• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.106-112
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• 1993

A new model for the construction of a sonar map in a specular environment has been developed ad implemented. In a real world where most of the object surfaces are specular ones, a sonar sensor suffers from a multipath effect which results in a wrong interpretation of an objects's location. To reduce this effect and hence to construct a reliable map of a robot's surroundings, a probabilistic approach based on Bayesian reasoning is adopted to both evaluation of object orientations and estimation of an occupancy probability of a cell by an object. The usefulness of this approach is illustrated with the results produced by our mobile robot equipped with ultrasonic sensors.

• The Journal of Korea Robotics Society
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• v.2 no.3
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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.

• Korean Journal of Computational Design and Engineering
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• v.14 no.5
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• pp.346-354
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• 2009

BRDF (bidirectional reflectance distribution function) is critical in realistic simulation of material appearances since it models the directional characteristics of reflection of light. Although many BRDF models have been proposed so far, it is still not easy to find one specific model that could represent all the reflection properties of real materials such as generalized diffusion, off-specular reflection, Fresnel effect, and back scattering. In this paper, we compare three BRDF models including B-spline volume BRDF (BVB), Cook-Torrance, and Lafortune in their ability to represent the measured BRDF data for physically-based rendering. We show that B-spline volume BRDF surpass the others in quality of data fitting and rendering, especially for materials without specular reflections.

• Journal of the Korean Magnetics Society
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• v.14 no.1
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• pp.29-32
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• 2004

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.4
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• pp.675-683
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• 1992

Mapping and navigation system based on certainty grids for an autonomous mobile robt operating in unknown and unstructured environment is described. The system uses sonar range data to build a map of robot's surroundings. The range data from sonar sensor are integrated into a probability map that is composed of two dimensional grids which contain the probabilities of being occupied by the objects in the environment. A Bayesian model is used to estimate the uncertainty of the sensor information and to update the existing probability map with new range data. The resulting two dimensional map is used for path planning and navigation. In this paper, the Bayesian updating model which was successfully simulated in our earlier work is implemented on a mobile robot and is shown to be valid in the real world through experiment. This paper also proposes a technique for reducing for reducing specular reflection problem of sonar system which seriousely deteriorates the map quality, and a new path planning method based on weighted distance, which enables the robot to efficiently navigate in an unknown area.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.25 no.10
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• pp.1451-1458
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• 2001

The effects of a specularly reflecting surface on the wall heat flux and medium temperature distribution are studied. The system is an infinite square duct enclosing an absorbing and emitting medium. The walls are opaque, and black or gray. The walls emit diffusely but reflect diffusely or speculary. Heat is transferred by the combined effect of conduction and radiation. The radiative heat transfer is analyzed using direct discrete-ordinates method. The parameters under study are conduction, to radiation parameter, optical depth, wall emissivity, and reflection characteristics. The specular reflection and diffuse reflection show sizeable differences when the conduction to radiation parameter is less than around 0.01. The differences appear only either on the side wall heat flux or on the medium temperature profiles for the range of this study. The differences on the side wall heat flux are observed for optical thickness less than around 0.1 However the differences on the medium temperate profiles are found for optical thickness greater than around 1. The difference increase with increasing reflectance. The specular reflection increases the well heat flux gradient along the side wall.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.134.1-134
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• 2001

The paper presents a sonar based map building method. The environment is a room or area inside a building, which is composed of four types of geometric primitives(corners, edges, cylinders, and walls). We also assume the environment can be modeled into two dimensional map in terms of planes(walls), points(corner and edge), and circle(cylinder). In a real world where most of the object surfaces are specular ones, a sonar sensor suffers from a multipath effect which results in a wrong interpretation of the location of an object. To reduce the effect and uncertainty, the method employs a simple thresholding technique for extracting circular arc features called regions of constant depth(RCD) from scanning sonar data. The usefulness of the approach is illustrated with the results produced by sets of experiments.

• Journal of the Korean Magnetics Society
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• v.11 no.3
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• pp.104-108
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• 2001

The effect of specular electron scattering on natural oxidation of free layer in NiO spin valves have been investigated. The magnetoresistance (MR) ratio and the exchange biasing field ( $H_{ex}$) of NiO(600 $\AA$)Ni$_{81}$$Fe_{19}$(50$\AA$)/Co(7 $\AA$)/Cu(20 $\AA$)/Co(7 $\AA$)Ni$_{81}$$Fe_{19}$(70 $\AA$) spin valves were increased from 4.9 % to 7.3 %, and 110 Oe to 170 Oe after natural oxidation in the atmosphere for 80 days, respectively. The sheet resistivity p decreased from 28$\mu$$\Omega$m to 17$\mu$$\Omega$m, but $\Delta$$\rho$ did not almost change after the oxidation. The spin valves enhanced by the specular electron scattering in the natural]y Co/NiFe/NiFe $O_{x}$ free layer were confirmed from the depth profiles using Auger electron spectroscopy.scopy..

• Journal of Ocean Engineering and Technology
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• v.19 no.1 s.62
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• pp.64-70
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• 2005

Target Strength(TS) is an important factor for the detection of the target in an active sonar system: thus the numerical model for the prediction of TS is widely being developed. For the frequency range of several kHz, the most important scattering mechanism is known to be specular reflection, which is largely affected by the geometrical shape of the target. In this paper, a numerical algorithm to predict TS is developed based on the Kirchhoff approximation which is computationally efficient. The developed algorithm is applied to the canonical targets of simple shapes, for which the analytical solutions exist. The numerical results show good agreement with the analytical solutions. Also, the algorithm is applied to more complex scatterers, and is compared with the experimental data obtained in the water tank experiment for the purpose of verifying the developed numerical model. Discussions on the effect of spatial sampling and other aspects of numerical m odeling are presented.

• Proceedings of the IEEK Conference
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• 2000.09a
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• pp.411-414
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• 2000

우리가 일반적으로 모니터에서 작업을 하는 경우 주로 백열등이나 형광등의 조명을 켠 상태에서 하게된다 이런 경우 모니터 상의 동일한 색도는 주위 조명이 바뀜에 따라 다르게 느껴지며 특히 주위 조명의 색도와 모니터의 색도가 틀린 경우는 더욱더 다르게 느껴진다[1]～[3]. 이 논문에서는 우리가 생활하는 일반 환경인 백열등이나 형광등 아래의 모니터 상에 영상을 재현 시 주위 조명의 영향을 고려한 색 재현 알고리즘을 제안한다. 임의의 환경에서 사람의 색 인식에 영향을 미치는 요소는 장면에 존재하는 조명의 색 특성과 물체의 색 특성에 의존한다. 단순한 물체의 표면 반사가 아닌 모니터 등의 조명 역할을 하는 표면이 존재하는 경우는 두 개 이상의 조명이 있는 형태이다. 두개 이상의 조명이 존재하는 경우, 사람들이 느끼는 백색점(white point)은 각 조명의 색도 벡터(chromaticity vector)의 조합으로 표현된다. 본 논문에서는 임의 환경에서 사람이 인식하는 백색점을 모델링하기 위하여 주위 환경이 백색점의 인식에 미치는 영향을 분석하였으며 모니터 상의 색 재현시 주위 조명의 영향을 주위 조명에 의해 생성되는 모니터 표면의 경면 반사(specular reflection)에 의한 영향과 인간 시각의 색 순응(color adaptation) 백색점의 변화 두 가지로 나누어 분석하였다.