• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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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.

• 한국항공우주학회지
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• 제47권12호
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• pp.874-880
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• 2019

본 논문에서는 무인기의 경로 계획을 위한 맵 분할 방법론 중 하나인 Visibility Graph를 산악지형, 방공망, 그리고 레이더 등의 장애물이 존재하는 실제적인 3차원 환경에서 효율적으로 사용하기 위한 방안에 대해 서술한다. 기존의 가시성 그래프는 빌딩 사이를 주행하는 자율주행 자동차와 같이 주로 2차원 환경에서 간단한 형상의 장애물에 대해 연구되어왔다. 무인기 분야에서 사용하기 위해서는 고도 변화를 위해 3차원 가시성 그래프가 적용되어야 하는데, 3차원 가시성 그래프의 경우 2차원 환경에 비해 가시성을 판단해야 하는 노드 쌍이 매우 많아진다. 이에 더해 복잡한 다각형으로 이루어진 산악 지형은 가시성 그래프의 계산 시간을 더욱 상승시키는 요인으로 작용한다. 이러한 문제를 해결하기 위해 본 논문에서는 맵을 일정 고도로 분할하는 계층형 가시성 그래프 방식을 기반으로 복잡한 산악 지형을 Convex Hull 개념을 활용하여 노드 수를 감소시켜 계산 시간을 줄이는 방법에 대해 서술하며, 노드 수를 감소시키지 않은 상태와의 계산 시간을 비교한 결과 계산 시간이 약 99.5% 감소하였음을 확인하였다.

• 전기전자학회논문지
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• 제9권1호
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• pp.7-18
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• 2005

로봇이 자율주행을 하는데 있어 중요한 요소는 로봇 스스로 위치를 추정하고 동시에 주위 환경에 대한 지도를 작성하는 것이다 본 논문에서는 스케일 불변 특정을 이용한 비전 기반 위치 추정 및 매핑 알고리즘을 제안한다. 로봇에 어안렌즈가 부착된 카메라를 천정을 바라볼 수 있도록 부착하여 스케일 불변 특정을 갖는 고급의 영상 특정을 구하여 맹 빌딩과 위치 추정을 수행한다. 먼저, 전처리 과정으로 어안렌즈를 통해 입력된 영상을 카메라 보정을 행하여 축방향 왜곡을 제거하고 레이블링과 컨벡스헐을 적용하여 천정영역과 벽영역으로 분할한다 최초 맵 빌딩시에는 분할된 영역에 대해 특정점을 구하고 맵 데이터베이스에 저장한다. 맵 빌딩이 종료될 때까지 연속하여 입력되는 영상에 대해 특정점들을 구하고 이미 작성된 맵과 매칭되는 점들을 찾고 매칭되지 않은 점들에 대해서는 기존의 맴에 추가하는 과정을 반복한다. 위치 추정은 맵 빌딩과정에서 매칭되는 점들을 찾을 때 동시에 수행되어 진다. 그리고 임의의 위치에서 기존의 작성된 맵과 매칭되는 점들을 찾음으로서 위치 추정이 행해지며 동시에 기존의 맵 데이터베이스의 특정점들을 갱신하게 된다. 제안한 방법은 $50m^2$의 영역에 대해 맵 빌딩을 2 분내에 수행할 수 있었으며, 위치의 정확도는 ${\pm}13cm$, 위치에 대한 로봇의 자세(각도)는 ${\pm}3$도의 오차를 갖는다.

• 대한수학회보
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• 제37권4호
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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.

• 대한수학회보
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• 제34권2호
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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)

• 대한수학회지
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• 제52권1호
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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.

• 대한수학회보
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• 제48권4호
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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.

• 한국디지털건축인테리어학회논문집
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• 제6권2호
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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.

• 한국생산제조학회지
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• 제19권2호
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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.

• 대한수학회보
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• 제51권5호
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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.