• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.783-788
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• 2003

In this paper, we present a new approach to detect and recognize human face in the image from vision camera equipped on the mobile robot platform. Due to the mobility of camera platform, obtained facial image is small and pose-various. For this condition, new algorithm should cope with these constraints and can detect and recognize face in nearly real time. In detection step, ‘coarse to fine’ detection strategy is used. Firstly, region boundary including face is roughly located by dual ellipse templates of facial color and on this region, the locations of three main facial features- two eyes and mouth-are estimated. For this, simplified facial feature maps using characteristic chrominance are made out and candidate pixels are segmented as eye or mouth pixels group. These candidate facial features are verified whether the length and orientation of feature pairs are suitable for face geometry. In recognition step, pseudo-convex hull area of gray face image is defined which area includes feature triangle connecting two eyes and mouth. And random lattice line set are composed and laid on this convex hull area, and then 2D appearance of this area is represented. From these procedures, facial information of detected face is obtained and face DB images are similarly processed for each person class. Based on facial information of these areas, distance measure of match of lattice lines is calculated and face image is recognized using this measure as a classifier. This proposed detection and recognition algorithms overcome the constraints of previous approach [15], make real-time face detection and recognition possible, and guarantee the correct recognition irregardless of some pose variation of face. The usefulness at mobile robot application is demonstrated.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.12
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• pp.874-880
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• 2019

This paper introduces a method which can be effectively used for the path planning of UAV in a realistic map which has mountainous terrains, air defense networks and radars based on the Visibility Graph. Existing studies of Visibility Graph have been studied mainly for simple shape obstacles in 2-dimensional environment such as self-driving cars which avoid buildings. However, for UAV, Visibility Graph must be used in 3-dimensional environment for the variance of altitude. This occurs significant elapsed time increase because of the increase of the amount of the visibility of node sets. To solve this problem, this paper decrease the number of nodes which consists the complex terrain environments using convex hull based on Layered Visibility Graph. With convex hull method, this paper confirmed that the elapsed time is decreased about 99.5% compared to the case which has no decrease of the number of nodes.

• Journal of IKEEE
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• v.9 no.1 s.16
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• pp.7-18
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• 2005

A key component of an autonomous mobile robot is to localize itself accurately and build a map of the environment simultaneously. In this paper, we propose a vision-based mobile robot localization and mapping algorithm using scale-invariant features. A camera with fisheye lens facing toward to ceiling is attached to the robot to acquire high-level features with scale invariance. These features are used in map building and localization process. As pre-processing, input images from fisheye lens are calibrated to remove radial distortion then labeling and convex hull techniques are used to segment ceiling region from wall region. At initial map building process, features are calculated for segmented regions and stored in map database. Features are continuously calculated from sequential input images and matched against existing map until map building process is finished. If features are not matched, they are added to the existing map. Localization is done simultaneously with feature matching at map building process. Localization. is performed when features are matched with existing map and map building database is updated at same time. The proposed method can perform a map building in 2 minutes on $50m^2$ area. The positioning accuracy is ${\pm}13cm$, the average error on robot angle with the positioning is ${\pm}3$ degree.

• Bulletin of the Korean Mathematical Society
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• v.37 no.4
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• pp.743-753
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• 2000

In the space $C_1(X)$ of real-valued continuous functions with $L_1-norm$, every bounded set has a relative Chebyshev center in a finite-dimensional subspace S. Moreover, the set function $F\rightarrowZ_S(F)$ corresponding to F the set of its relative Chebyshev centers, in continuous on the space B[$C_1(X)$(X)] of nonempty bounded subsets of $C_1(X)$ (X) with the Hausdorff metric. In particular, every bounded set has a relative Chebyshev center in the closed convex set S(F) of S and the set function $F\rightarrowZ_S(F)$(F) is continuous on B[$C_1(X)$ (X)] with a condition that the sets S(.) are equal.

• Bulletin of the Korean Mathematical Society
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• v.34 no.2
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• pp.259-271
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• 1997

Let K be a nonempty subset of a normed linear space X and let x $\in$ X. An element k$_0$ in K satisfying $\$\mid$$x - k$_0$$\$\mid$$ = d(x, K) := (equation omitted) $\$\mid$$x - k$\$\mid$$ is called a best approximation to x from K. For any x $\in$ X, the set of all best approximations to x from K is denoted by P$_K$(x) = {k $\in$ K : $\$\mid$$ x - k $\$\mid$$ = d(x, K)}. (omitted)

• Journal of the Korean Mathematical Society
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• v.52 no.1
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• pp.67-80
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• 2015

For a pomonoid S, let us denote Pos-S the category of S-posets and S-poset maps. In this paper, we consider the slice category Pos-S/B for an S-poset B, and study some categorical ingredients. We first show that there is no non-trivial injective object in Pos-S/B. Then we investigate injective objects with respect to the class of regular monomorphisms in this category and show that Pos-S/B has enough regular injective objects. We also prove that regular injective objects are retracts of exponentiable objects in this category. One of the main aims of the paper is to draw attention to characterizing injectivity in the category Pos-S/B under a particular case where B has trivial action. Among other things, we also prove that the necessary condition for a map (an object) here to be regular injective is being convex and present an example to show that the converse is not true, in general.

• Bulletin of the Korean Mathematical Society
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• v.48 no.4
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• pp.813-838
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• 2011

In this paper, we prove sufficient conditions for controllability of second order semi-linear neutral impulsive differential inclusions on unbounded domain with infinite delay in Banach spaces using the theory of strongly continuous Cosine families. We shall rely on a fixed point theorem due to Ma for multi-valued maps. The controllability results in infinite dimensional space has been proved without compactness on the family of Cosine operators.

• Journal of The Korean Digital Architecture Interior Association
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• v.6 no.2
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• pp.1-8
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• 2006

This study is investigates space syntax theory, developed by Bill Hiller, used for physical analysis and visual access of space and role of spatial configuration based on social logic. it mean computer program analyze physical structure of space and represent by mathematical logic. it used for predict space use and Descriptive of spatial configuration. This method and theory is incompletion for design, but it enough useful tool for architecture and urban design and will be improved. And development of a simple computer program - SSA(Sspace Syntax Analysis) for space syntax analysis and study. SSA is based on convex map analysis and using VISIO software for easily using and development.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.2
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• pp.251-259
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• 2010

It is presented in this study a new efficient intelligent machining strategy, which can be used to remove the uncut volume at the boundary region of curved surfaces caused by cutter interference. The geometric form definitions and recognition of topological features of the surface triangulation mesh are used to generate cutter paths along successive and interconnected steepest pathways, that minimize the cusp height left after flat end milling. In order to machine the uncut volume gradually, the z-map cutter centers are adjusted to avoid cutter interference for the 6 kinds of avoidance types. And then, the generative subsequent paths are sequenced to determine the second step cutter paths for the next uncut volume. For the 2 kinds of test models with convex and concave surface region, the implemented software algorithm is evaluated by investigating the residual swelling of uncut volume for each machining step.

• Bulletin of the Korean Mathematical Society
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• v.51 no.5
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• pp.1551-1559
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• 2014

We consider functions that map the open unit disc conformally onto the complement of an unbounded convex set with opening angle ${\pi}{\alpha}$, ${\alpha}{\in}(1,2]$, at infinity. We derive the exact interval for the variability of the real Taylor coefficients of these functions and we prove that the corresponding complex Taylor coefficients of such functions are contained in certain discs lying in the right half plane. In addition, we also determine generalized central functions for the aforesaid class of functions.