• 제어로봇시스템학회논문지
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• 제16권5호
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• pp.433-439
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• 2010

This paper proposes a beacon color code scheduling algorithm for the localization of multiple robots in a multi-block workspace. With the developments of intelligent robotics and ubiquitous technology, service robots are applicable for the wide area such as airports and train stations where multiple indoor GPS systems are required for the localization of the mobile robots. Indoor localization schemes using ultrasonic sensors have been widely studied due to its cheap price and high accuracy. However, ultrasonic sensors have some shortages of short transmission range and interferences with other ultrasonic signals. In order to use multiple robots in wide workspace concurrently, it is necessary to resolve the interference problem among the multiple robots in the localization process. This paper proposes an indoor localization system for concurrent multiple robots localization in a wide service area which is divided into multi-block for the reliable sensor operation. The beacon color code scheduling algorithm is developed to avoid the signal interferences and to achieve efficient localization with high accuracy and short sampling time. The performance of the proposed localization system is verified through the simulations and the real experiments.

• 제어로봇시스템학회논문지
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• 제19권2호
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• pp.119-124
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• 2013

Recent increasing demand on the indoor localization requires more advanced and hybrid technology. This paper proposes an application of the hybrid indoor localization method based on a position-coded pattern that can be used with other existing indoor localization techniques such as vision, beacon, or landmark technique. To reduce the pattern-recognition error rate, the error detection and correction algorithm was applied based on Hamming code. The indoor localization experiments based on the proposed algorithm were performed by using a QCIF-grade CMOS sensor and a position-coded pattern with an area of $1.7{\times}1.7mm^2$. The experiments have shown that the position recognition error ratio was less than 0.9 % with 0.4 mm localization accuracy. The results suggest that the proposed method could be feasibly applied for the localization of the indoor mobile service robots.

• 한국통신학회논문지
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• 제34권8A호
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• pp.575-582
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• 2009

본 논문에서는 RSS(Received Signal Strength) 기반 무선 센서네트워크에서의 거리 식별코드를 이용한 거리측정 알고리즘(LAtu)을 제안하고 이를 기반으로 위치인식시스템을 설계 및 구현하였다. 또한 제안한 거리측정 알고리즘의 Ranging 정확도 성능과, 제안한 거리측정 알고리즘을 적용해서 개발한 위치인식시스템(System(LAtu))의 위치측정 오차 성능을 실제 위치인식 실험을 통해 IEEE 802.15.4 표준규격의 채널모델(LAieee)을 적용한 위치인식 시스템(System(LAieee))과 비교분석하였다. 성능분석의 결과, Ranging 정확도의 성능은 이동모듈과 비콘모듈간의 거리($D_{MM-BM}$)가 2m의 경우는 LAtu가 IEEE 802.15.4 표준규격의 채널모델(LAieee) 보다 34%정도 더 우수하였고, $D_{MM-BM}$가 5m 이상인 경우에서도 LAtu가 LAieee 보다 평균 5% 정도 더 정확하였다. System(LAtu)의 위치측정 오차 성능은 System(LAieee)에 비해 강당에서 1cm, 강의실에서 4cm 정도로 근소하게 낮았다.

• Journal of Advanced Marine Engineering and Technology
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• 제39권9호
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• pp.959-966
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• 2015

본 논문에서는 Walsh code를 이용하여 중첩된 Light emitting diode(LED) 송신신호들을 수신부에서 각각의 LED 송신신호로 식별하고 조명의 깜박임 현상을 제거할 수 있는 Manchester code 기반 가시광 통신 실내 위치인식 시스템을 제안한다. 제안한 시스템은 고정된 LED 광원의 위치정보들과 수신부에서 그들로부터 수신된 신호들을 람버시안 방사 특성과 삼변 측량법을 이용하여 수신부의 상대적인 위치를 추정할 수 있다. 제안한 논문의 타당성을 검증하기 위하여 16개의 LED 조명을 설치한 $6{\times}6{\times}1.5m^3$의 실내 공간에서 모의실험을 수행하였다. 그 결과, 중첩된 송신신호들은 수신부에서 분리가 가능하고 측위 오차는 최대 0.2977 m, 평균 오차 0.0536 m로 정밀한 위치 인식이 가능하였다.

• International Journal of Aeronautical and Space Sciences
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• 제14권2호
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• pp.112-121
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• 2013

An approach for composing a performance optimized computational code is suggested for the latest microprocessors. The concept of the code optimization, termed localization, is maximizing the utilization of the second level cache that is common to all the latest computer systems, and minimizing the access to system main memory. In this study, the localized optimization of the LU-SGS (Lower-Upper Symmetric Gauss-Seidel) code for the solution of fluid dynamic equations was carried out in three different levels and tested for several different microprocessor architectures widely used these days. The test results of localized optimization showed a remarkable performance gain of more than two times faster solution than the baseline algorithm for producing exactly the same solution on the same computer system.

