• 제어로봇시스템학회논문지
• /
• 제18권4호
• /
• pp.343-352
• /
• 2012

To follow a sound source by a mobile robot, the relative position and orientation of the sound source from the mobile robot have been estimated using a microphone array. In this research, the difference among the traveling times of the sound source to each of three microphones has been used to calculate the distance and orientation of the sound source from the mobile robot which carries the microphone array. The cross-correlation between two signals has been applied for detecting the time difference between two signals, which provides reliable and precise value of the time difference comparing to the conventional methods. To generate the tracking direction to the sound source, fuzzy rules are applied and the results are used to control the mobile robot in a real-time. The efficiency of the proposed algorithm has been demonstrated through the real experiments comparing to the conventional approaches.

• 한국지형공간정보학회:학술대회논문집
• /
• 한국지형공간정보학회 2005년도 아시아 태평양 국제 GSIS 학술발표회
• /
• pp.61-72
• /
• 2005

The landslide risk assessment process consists of hazard risk assessment and vulnerability analysis. landslide hazard risk is location dependent. Therefore, maps and spatial technologies such as GIS are very important components of the risk assessment process. This paper discusses the advantages of using GIS technology in the risk assessment process and illustrates the benefits through case studies of live projects undertaken. The goal of this study is to generate a map of landslide vulnerability map by analysis of static natural factors with GIS. A simple and efficient algorithm is proposed to generate a landslide potentialities map from DEM and existing maps. The categories of controlling factors for landslides, aspect of slope, soil, vegetation are defined. The weight values for landslide potentialities are calculated from AHP method. Slope and slope-direction are extracted from DEM, and soil informations are extracted from digital soil map. Also, vegetation informations are extracted from digital vegetation map. Finally, as overlaying, landslide potentialities map is made out, and it is verified with landslide place.

• 한국경영과학회:학술대회논문집
• /
• 대한산업공학회/한국경영과학회 2000년도 춘계공동학술대회 논문집
• /
• pp.381-384
• /
• 2000

This paper proposes a method of estimating the lifetime distribution at use condition for constant stress accelerated lift tests when extrinsic failure mode as well as intrinsic one exists. A mixture of two log-normal distributions is introduced to describe these failure modes and it is assumed that a linear relation exists between the location parameter and stress. An estimation procedure using the expectation and maximization algorithm is proposed and a numerical example is given.

• 한국전산구조공학회:학술대회논문집
• /
• 한국전산구조공학회 2003년도 봄 학술발표회 논문집
• /
• pp.95-102
• /
• 2003

To define an analytical model for a structural system or to assess damage in the system, system identification(SI) methods have been developed and widely applied. The paper presents a method of determining optimal sensor location(OSL) based on the maximum likelihood approach, which is applicable to modal SI methods. To estimate unknown parameters reliably, it is necessary that the information provided by the experiment should be maximized. By applying the Cramer-Rao inequality, a Fisher information matrix in terms of the probability density function of measurements is obtained from a lower bound of the estimation error. The paper also proposes a scheme of determining of OSL on damaged structures by using maximum strain energy factor. Simulation studies have carried out to investigate the proposed OSL algorithm for both undamaged and damaged structures.

• 대한임베디드공학회논문지
• /
• 제4권3호
• /
• pp.118-125
• /
• 2009

This paper proposes a novel method to enhance performance of soccer robot system using optimal color patch mounted on the robot. In soccer robot system, the position and orientation of the robot can be estimated with color patch under real time environment. However, the location estimation of the robot is very sensitive to the pattern of color patch. In addition, pattern recognition and navigation algorithm are operated independently to reduce the operation time. The experimental results show that the proposed pattern of patch is effective to reduce the position and orientation error of the robot.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2005년도 추계학술대회 논문집
• /
• pp.901-905
• /
• 2005

It is very important to arrange landmarks when a mobile robot needs to measure its own location. So, it has been discussed often how to arrange landmarks in the optimal way until now. We, there, chose the RFID (Radio frequency Identification) tags as landmarks which can be observed by a mobile robot, and demonstrated the possibility of the optimal arrangement of them. For this work first, we defined the optimization problem and its parameters for the arrangement of tags. Second, we proposed the algorithm which can be applied to the optimization problem. Finally we could obtain closely optimal and practical arrangement with the minimum number of landmarks which satisfied the necessary condition by experimentation.

