• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 1995년도 추계 학술대회논문집
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• pp.82-89
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• 1995

In the present paper, a method of nearly orthogonal grid generation in an arbitrary simply-connected 3D domain will be presented. The method is a new direct and non-iterative scheme based on the concept of the decomposition of the global orthogonal transformation into consecutive mapping of a conformal mapping and an auxiliary orthogonal mapping, which was suggested by King and Leal [4]. In our numerical scheme. Kang and Leal's method is extended from 2D problems to 3D problems while the advantage of the non-iterative algorithm is maintained. The essence of the present mapping method is that an iterative scheme can be avoided by introducing a preliminary step. This preliminary step corresponds to a conformal map and is based on the boundary element method(BEM). This scheme is applied to generate several nearly-orthogonal grid systems which are orthogonal at boundaries.

• 전기학회논문지
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• 제58권8호
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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.

• 한국전산유체공학회지
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• 제5권1호
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• pp.14-21
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• 2000

A method of two and three dimensional orthogonal grid generation with control of spacing by using the covariant Laplace equation is presented. An important feature of the methodology is its ability to control effectively the grid spacing especially near the boundaries still maintaining good orthogonality in whole field. The method is based on the concept of decomposition of the global transformation into consecutive transformation of an approximate conformal mapping and an auxiliary orthogonal mapping to have linear and uncoupled equations. Control of cell spacing is based on the concept of reference arc length, and orthogonal correction is peformed in the auxiliary domain. It is concluded that the methodology can successfully generate well controlled orthogonal grids around bodies of 2 and 3 dimensional configurations.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1127-1130
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• 2003

This paper introduces histogramic in-motion mapping for real-time map building with the Eyebot in motion. A histogram grid used in HIMM is updated through three PSD sensors. HIMM makes it possible to make fast map-building and avoid obstacles in real-time. Fast map-building allows the robot to immediately use the mapped information in real-time obstacle-avoidance algorithms. HIMM has been tested on the Eyebot. The Eyebot sends PSD data to computer and computer builds a 3D-Map based on PSD data.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2000년도 춘계 학술대회논문집
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• pp.99-106
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• 2000

A method of two and three dimensional orthogonal grid generation with control of spacing by using the covariant Laplace equation is Presented. An important feature of the methodology is its ability to control effectively the grid spacing especially near the boundaries still maintaining good orthogonality in whole field. The method is based on the concept of decomposition of the global transformation into consecutive transformation of an approximate conformal mapping and au auxiliary orthogonal mapping to have linear and uncoupled equations. Control of cell spacing is based on the concept of reference arc length, and orthogonal correction is performed in the auxiliary domain. It is concluded that the methodology can successfully generate well controlled orthogonal grids around bodies of 2 and 3 dimensional configurations.

• 전기학회논문지
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• 제63권11호
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• pp.1564-1570
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• 2014

An electric vehicle (EV) not only receives electric power from the electric vehicle supply equipment (EVSE), but it also exchanges the information regarding charging process with the power gird through the EVSE. However, the EV and EVSE communicate using the ISO/IEC 15118 standard while the EVSE and power grid communicate using the IEC 61850 standard. Therefore, the EVSE should support both the ISO/IEC 15118 and IEC 61850 standards, and provide a data mapping function between the two communication protocols so that the EV and power grid, which support different protocols, can communicate with each other throughout the charging process. In this paper, we propose a mapping method of the EVSE, which converts the ISO/IEC 15118 data to IEC 61850 and vice versa, based on the XML schema of each protocol. The proposed method converts the data using the XSL (eXtensible Stylesheet Language) method, which defines the data mapping between two XML schemas. Our approach is more flexible and easier to maintain against changes in charging scenarios and the standards than other existing approaches such as one-to-one data mapping methods.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.101.1-101
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• 2001

This paper describes a grid mapping for a vision based mobile robot in uncertain indoor environment. The map building is a prerequisite for navigation of a mobile robot and the problem of feature correspondence across two images is well known to be of crucial Importance for vision-based mapping We use a stereo matching algorithm obtained by singular value decomposition of an appropriate correspondence strength matrix. This new correspondence strength means a correlation weight for some local measurements to quantify similarity between features. The visual range data from the reconstructed disparity image form an occupancy grid representation. The occupancy map is a grid-based map in which each cell has some value indicating the probability at that location ...

