• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.205-216
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• 2016

The localization of the robot is one of the most important factors of navigating mobile robots. The use of featured information of landmarks is one approach to estimate the location of the robot. This approach can be classified into two categories: the natural-landmark-based and artificial-landmark-based approach. Natural landmarks are suitable for any environment, but they may not be sufficient for localization in the less featured or dynamic environment. On the other hand, artificial landmarks may generate shaded areas due to space constraints. In order to improve these disadvantages, this paper presents a novel development of the localization system by using artificial and natural-landmarks-based approach on a topological map. The proposed localization system can recognize far or near landmarks without any distortion by using landmark tracking system based on top-view image transform. The camera is rotated by distance of landmark. The experiment shows a result of performing position recognition without shading section by applying the proposed system with a small number of artificial landmarks in the mobile robot.

• Journal of Agricultural Extension & Community Development
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• v.1 no.2
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• pp.95-103
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• 1994

Recently Korean government has proceeded to reorganize agricultural extension system as a part of reduction plan of national governmental body. Function and characteristics of agricultural extension system under the localization was presented in the view of long term agricultural development policy.

• Development and Reproduction
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• v.18 no.3
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• pp.153-160
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• 2014

Adaptive development of early stage embryo is well established and recently it is explored that the mammalian embryos also have adaptive ability to the stressful environment. However, the mechanisms are largely unknown. In this study, to evaluate the possible role of aquaporin in early embryo developmental adaptation, the expression of aquaporin (AQP) 5 gene which is detected during early development were examined by the environmental condition. To compare expression patterns between in vivo and in vitro, we conducted quantitative RT-PCR and analyzed localization of the AQP5 by whole mount immunofluorescence. At in vivo condition, Aqp5 expressed in oocyte and in all the stages of preimplantation embryo. It showed peak at 2-cell stage and decreased continuously until morula stage. At in vitro condition, Aqp5 expression pattern was similar with in vivo embryos. It expressed both at embryonic genome activation phase and second mid-preimplantation gene activation phase, but the fold changes were modified between in vivo embryos and in vitro embryos. During in vivo development, AQP5 was mainly localized in apical membrane of blastomeres of 4-cell and 8-cell stage embryos, and then it was localized in cytoplasm. However, the main localization area of AQP5 was dramatically shifted after 8-cell stage from cytoplasm to nucleus by in vitro development. Those results explore the modification of Aqp5 expression levels and location of its final products by in vitro culture. It suggests that expression of Aqp5 and the roles of AQP5 in homeostasis can be modulated by in vitro culture, and that early stage embryos can develop successfully by themselves adapting to their condition through modulation of the specific gene expression and localization.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.80.2-80
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• 2002

The problem of sound source localization is to determine the position of sound sources using the measurement of the acoustic signals received by microphones. To develop a good sound source localization system which is applicable to a mobile platform such as robots, a time delay estimator with low computational complexity and robustness to background noise or reverberations is necessary. In this paper, an explicit adaptive time delay estimation method for a sound source localization system is proposed. Proposed explicit adaptive time estimation algorithm employs direct adaptation of the delay parameter using a transform-based optimization technique, rather than...

• Journal of National Security and Military Science
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• s.15
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• pp.117-151
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• 2018

The development of local defense parts has played a role a pure function such as maintenance of stable procurement source of military goods, provision of timely supply, establishment of self-defense base, creation of import substitution effect considering the whole life-cycle cost, reduction of foreign currency and protection of domestic defense industry. However, as the development success rate is deteriorating, it is time to analyze the related policies and improve the system. In order to improve the success rate of development of parts for the defense sector, it is necessary to unify the separated policies by the development-related departments and strengthen the policy support for the development companies to actively participate in the development. In addition, it is necessary to improve the paradigm for the selection of development items and change the authority of selecting development items and to delegate authority to create synergies. Parts localization development policy improvement is military support side it will contribute to strengthening defense power management by organically combining with technological development aspect and economical aspect. Development items will be linked to defense exports, which will have a remarkable effect on sales growth and job creation effects. The development of local defense parts is spreading.

