• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.373-380
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• 2022

This paper considers a method of fast correspondence matching for iterative closest point (ICP) algorithm. In robotics, the ICP algorithm and its variants have been widely used for pose estimation by finding the translation and rotation that best align two point clouds. In computational perspectives, the main difficulty is to find the correspondence point on the reference point cloud to each observed point. Jump-table-based correspondence matching is one of the methods for reducing computation time. This paper proposes a method that corrects errors in an existing jump-table-based correspondence matching algorithm. The criterion activating the use of jump-table is modified so that the correspondence matching can be applied to the situations, such as point-cloud registration problems with highly curved surfaces, for which the existing correspondence-matching method is non-applicable. For demonstration, both hardware and simulation experiments are performed. In a hardware experiment using Hokuyo-10LX LiDAR sensor, our new algorithm shows 100% correspondence matching accuracy and 88% decrease in computation time. Using the F1TENTH simulator, the proposed algorithm is tested for an autonomous driving scenario with 2D range-bearing point cloud data and also shows 100% correspondence matching accuracy.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.11
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• pp.3204-3217
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• 2023

In this paper, the downlink of the multicast based spatial modulation systems is investigated. Specifically, physical layer multicasting is introduced to increase the number of access users and to improve the communication rate of the spatial modulation system in which only single radio frequency chain is activated in each transmission. To minimize the bit error rate (BER) of the multicast based spatial modulation system, a joint optimizing algorithm of antenna selection and multicast precoding is proposed. Firstly, the joint optimization is transformed into a mixed-integer non-linear program based on single-stage reformulation. Then, a novel iterative algorithm based on the idea of branch and bound is proposed to obtain the quasioptimal solution. Furthermore, in order to balance the performance and time complexity, a low-complexity deflation algorithm based on the successive convex approximation is proposed which can obtain a sub-optimal solution. Finally, numerical results are showed that the convergence of our proposed iterative algorithm is between 10 and 15 iterations and the signal-to-noise-ratio (SNR) of the iterative algorithm is 1-2dB lower than the exhaustive search based algorithm under the same BER accuracy conditions.

• Proceedings of the IEEK Conference
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• 2003.11c
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• pp.28-31
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• 2003

In this paper, it proposes the efficient iterative decoding stop criterion using the variance value of LLR. It is verifying that the proposal iterative de-coding stop criterion can be reduced the average iterative decoding number. The proposal algorithm md hardware synthesize to use the Synopsys Tool, performance validations perform through the ModelSim.

• Proceedings of the KSR Conference
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• 2000.05a
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• pp.78-85
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• 2000

Computer algorithms for the loadflow of the DC traction power supply system are examined. Algorithms to solve the nodal equation are reviewed and the two iterative methods to solve the nonlinear nature of the loadflow are analyzed and tested, which are so called conductance matrix method and current vector iterative mettled. The result of the analysis tells that the current vector iterative method makes faster convergency and needs less computing time, and it is verified by the test running of the programs based on each of the iterative methods.

• Bulletin of the Korean Mathematical Society
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• v.43 no.2
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• pp.319-331
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• 2006

In this paper, a new class of general strongly nonlinear variational-like inequalities was introduced and studied. The existence and uniqueness of solutions and a new iterative algorithm for the general strongly nonlinear variational-like inequality are established and suggested, respectively. The convergence criteria of the iterative sequence generated by the iterative algorithm are also given.

• Bulletin of the Korean Mathematical Society
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• v.47 no.2
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• pp.263-274
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• 2010

In this paper, a new class of general nonlinear variational inclusions involving H-monotone is introduced and studied in Hilbert spaces. By applying the resolvent operator associated with H-monotone, we prove the existence and uniqueness theorems of solution for the general nonlinear variational inclusion, construct an iterative algorithm for computing approximation solution of the general nonlinear variational inclusion and discuss the convergence of the iterative sequence generated by the algorithm. The results presented in this paper improve and extend many known results in recent literatures.

• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.111-114
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• 2004

Object-based segmentation is the first essential step for image processing applications. Recently, SAR (Synthetic Aperture Radar) segmentation techniques have been developed, however not enough to preserve the significant information contained in the small regions of the images. The proposed method is to partition an SAR image into homogeneous regions by using a fuzzy hit-or-miss operator with an inherent spatial transformation, which endows to preserve the small regions. In our algorithm, an iterative segmentation technique is formulated as a consequential process. Then, each time in iterating, hypothesis testing is used to evaluate the quality of the segmented regions with a homogeneity index. The segmentation algorithm is unsupervised and employed few parameters, most of which can be calculated from the input data. This comparative study indicates that the new iterative segmentation algorithm provides acceptable results as seen in the tested examples of satellite images.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.3
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• pp.363-368
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• 2004

In this paper, the robustness property of 2nd-order iterative learning control(ILC) method for a class of linear and nonlinear discrete-time dynamic systems is studied. 2nd-order ILC method has the PD-type learning algorithm based on both time-domain performance and iteration-domain performance. It is proved that the 2nd-order ILC method has robustness in the presence of state disturbances, measurement noise and initial state error. In the absence of state disturbances, measurement noise and initialization error, the convergence of the 2nd-order ILC algorithm is guaranteed. A numerical example is given to show the robustness and convergence property according to the learning parameters.

• Proceedings of the Optical Society of Korea Conference
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• 2000.02a
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• pp.296-297
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• 2000

프라운호퍼 회절에 의하여 주어진 세기 무늬를 발생시키는 회절광학소자(Diffractive Optical Element, DOE)는 회절무늬소자, 키노폼(kinoform), 컴퓨터 푸리에 홀로그램 (computer-generated Fourier hologram) 등으로 불리우며, 광정보처리, 광연결, 레이저가공에서 중요한 역할을 한다. 이 소자를 설계하는 매우 다양한 방법들이 제안되었는데, iterative Fourier transform 알고리즘(IFTA)과 이를 변형한 알고리즘들이 가장 널리 사용된다. IFTA는 fast Fourier transform(FFT)를 활용하므로 계산시간이 절감되지만 국소 최소점에 고착되는 stagnation문제가 있어 이를 해결하기 위한 많은 변형된 알고리즘들이 제안되었다. 본 연구에서는 최근에 제안한 new Pnoise algorithm with hybrid input-output algorithm(NPA-HIOA)$^{(1)}$ 의 설계 성능을 IFTA, hybrid input-output 알고리즘(HIOA), new Pnoise 알고리즘(NPA)$^{(2)}$ , Nonlinear Least-Square (NLS)$^{(3)}$ 등의 기존의 알고리즘들과 비교하고자 한다. (중략)

• Journal of the Korean Society for Precision Engineering
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• v.20 no.6
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• pp.62-70
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• 2003

This paper deals with a approximation and tracking control of hydraulic servo system using a real time recurrent neural networks (RTRN) with 2-dimensional iterative learning rule. And it was driven that 2-dimensional iterative learning rule in discrete time. In order to control the trajectory of position, two RTRN with same network architecture were used. Simulation results show that two RTRN using 2-D learning algorithm is able to approximate the plant output and desired trajectory to a very high degree of a accuracy respectively and the control algorithm using two same RTRN was very effective to control trajectory tracking of electro-hydraulic servo system.