• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.06a
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• pp.323-326
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• 2007

When traveling on real road network, it generally takes less travel time in a near straight path than a zig-zaged path with same source and destination. In order to making a left(right/u) turn, the delay should be required to decrease the speed. The traffic signal waiting time of left(right/u) turn is probably longer than straight driving. In this paper, we revise the previous hierarchical path finding algorithm to reduce the number of turns. The algorithm proposed in this paper complied with a hierarchical $A^*$ algorithm, but has a distinct strategy for edge weight. We define an edge that makes a turn as a turn-edge and give the turn-edge lower weight to maintain the straightness of the whole path.

• The Journal of the Acoustical Society of Korea
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• v.22 no.7
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• pp.579-584
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• 2003

All of propagation path loss prediction models, which have been presented up to date, are oかy for ground living space. In reality, sea surface free space is different from ground living space in physical hierarchical structure. If the propagation path prediction model for ground living space is applied to the sea surface free space, propagation path loss will be smaller than actual value, while the maximum service straight line will become shorter. Thus this paper proposed and simulated the propagation path loss prediction model for predicting propagation path loss more accurately in sea surface free space, with its focus on CDMA mobile communication frequency band. Then the simulation results were compared to actual survey to verify its practicality.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.12 no.3
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• pp.439-445
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• 2001

In this paper, we propose a method that can minimize time-error when a commercial rubidium atomic clock is used as a portable reference clock. A linear interpolation method which was widely used is not based upon long-term stability, but our new method is considered to reduce time error. The comparison results between two method have shown that time error of our new approach considering with long-term stability is better than that of linear interpolation method within observation duration about one and half days. In addition, when the role of a rubidium atomic clock as a portable reference clock is completed within 12 hours, our new method can provide at most maximum time-error of 10 ns which is shorter than 15 ns in conventional method.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.11
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• pp.92-102
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• 1990

A new method for determining the motion parameters (scale, rotation, translation) of 2-D image is introduced. It employs Hough transform that maps the straight lines in the input image to the points in the Hough space (HS). This method makes use of the relations between the motion of an object in input image and the translations of peak points in the HS and thus derives relating equations about motion parameters especially when scale changes are involved. The derived equations make is efficient and simple to estimate motion parameters of input image, even if the scale parameter of input image is varied. Performance of this approach on an aircraft image is provided in detail in the presence of noise.

• Proceedings of the Korea Water Resources Association Conference
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• 2021.06a
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• pp.261-261
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• 2021

자연하천은 직선하천보다 만곡하천으로 존재하는 경우가 많다. 하천의 만곡부에서 2차류 흐름과 나선형 흐름, 원심력이 수충부와 외측제방에 작용하여 하상에 국부적인 세굴이 발생한다. 세굴이 발생하게 되면 수충부나 외측제방에 붕괴나 피해가 일어날 수 있다. 세굴의 피해를 줄이고 만곡부유로를 조정하기 위해 날개형 수제를 설치할 수 있다. 날개형 수제를 설치한 하상은 수제의 두께, 길이, 높이, 간격, 위치, 배열 등에 따라 다르게 반응한다. 본 연구에서는 만곡 개수로에 잠긴 날개형 수제를 설치할 때 만곡 외측에서 수제 열까지의 거리가 만곡부의 유심선 변화에 미치는 영향을 이동상 개수로 수리실험으로 조사하였다. 이동상 수리실험은 폭 1.16 m, 깊이 1 m, 길이 24 m인 90° 만곡 개수로에 d₅₀이 3.3mm인 잔자갈을 깔아 하상경사 1/300로 정리한 후 수제를 설치하는 순서로 이루어졌다. 수제는 폭 20mm, 길이 70mm의 직사각형 단면 목재로 제작하여 설치하였고, 실험별 이격거리는 외측 제방으로부터 8.4 cm, 14 cm, 19.6 cm로 하였다. 실험유량은 140l/s로 3시간 동안 흘린 뒤 하상측정장치를 이용하여 주요 횡단면별 하상고를 측정하였다. 측정한 데이터를 이용하여 최심하상고의 크기와 위치, 유심선의 변화 등을 분석하였다.

