• Bulletin of the Korean Mathematical Society
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• v.36 no.3
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• pp.513-532
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• 1999

The purpose of this paper is to give another new characterization of ruled real hypersurfaces in a complex space form $M_n$(c), c$\neq$0 in terms of the covariant derivative of its Weingarten map in the direction of the structure vector $\xi$.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.12
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• pp.1053-1060
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• 2016

As location recognition for autonomous vehicles develops, the need for a precise map for autonomous driving has increased. A precise map must be built based upon accurate position. Recent studies have accelerated research in this area by using various sensors that calculate the accurate position by comparing and recognizing objects around the roads. However, application of such methods is limited because these studies only take objects with significant verticality into consideration. Thus, new research is needed to overcome the limitations: a method that is not constrained by the existence of certain types of surrounding objects shall be proposed. Most roads contain road marking information, such as lanes, direction signs, and pedestrian crossings. Such information on the road surface is a valuable resource for building a precise map. This paper proposes a method of building a precise map by using road marking information.

• The Journal of Korea Robotics Society
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• v.18 no.4
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• pp.487-495
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• 2023

This paper presents a method for autonomous exploration of indoor environments using a 2-dimensional Light Detection And Ranging (LiDAR) scanner. The proposed frontier-based exploration method considers navigability from the current robot position to extracted frontier targets. An approach to constructing the point cloud grid map that accurately reflects the occupancy probability of glass obstacles is proposed, enabling identification of safe frontier grids on the safety grid map calculated from the point cloud grid map. Navigability, indicating whether the robot can successfully navigate to each frontier target, is calculated by applying the skeletonization-informed rapidly exploring random tree algorithm to the safety grid map. While conventional exploration approaches have focused on frontier detection and target position/direction decision, the proposed method discusses a safe navigation approach for the overall exploration process until the completion of mapping. Real-world experiments have been conducted to verify that the proposed method leads the robot to avoid glass obstacles and safely navigate the entire environment, constructing the point cloud map and calculating the navigability with low computing time deviation.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.21 no.1
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• pp.81-87
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• 2003

It is very difficult assignment that grasp three-dimensional real life in Web base network environment. But, the recent simulation tools embody third dimension elements within 2 dimensions screen that is limited through third dimension implementation technology. Many GIS tools are offering excellent functions for third dimension data creation. But, research about design of third dimension GIS that use virtual reality technique in Web environment is status that is unprepared. So, in this research embodied third dimension topography map using virtual reality modelling language to produce active third dimension VR map that can supply visual information for direction, visual point that want in World Wide Web without support of expensive Map exclusive use program. And these 3D Web-Map is thought that possibility is enough as next generation map medium.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.8
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• pp.1605-1614
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• 2009

The technique of simultaneous localization and mapping is the most important research topic in mobile robotics. In the process of building a map in its available memory, the robot memorizes environmental information on the plane of grid or topology. Several approaches about this technique have been presented so far, but most of them use mapping technique as either grid-based map or topology-based map. In this paper we propose a frame of solving the SLAM problem of linking map covering, map building, localizing, path finding and obstacle avoiding in an automatic way. Some algorithms integrating grid and topology map are considered and this make the SLAM performance faster and more stable. The proposed scheme uses an occupancy grid map in representing the environment and then formulate topological information in path finding by A${\ast}$ algorithm. The mapping process is shown and the shortest path is decided on grid based map. Then topological information such as direction, distance is calculated on simulator program then transmitted to robot hardware devices. The localization process and the dynamic obstacle avoidance can be accomplished by topological information on grid map. While mapping and moving, pose of the robot is adjusted for correct localization by implementing additional pixel based image layer and tracking some features. A laser range finer and electronic compass systems are implemented on the mobile robot and DC geared motor wheels are individually controlled by the adaptive PD control method. Simulations and experimental results show its performance and efficiency of the proposed scheme are increased.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.10a
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• pp.93-96
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• 2015