• 대한임베디드공학회논문지
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• 제13권3호
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• pp.161-167
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• 2018

The improvement of the social environment and the rapid development of medicine are making possible the age of 100. So a great number of countries including Korea are rapidly becoming the aged society or the super aged society. The elderly are accompanied by discomfort and disability. A variety of systems are developed and distributed to overcome them. The electric wheelchair is an electric motorized system for people who can not manipulate a manual wheelchair. In this paper, we propose an autonomous driving platform for an electric wheelchair. Here we use QR (Quick Response) code for self-localization. We also present real test results of the proposed system.

• 제어로봇시스템학회논문지
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• 제19권7호
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• pp.614-619
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• 2013

In multi-robot systems, ultrasonic sensors are widely used for localization and/or obstacle detection. However, conventional ultrasonic sensors have a drawback, that is, the interference problem among ultrasonic transmitters. There are some previous studies to avoid interferences, such as TDMA (Time Division Multiple Access) and CDMA (Code Division Multiple Access). In multiple autonomous mobile robots systems, the Doppler-effect has to be considered because ultrasonic transceivers are attached to the moving robots. To overcome this problem, we find out the ASK (Amplitude Shift Keying)-CDMA technique is more robust to the Doppler-effect than the BPSK (Binary Phase Shift Keying)-CDMA technique. In this paper, we propose a new code-expression method and a Monte-Carlo based algorithm that optimizes the ultrasonic code combination in the ASK-CDMA ultrasonic system. The experimental results show that the proposed algorithm improves the performance of the ultrasonic multiple accessing capacity in the ASK-CDMA ultrasonic system.

• 한국콘텐츠학회논문지
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• 제5권4호
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• pp.150-159
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• 2005

유비쿼터스 컴퓨팅에 대한 관심이 증가함에 따라, 이미지 코드도 다양한 영역에서 관심을 끌고 있다. 유비쿼터스 컴퓨팅에서 이미지 코드가 중요한 이유는 비용면과 함께 많은 영역에서 RFID(radio frequency identification)를 보완하거나 대체할 수 있기 때문이다. 그렇지만, 칼라의 왜곡이 심하여 정확한 칼라를 읽는데 어려움이 있기 때문에, 그 응용은 아직까지는 매우 제한적이다. 이 논문에서는, 칼라의 색상 및 채도 값을 이용하여 자동으로 이미지 코드를 찾아내는 것을 포함하여, 이미지 코드 인식에 관한 효율적인 방법을 제시한다. 이 논문의 실험에서는 현재 상용되고 있는 것들 중 가장 실용적이라고 판단되는 디자인을 사용하였다. 이 이미지 코드에는 여섯 개의 안전 칼라, 즉, R, G, B, C, M, Y가 사용되었다. 실험 영상들로는 크기가 $2464{\times}1632$인 72개의 트루 칼라 필드 영상들을 사용하였다. 히스토그램에 의해 칼라를 보정한 경우, 코드 검출 정확도는 96%, 검출된 코드에 대한 칼라 분류 정확도는 91.28% 이었다. 이미지 코드를 검출 및 인식하는데 2 GHz P4 PC에서 약 5초가 소요되었다.

• 제어로봇시스템학회논문지
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• 제14권2호
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• pp.156-160
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• 2008

A localization system to estimate the position as well as movement direction of mobile robots is proposed in this paper. This system implements a camera fixed on a robot and color patches evenly distributed and mounted on the planar ceiling. Different permutations of patch colors code information about robot localization. Thus, extraction of color information from patch images leads to estimation of robot position. Additionally, simple geometric indicators are combined with patch colors to estimate robot's movement direction. Since only the distribution of patch colors has to be known, the analysis of patch images to is relatively fast and simple. The proposed robot localization system has been successfully tested for navigation of sample mobile robot. Obtained test results indicate the robustness and reliability of proposed technique for robot navigation.

• Advances in concrete construction
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• 제1권1호
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• pp.103-119
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• 2013

The applicability of limit analysis methods in design and assessment of concrete structures generally requires a certain plastic deformation capacity. The latter is primarily provided by the ductility of the reinforcement, being additionally affected by the bond properties between reinforcing steel and concrete since they provoke strain localization in the reinforcement at cracks. The bond strength of reinforcing bars is not only governed by concrete quality, but also by construction details such as bar ribbing, bar spacing or concrete cover thickness. For new concrete structures, a potentially unfavorable impact on bond strength can easily be anticipated through appropriate code rules on construction details. In existing structures, these requirements may not be necessarily satisfied, consequently requiring additional considerations. This two-part paper investigates in a theoretical study the impacts of the most frequently encountered construction details which may not satisfy design code requirements on bond strength, steel strain localization and plastic deformation capacity of cracked structural concrete. The first part introduces basic considerations on bond, strain localization and plastic deformation capacity as well as the fundamentals of the Tension Chord Model underlying the further investigations. It also analyzes the impacts of the hardening behavior of reinforcing steel and concrete quality. The second part discusses the impacts of construction details (bar ribbing, bar spacing, and concrete cover thickness) and of additional structure-specific features such as bar diameter and crack spacing.