• Journal of Broadcast Engineering
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• v.4 no.2
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• pp.87-102
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• 1999

We propose an algorithm for augmenting a real video sequence with views of graphics ojbects without metric calibration of the video camera by representing the motion of the video camera in projective space. We define a virtual camera, through which views of graphics objects are generated. attached to the real camera by specifying image locations of the world coordinate system of the virtual world. The virtual camera is decomposed into calibration and motion components in order to make full use of graphics tools. The projective motion of the real camera recovered from image matches has a function of transferring the virtual camera and makes the virtual camera move according to the motion of the real camera. The virtual camera also follows the change of the internal parameters of the real camera. This paper shows theoretical and experimental results of our application of non-metric vision to augmented reality.

• Proceedings of the KWS Conference
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• 2009.11a
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• pp.56-56
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• 2009

AISI 316L 스테인리스강에 새롭게 디자인한 서로 다른 3가지 응고모드를 가진 와이어로 FCAW(Flux Cored Arc Welding)을 하였다. 각각의 3가지 와이어는 Pseudobinary phase diagram에 따라 AF, FA, F모드를 가졌다. 미세조직은 $Cr_{eq}/Ni_{eq}$이 증가할수록 델타 페라이트 함량이 증가하였으며, 초정 상의 경우 초정 오스테나이트에서 초정 페라이트로 변태하였고, 연성저하균열의 민감도가 감소하였다. 연성저하균열은 이동결정립계의 형상에 따라 좌우되며, 미량의 페라이트를 함유한 오스테나이트에서는 페라이트가 핀(Pin) 역할을 제대로 하지 못하여 직선형태의 이동 결정립계 따라 입계 미끄러짐의 메커니즘을 통해 전파되었으며, 곡선형태의 이동 결정립계에서는 델타 페라이트가 핀 역할을 하여 역할을 하여 구속 상태에서 응력집중을 막고 응력을 분산시켜 균열이 전파되는 것을 방해하여 균열이 발생되지 않았다.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.42 no.2 s.302
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• pp.1-10
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• 2005

This paper presents a technique for localization of a mobile robot using a single ultrasonic sensor. The mobile robot is designed for operating in a well-structured environment that can be represented by planes, edges, corners and cylinders in the view of structural features. In the case of ultrasonic sensors, these features have the range information in the form of the arc of a circle that is generally named as RCD (Region of Constant Depth). Localization is the continual provision of a knowledge of position which is deduced from it's a priori position estimation. The environment of a robot is modeled into a two dimensional grid map. we defines a physically-based sonar sensor model and employs an extended Kalman filter to estimate position of the robot. The performance and simplicity of the approach is demonstrated with the results produced by sets of experiments using a mobile robot.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.3
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• pp.9-18
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• 2000

This paper presents methods for reducing odometer errors caused by kinematic imperfections in wheeled mobile robots. Wheel diameters and wheelbase are corrected by using encoders without landmarks. And a new velocity trajectory is proposed that compensates for an orientation error due to acceleration-resolution constraints on motor controllers. Based on this velocity trajectory, the wheel velocity of one out of two driven wheels may be changed by the traveled distance of the mobile robot. It is shown that a wheeled mobile robot can't move along a straight line exactly, even if kinematic correction are achieved perfectly, and this phenomenon is attributable to acceleration-resolution constraints on motor controllers. We experiment on a wheeled mobile robot with 2 d.o.f. and discuss the results.

• Journal of the Korean Institute of Intelligent Systems
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• v.27 no.2
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• pp.170-178
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• 2017

This paper proposes an improved path-planning technique based on the $A^*$ algorithm. The conventional $A^*$ algorithm only considers the optimality of the planned path and sometimes produces a path that an unmanned underwater vehicle (UUV) cannot navigate due to its dynamic constraint such as the limit of the radius of gyration. It is because that the previous method evaluate the moving cost based on the straight distance between nodes. We enhance the conventional method by evaluating the moving cost on the basis of the practically navigable trajectory, which is generated by the waypoint-tracking control of the UUV dynamics. The simulation examples indeed show the effectiveness of the proposed technique.