new improved maze routing technique is described, which can find the shortest path for each net without allowing stacked vias. In this method, two cost values are stored at each grid point. The cost values represent the routing costs from the terminal of the net being routed to the grid point. One cost value shows the cost of the shortest path without making a via at the grid point and the other cost value shows that with making a via at the grid point. This is the first systematic maze routing technique which can find the shortest path without via-stacking.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2010년 춘계학술대회논문집
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• pp.326-334
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• 2010

In this study, we provide a comprehensive review of the CIP(Constrained Interpolation Pro file/Cubic Interpolated Propagation) method with a pressure-based algorithm that is known as a general numerical solver for soled liquid, gas and plasmas. And also we introduce a body-fitted grid system(Soroban grid) for computation of strongly nonlinear marine hydrodynamic problems such as slamming water on deck, wave impact by green water. This grid system can keep the third-order accuracy in time and space with the help of the CIP method. The grid system consists of the straight lines and grid points. In the 2-dimensional grid case, each grid points moving in these lines like abacus - Soroban in Japanese. The length of each line can be different and the number of grid points in each line can be different. Mesh generation and searching of upstream departure point are very simple and possible to mesh-free treatment. To optimize computation of free-surface and multi-fluid flows, We adopt the C-CUP method. In most of the earlier computations, the C-CUP method was used with a staggered-grid approach. Here, because of the mesh free nature of the Soroban grid, we use the C-CUP method with a collocated-grid approach.

• Journal of Power Electronics
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• 제18권2호
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• pp.332-342
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• 2018

This paper proposes a parameter design method for multi-element resonant converters (MERCs) with a unique resonant zero point (RZP). This method is mainly composed of four steps. These steps include program filtration, loss comparison, 3D figure fine-tuning and priority compromise. It features easy implementation, effectiveness and universal applicability for almost all of the existing RZP-MERCs. Meanwhile, other design methods are always exclusive for a specific topology. In addition, a novel dual-CTL converter is also proposed here. It belongs to the RZP-MERC family and is designed in detail to explain the process of parameter selection. The performance of the proposed method is verified experimentally on a 500W prototype. The obtained results indicate that with the selected parameters, an extensive dc voltage gain is obtained. It also possesses over-current protection and minimal switching loss. The designed converter achieves high efficiencies among wide load ranges, and the peak efficiency reaches 96.9%.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2015년도 전력전자학술대회 논문집
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• pp.177-178
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• 2015

This paper presents a neutral point deviation compensating control algorithm applied to a 3-level NPC converter. The neutral point deviation is analyzed with a focus on the current flowing out of or into the neutral point of the dc link. Based on the zero sequence components of the reference voltages, this paper analyzes the neutral point deviation and balancing control for 3-level NPC converter. An analytical method is proposed to calculate the injected zero sequence voltage for NP balancing based on average neutral current. This paper also proposes a control scheme compensating for the neutral point deviation under generalized unbalanced grid operating conditions. The positive and negative sequence components of the pole voltages and ac input currents are employed to accurately explain the behavior of 3-level NPC converter. Simulation and experimental results for a test set up of 30kW are shown to verify the validity of the proposed algorithm.

• Journal of Power Electronics
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• 제18권3호
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• pp.841-852
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• 2018

This paper presents a dual-algorithm search method (GWO-GSO) combining grey wolf optimization (GWO) and golden-section optimization (GSO) to realize maximum power point tracking (MPPT) for photovoltaic (PV) systems. First, a modified grey wolf optimization (MGWO) is activated for the global search. In conventional GWO, wolf leaders possess the same impact on decision-making. In this paper, the decision weights of wolf leaders are automatically adjusted with hunting progression, which is conducive to accelerating hunting. At the later stage, the algorithm is switched to GSO for the local search, which play a critical role in avoiding unnecessary search and reducing the tracking time. Additionally, a novel restart judgment based on the quasi-slope of the power-voltage curve is introduced to enhance the reliability of MPPT systems. Simulation and experiment results demonstrate that the proposed algorithm can track the global maximum power point (MPP) swiftly and reliably with higher accuracy under various conditions.

• Journal of Power Electronics
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• 제18권6호
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• pp.1866-1878
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• 2018

This paper presents a neutral point deviation and ripple compensation control method for application to 3-level NPC converters. The neutral point deviation and its harmonic components are analyzed with a focus on the average current flowing through the neutral point of the dc-link. This paper also proposes a control scheme to compensate for the neutral point deviation and dominant harmonic components under generalized unbalanced grid operating conditions. The positive and negative sequence components of the pole voltages and ac input currents are employed to accurately explain the behavior of 3-level NPC converters. Simulation and experimental results are presented to verify the validity of the proposed method.