• 로봇학회논문지
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• 제4권3호
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• pp.169-176
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• 2009

Low-cost sensors have been widely used for mobile robot navigation in recent years. However, navigation performance based on low-cost sensors is not good enough to be practically used. Among many navigation techniques, building of an accurate map is a fundamental task for service robots, and mapping with low-cost IR sensors was investigated in this research. The robot's orientation uncertainty was considered for mapping by modifying the Bayesian update formula. Then, the data association scheme was investigated to improve the quality of a built map when the robot's pose uncertainty was large. Six low-cost IR sensors mounted on the robot could not give rich data enough to align the range data by the scan matching method, so a new sample-based method was proposed for data association. The real experiments indicated that the mapping method proposed in this research was able to generate a useful map for navigation.

• 정보처리학회논문지C
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• 제10C권3호
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• pp.273-280
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• 2003

기존의 그리드 사용자 인가 시스템은 해당 로컬 시스템에 접근하는 사용자가 많아지게 되고, 사용자 프록시 인증서의 subject DN(Distinguished Name)과 로컬 시스템의 ID를 일대일로 매핑할 경우, 계정 관리 문제와 메모리 자원, 디스크 자원의 관리에 있어 많은 어려움을 겪게 된다. 이러한 문제를 기존의 그리드에서는 여러 subject DN이 하나의 로컬 ID를 공유하는 형태로서 해결하고자 하고 있다. 하나의 로컬 ID를 공유할 경우에 발생하는 문제는 수많은 그리드 사용자의 모든 요구사항을 적용하는데 있어 더 많은 불편함을 초래하게 된다. 이에 본 논문에서는 ID 기반이 아닌 인증서 기반의 사용자 인가 시스템을 제안하였다. 앞서 설명한 기존의 ID 매핑 방식의 인가 시스템 대신에 인증서내의 확장 필드에 사용자의 권한 등급을 추가하고, 이를 기반으로 자원에 대한 접근 제한 등급을 결정하도록 하였다.

• 한국융합학회논문지
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• 제8권8호
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• pp.41-49
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• 2017

'NIST framework and road map for smart grid interoperability standards' 기술 보고서는 스마트 그리드의 발전 방향, 표준의 상호운용성을 확보하는 아키텍처 프레임워크를 제시하고, 식별된 표준 리스트, 사이버 보안 전략, 시험 인증 프레임 워크를 제공하는 문서이다. 특히, 스마트 그리드의 표준 프로토콜인 SEP 2.0과 OpenADR 2.0이 그 예이다. SEP 2.0과 OpenADR 2.0은 기능적으로 HEMS와 스마트 그리드를 이어주는 역할을 할 수 있지만, 두 프로토콜 간에 상호운용 표준은 상기 문서에서 계획된 바가 없다. 또한, OpenADR 연합에서는 OpenADR 2.0과 SEP 2.0간의 상호운용을 위한 매핑 테이블을 정의하는 작업이 진행 중이라 발표했지만, 아직 공개한 정보는 없다. 따라서 본 논문에서는 신재생 에너지 효율 개선 HEMS 개발에 있어 ICT 전력 융합을 위한 SEP 2.0과 OpenADR 2.0b간의 상호운용을 각 프로토콜의 표준 사양 문서 기반의 구문과 의미로 대응하는 매핑 모델을 제안 하고 수요 반응 서비스 시나리오 기반의 의미 매핑 기능 예제를 통해 이를 확인하였다.