• 한국멀티미디어학회논문지
• /
• 제22권4호
• /
• pp.417-423
• /
• 2019

This paper presents an evaluation system to determine the completeness of a space map obtained by a visual SLAM(Simultaneous Localization And Mapping) algorithm. The proposed system consists of three parts. First, the proposed system detects the occurrence of loop closing to confirm that users acquired the information from all directions. Thereafter, the acquired map is divided with regular intervals and is verified whether each area has enough map points to successfully estimate users' position. Finally, to check the effectiveness of each map point, the system checks whether the map points are identifiable even at the location where there is a large distance difference from the acquisition position. Experimental results show that space maps whose completeness is proven by the proposed system has higher stability and accuracy in terms of position estimation than other maps that are not proven.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.1102-1105
• /
• 2004

In this paper, the problem of a viewer's head tracking in a desktop-based interactive stereoscopic display system is considered. A fast and low-cost approach to the problem is important for such a computing environment. The system under consideration utilizes a shuttle glass for stereoscopic display. The proposed method makes use of an image taken from a single low-cost video camera. By using a simple feature extraction algorithm, the obtained points corresponding to the image of the user-worn shuttle glass are used to estimate the glass center, its local 'yaw' angle, as measured with respect to the glass center, and its global 'yaw' angle as measured with respect to the camera location. With these estimations, the stereoscopic image synthetic program utilizes those values to interactively adjust the two-view stereoscopic image pair as displayed on a computer screen. The adjustment is carried out such that the so-obtained stereoscopic picture, when viewed from a current user position, provides a close-to-real perspective and depth perception. However, because the algorithm and device used are designed for fast computation, the estimation is typically not precise enough to provide a flicker-free interactive viewing. An error concealment method is thus proposed to alleviate the problem. This concealment method should be sufficient for applications that do not require a high degree of visual realism and interaction.

• Journal of Ubiquitous Convergence Technology
• /
• 제2권2호
• /
• pp.67-77
• /
• 2008

Representation of various types of information in an interactive virtual reality environment on mobile devices had been an attractive and valuable research in this new era. Our main focus is presenting spatial indoor location sensing information in 3D perception in mind to replace the traditional 2D floor map using handheld PDA. Designation of 3D virtual reality by Virtual Reality Modeling Language (VRML) demonstrates its powerful ability in providing lots of useful positioning information for PDA user in real-time situation. Furthermore, by interpolating portal culling algorithm would reduce the 3D graphics rendering time on low power processing PDA significantly. By fully utilizing the CC2420 chipbased sensor nodes, wireless sensor network was established to locate user position based on Received Signal Strength Indication (RSSI) signals. Implementation of RSSI-based indoor tracking method is low-cost solution. However, due to signal diffraction, shadowing and multipath fading, high accuracy of sensing information is unable to obtain even though with sophisticated indoor estimation methods. Therefore, low complexity and flexible accuracy refinement algorithm was proposed to obtain high precision indoor sensing information. User indoor position is updated synchronously in virtual reality to real physical world. Moreover, assignment of magnetic compass could provide dynamic orientation information of user current viewpoint in real-time.

• 한국안전학회지
• /
• 제20권2호
• /
• pp.119-126
• /
• 2005

Load bearing structural members in a wide variety of applications accumulate damage over their service life. From a standpoint of both safety and performance, it is desirable to monitor the occurrence, location, and extent of such damage. Structures require complicated element models with a number of degrees of freedom in structural analysis. During experiment much effort and cost is needed for measuring structural parameters. The sparseness and errors of measured data have to be considered during the parameter estimation Of Structures. In this paper we introduces damage identification algorithm by a system identification(S.I) using static and dynamic response. To study the behaviour of the estimators in noisy environment Using Monte Carlo simulation and a data measured perturbation scheme is adopted to investigate the influence of measurement errors on identification results. The assessment result by static and dynamic response were compared, and the efficiency and applicabilities of the proposed algorithm are demonstrated through simulated static and dynamic responses of a truss bridge. The assessment results by each method were compared and we could observe that the 5.1 method is superior to the other conventional methods.