• Journal of the Korea Institute of Military Science and Technology
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• v.17 no.2
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• pp.182-188
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• 2014

Source localization is an important problem in the field of sonar and radar, etc. For the purpose of source localization, two or more spatially separated sensors are often used to measure the time difference of arrivals of a radiating source whose transmitted signal waveform is unknown. The NLS(Nonlinear Least Square) cost function with curve fitting method was proposed recently, which provide robust source localization performance by reducing estimation ambiguity. However, even this algorithm shows degraded performance in a multipath environment. To estimates source localization correctly, source localization algorithm that eliminate the effect of multipath signals is required. In this paper, PMP(Power Matching Procedure) is added to the algorithm, which provides improved source localization performance by properly cutting out the effect of multipath signals. Through simulation the performance of the proposed source localization algorithm is verified.

• Journal of Agricultural Extension & Community Development
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• v.7 no.1
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• pp.247-254
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• 2000

Since 1997, Korean government changed the status of extension educators from central government staff to county/city government staff for the sake of democratization and localization, regardless of opposition of academic society of extension professionals. Localization of extension educators followed by government restructuring in Korea, resulted various problems, such as 1) Decreased morale and number of extension educators, thus weakening the extension educational function, 2) Weakened linkages between national and local extension offices, 3) Less opportunity for in-service edition of extension educators, 4) Weakened linkages between agricultural research and extension, etc. During the last 30 years, extension services have helped Korean farmers in achieving self sufficiency of rice and year around supply of green vegetables by diffusion of vinyl house technology. Various problems after three years of localization of extension educators were discussed between announcer of radio KBS and a professor of extension in an interview format, and it was concluded that national efforts should be needed to restore morale of extension educators to continually achieve the national goals of food production, balanced national development and preservation of environment, at the same time to meet increasing needs of farmers.

• Proceedings of the Korea Information Processing Society Conference
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• 2012.04a
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• pp.961-963
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• 2012

The sound source localization system is used to some area such as robotic system, object localization system, guarding system and medicine. So time delay estimation and angle estimation of sound direction are studied until now. These days time delay estimation is described in LabVIEW which is used to create innovative computer-based product and deploy measurement and control systems. In this paper, the development of signal monitoring platform is presented for sound source localization. This platform is designed in virtual instrument program and implemented in two stages. In first stage, data acquisition system is proposed and designed to analyze time delay estimation using cross correlation. In second stage, data obtaining system which is applied and designed to monitor analog signal processing is proposed.

• Journal of information and communication convergence engineering
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• v.10 no.4
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• pp.349-358
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• 2012

Over a wireless sensor network (WSN), accurate localization of sensor nodes is an important factor in enhancing the association between location information and sensory data. There are many research works on the development of a localization algorithm over three-dimensional (3D) space. Recently, the complexity-reduced 3D trilateration localization approach (COLA), simplifying the 3D computational overhead to 2D trilateration, was proposed. The method provides proper accuracy of location, but it has a high computational cost. Considering practical applications over resource constrained devices, it is necessary to strike a balance between accuracy and computational cost. In this paper, we present a novel 3D localization method based on the received signal strength indicator (RSSI) values of four anchor nodes, which are deployed in the initial setup process. This method provides accurate location estimation results with a reduced computational cost and a smaller number of anchor nodes.

• Speech Sciences
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• v.15 no.3
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• pp.17-28
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• 2008

In many practical applications of robots, finding the location of an incoming sound is an important issue for the development of efficient human robot interface. Most sound source localization algorithms make use of only those microphones that are acoustically visible from the sound source or do not take into account the effect of sound diffraction, thereby degrading the sound source localization performance. This paper proposes a new sound source localization method that can utilize those microphones that are acoustically shadowed from the sound source. The experiment results show that use of the acoustically shadowed microphones, which receive higher signal-to-noise ratio signals than the others and are closer to the sound source, improves the performance of sound source localization.