The aim of the estimation of disparity map is to find the corresponding pixels from similar two or more images. However, it is a difficult problem to get precise and consistent disparity under a variety of real world situations. In other words, the color values of stereo images are easily influenced by radiometric properties such as illumination direction, illumination color, and camera exposure. Therefore, conventional stereo matching methods can have low performances under radiometric conditions. In this paper, we propose an approaching of disparity map estimation that is reliable in controlling various radiometric variations close to the real environment. This method is motivated by following constancy. Even though each other has different radiometric property in stereo images, intensity of pixels of object have general constancy in specific block. Experimental results show that the proposed method has better performances compared to the comparison group under different radiometric conditions between stereo images. Consequentially, the proposed method is able to estimate the disparity map in stable under various radiometric variations.

• Journal of the Korean GEO-environmental Society
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• v.20 no.2
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• pp.5-18
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• 2019

In this study, it was conducted a broad-area landslide analysis for the entire area of Kyungsangbuk-do Province based on spatially-distributed wetness index and root reinforcement infinity slope stability theory. Specifically, digital map, soil map and forest map were used to extract topological and geological parameters, and to build spatially-distributed database at $10m{\times}10m$ resolution. Infinity flow direction method was used for rain catchment area to produce spatially-distributed wetness index. The safety level that indicates risk of a broad-area landslide was classified into four groups. The result showed that areas with a high estimated risk of a landslide coincided with areas that recently went through an actual landslide, including Bonghwa and Gimcheon, and unstable areas were clustered around mountainous areas. A comparison between the estimation result and the records of actual landslide showed that the analysis model is effective for estimating a risk of a broad-area landslide based on accumulation of reasonable parameters.

• 한국전산유체공학회:학술대회논문집
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• 2008.03a
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• pp.337-339
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• 2008

As a shock impinges into a vortex of variable strength, complex shock diffraction can occur. Since a vortex has a fixed rotating direction, the shock wave travelling in one direction creates strong asymmetry in the vortex flow field. The process is that first the shock is divided into two parts by the vortex. One part is moving in the adverse direction opposite to the vortex flow which is captured by the vortex center. The other part is moving in the favorable direction, namely, in the direction same as the vortex flow; it is swung around the vortex, accelerating the vortex flow. In this paper we have investigated numerically using ENO scheme how and why the shock-vortex interaction patterns appear so different for different parametric values. Conclusion is that there are three different types of shock-vortex interaction depending on two related parameters: shock Mach number and vortex Mach number. We present a parameter map by which we can discern what type of interaction pattern appears as a shock impinges into a vortex.

• 한국전산유체공학회:학술대회논문집
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• 2008.10a
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• pp.337-339
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• 2008

Abstract: As a shock impinges into a vortex of variable strength, complex shock diffraction can occur. Since a vortex has a fixed rotating direction, the shock wave travelling in one direction creates strong asymmetry in the vortex flow field. The process is that first the shock is divided into two parts by the vortex. One part is moving in the adverse direction opposite to the vortex flow which is captured by the vortex center. The other part is moving in the favorable direction, namely, in the direction same as the vortex flow; it is swung around the vortex, accelerating the vortex flow. In this paper we have investigated numerically using ENO scheme how and why the shock-vortex interaction patterns appear so different for different parametric values. Conclusion is that there are three different types of shock-vortex interaction depending on two related parameters: shock Mach number and vortex Mach number. We present a parameter map by which we can discern what type of interaction pattern appears as a shock impinges into a vortex.

• Journal of the Korea Institute of Military Science and Technology
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• v.10 no.2
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• pp.170-179
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• 2007

This paper introduces the optimal disposition of direction finder using EM(Electro-magnetic) wave propagation analysis which is based on LR(Longley-Rice) propagation model and the characteristics of direction finder, emitter and terrain. Initial model is simulated and modified to minimize propagation error as a result of the field trials. Proposed analysis used line-of-sight analysis and mountain-top extraction algorithm to optimize the disposition in the assigned area and the result can be displayed in the 3D map in order of the percentage coverage for direction finding possibility area.