• The Journal of Korea Robotics Society
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• v.2 no.1
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• pp.29-39
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• 2007

We present an implementation of particle filter algorithm for global localization and kidnap recovery of mobile robot. Firstly, we propose an algorithm for efficient particle initialization using sonar line features. And then, the average likelihood and entropy of normalized weights are used as a quality measure of pose estimation. Finally, we propose an active kidnap recovery by adding new particle set. New and independent particle set can be initialized by monitoring two quality measures. Added particle set can re-estimate the pose of kidnapped robot. Experimental results demonstrate the capability of our global localization and kidnap recovery algorithm.

• Journal of applied mathematics & informatics
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• v.16 no.1_2
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• pp.407-417
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• 2004

It is well known that the nonlinearity of vector Boolean functions F on n-dimensional vector space $GF(2)^n$ to $GF(2)^m$ is bounded above by $2^{n-1} - 2 ^{\frac{n}{2}-1}$. In this paper we derive upper bounds and a lower bound on the nonlinearity of vector Boolean functions in terms of auto-correlations. Strengths and weaknesses of each bounds are examined. Also, we modify the notions of the sum-of-square indicator and absolute indicator for Boolean functions to the case of vector Boolean functions to measure global avalanche characteristics of vector Boolean functions. Using those indicators we compare the global avalanche characteristics of DES (Data Encryption System) and Rijndael.

• Communications of the Korean Mathematical Society
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• v.17 no.1
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• pp.71-80
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• 2002

We give a formulation of the large deviation property for rescalings of random measures on the d-dimensional Euclidean space R$^{d}$ . The approach is global in the sense that the objects are Radon measures on R$^{d}$ and the dual objects are the continuous functions with compact support. This is applied to the cluster random measures with Poisson centers, a large class of random measures that includes the Poisson processes.

• Journal of the Korean Mathematical Society
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• v.33 no.2
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• pp.269-282
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• 1996

It has long been known that Wiener measure and Wiener measurbility behave badly under the change of scale transformation [3] and under translation [2]. However, Cameron and Storvick [4] obtained the fact that the analytic Feynman integral was expressed as a limit of Wiener integrals for a rather larger class of functionals on a classical Wienrer space.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.92.3-92
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• 2002

A lot of localization algorithms have been developed in order to achieve autonomous navigation. However, most of localization algorithms are restricted to certain conditions. In this paper, Monte Carlo localization scheme with a map-matching algorithm is suggested as a robust localization method for the Public Service Robot to accomplish its tasks autonomously. Monte Carlo localization can be applied to local, global and kidnapping localization problems. A range image based measure function and a geometric pattern matching measure function are applied for map matching algorithm. This map matching method can be applied to both polygonal environments and un-polygonal environments and achieves...

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.107.5-107
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• 2002

In this paper, a kinematic optimal design of a new paralleltype rolling mill based upon two Stewart platforms manipulator is investigated. The objective of this new parallel-type rolling mill is to permit an integrated control of the strip thickness, strip shape, pair crossing angle, uniform wear of the rolls, and tension of the strip. A manipulability measure, as the ratio of the manipulability ellipsoid volume and the condition number of a split Jacobian matrix, is defined. Two kinematic parameters, the radius of the base and the angle between two neighboring joints, are optimally designed by maximizing the global manipulability measure in the entire workspace.

• ETRI Journal
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• v.29 no.5
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• pp.697-699
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• 2007

Spatiograms are histograms augmented with spatial means and covariances to capture a richer description of the target. We present a particle filtering framework for region-based tracking using spatiograms. Unlike mean shift, the framework allows for non-differentiable similarity measures to compare two spatiograms; we present one such similarity measure, a combination of a recent weighting scheme and histogram intersection. Experimental results show improved performance with the new measure as well as the importance of global spatial information for tracking. The performance of spatiograms is compared with color histograms and several texture histogram methods.

• ETRI Journal
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• v.35 no.2
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• pp.311-320
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• 2013

In most spectral clustering approaches, the Gaussian kernel-based similarity measure is used to construct the affinity matrix. However, such a similarity measure does not work well on a dataset with a nonlinear and elongated structure. In this paper, we present a new similarity measure to deal with the nonlinearity issue. The maximum flow between data points is computed as the new similarity, which can satisfy the requirement for similarity in the clustering method. Additionally, the new similarity carries the global and local relations between data. We apply it to spectral clustering and compare the proposed similarity measure with other state-of-the-art methods on both synthetic and real-world data. The experiment results show the superiority of the new similarity: 1) The max-flow-based similarity measure can significantly improve the performance of spectral clustering; 2) It is robust and not sensitive to the parameters.

• International Area Studies Review
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• v.21 no.4
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• pp.65-83
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• 2017

As Global value chain(GVC) is deepening, the importance of intermediated good trade is growing in international trade issues. Such facts lead to much discussions about the relation between Global Outsourcing and pollution. This study analyzed the effect of Global outsourcing on Environment using the data including 21 industries for 2004-14. $CO_2$ intensity is used as a proxy for the environment variable and to measure Global outsourcing and I employed the method suggested by Feenstra and Hanson(1999), Amiti and Wei(2006). To examine the effect Global outsourcing on the Environment more precisely, this paper controlled the factors that can affect the environment level on the basis of the theory suggested by Copeland and Taylor(1994). In the methodology, System GMM is employed to solve endogenous problem. The results show that for overall industries, Global outsourcing effect cannot be identified and for polluting industries, the result is identical. However, Global outsourcing has a negative effect on the pollution level for China and developing countries. In other words, as Global outsourcing is increasing, the national pollution level is decreasing.

• Journal of Families and Better Life
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• v.16 no.2
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• pp.107-122
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• 1998

It has been suggested that equity theory a social psychological theory concerned with the fairness in casual relationships should be applicable to marital relationships. This study describes the development of the scale for measuring perception of equity which measure the level of equity in marital relationships among Korean couples. PES(Perception of Equity Scale) is composed of two subscales; detailed measure of equity(DME) and global measure of equity(GME). The PES which include items from two areas of concern for intimates-pschological-emotional concern day-to-day concern-are describes. As results of test reliability of areas of DME range from .86 to .88 and reliability of GME is .92. And there are primarily evidences of construct validity of PES. Therefore PES is very reasonable scale to measure of equity/inequity perception in married couples. Finally analyzing of the level of equity in this sample husbands and wives has generally equitable relationships with their partn rs. Another findings suggest that husbands are overbenefited of their patners through marriage whereas wives are not.