• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1589-1592
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• 1997

Among the prerequisite abilities (perception of environment, path planning and position estimation) of an autonomous mobile robot, position estimation has been seldom studied by mobile robot researchers. In most cases, conventional positioin estimation has been performed by placing landmarks or giving the entrire environmental information in advance. Unlikely to the conventional ones, the study addresses a new method that the robot itself can select distinctive features in the environment and save them as landmarks without any a priori knowledge, which can maximize the autonomous behavior of the robot. First, an orjentaion probaility model is applied to construct a lcoal map of robot's surrounding. The feature of the object in the map is then extracted and the map is saved as landmark. Also, presented is the position estimation method that utilizes the correspondence between landmarks and current local map. In dong this, the uncertainty of the robot's current positioin is estimated in order to select the corresponding landmark stored in the previous steps. The usefulness of all these approaches are illustrated with the results porduced by a real robot equipped with ultrasonic sensors.

• 한국통신학회논문지
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• 제42권5호
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• pp.967-974
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• 2017

본 논문에서는 FTN (faster-than-Nyquist) 시스템에서 MAP (maximum a posteriori) 기법을 이용한 ISI(inter-symbol interference) 추정 기법을 제안한다. 제안하는 기법은 FTN 전송으로 인한 ISI를 제거하기 위하여 복조기에서 MAP 기법을 이용하여 복조를 수행한다. 또한 매우 큰 구현 복잡도를 갖는 MAP 기법의 단점을 보안하기 위하여 간단하게 구현 가능한 SIC (successive interference cancellation) 기법과 MAP 기법을 연동하여 낮은 복잡도를 가지면서도 우수한 성능을 나타내는 ISI 제거 기법을 제안한다. 제안하는 기법은 MAP 기법과 비교하였을 때 낮은 복잡도를 가질 뿐만 아니라 기존에 제안된 ISI 추정 기법들보다 우수한 추정 성능을 나타내는 장점이 있다.

• 제어로봇시스템학회논문지
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• 제19권4호
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• pp.290-298
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• 2013

Geomagnetic is refracted by building's wall and pillar. Therefore refracted geomagnetic is able to be used as feature point. In a specific space, a mobile device that is equipped with magnetic sensor array measures 3-axis magnetic field for each point. Magnetic field map is acquired by collecting the every sample point in the magnetic field. The measured magnetic field must be calibrated, because each magnetic sensor has a distortion. For this reason, sensor distortion model and sensor calibration method are proposed in this paper. Magnetic field that is measured by mobile device matches magnetic field map. Result of the matching is used for position estimation. This paper implements hardware system for position estimation method using magnetic field map.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2003년도 하계학술대회 논문집 Vol.4 No.2
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• pp.1227-1230
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• 2003

In this paper, we propose a pose estimation method using local map acquired from 2d laser range finder information. The proposed method uses extended kalman filter. The state equation is a navigation system equation of Nomad Super Scout II. The measurement equation is a map-based measurement equation using a SICK PLS 101-112 sensor. We describe a map consisting of geometric features such as plane, edge and corner. For pose estimation we scan external environments by laser rage finer. And then these data are fed to kalman filter to estimate robot pose and position. The proposed method enables very fast simultaneous map building and pose estimation.

• 한국태양에너지학회:학술대회논문집
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• 한국태양에너지학회 2008년도 추계학술발표대회 논문집
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• pp.322-326
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• 2008

This paper presents an estimation method of small hydro power(SHP) potential using a SHP resource map. As a basic unit of SHP energy potential at a certain area, capacity and annual energy production of unit head was calculated from the catchment area given by a SHP resource map which was established by numerical hydrologic simulation so that a logical and relatively accurate potential estimation was possible comparing with the performance analysis model for SHP sites. The performance characteristics for Samok-Ri site were analyzed, using the SHP resource map and the developed model. It was found that the SHP resource map and the developed model is useful tool to estimate SHP potential.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제16권11호
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• pp.3780-3797
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• 2022

The estimation of radio map (RM) is a fundamental and critical task for the network planning and optimization performance of mobile communication. In this paper, a RM estimation method is proposed based on a deep dual learning structure. This method can simultaneously and accurately reconstruct the urban building map (UBM) and estimate the RM of the whole cell by only part of the measured reference signal receiving power (RSRP). Our proposed method implements UBM reconstruction task and RM estimation task by constructing a dual U-Net-based structure, which is named RadioCycle. RadioCycle jointly trains two symmetric generators of the dual structure. Further, to solve the problem of interference negative transfer in generators trained jointly for two different tasks, RadioCycle introduces a dynamic weighted averaging method to dynamically balance the learning rate of these two generators in the joint training. Eventually, the experiments demonstrate that on the UBM reconstruction task, RadioCycle achieves an F1 score of 0.950, and on the RM estimation task, RadioCycle achieves a root mean square error of 0.069. Therefore, RadioCycle can estimate both the RM and the UBM in a cell with measured RSRP for only 20% of the whole cell.

• 한국소음진동공학회논문집
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• 제24권10호
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• pp.802-808
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• 2014

The purpose of this study is to suggest efficient methods for estimating population exposed to noises by analyzing differences of population exposed to noises estimated by each method through comparing exposed population estimated by utilizing existing methods and those estimated by using census output areas reflecting the actual population information of each address. For population exposed to noises, the error of exposed population estimated by using the per capita living space turned out to be the biggest, and other estimation methods had no significant difference. For population exposed to excess noises, as a result of analyzing population estimated by each method based on census output areas, the error of the method using a grid noise map turned out to be the biggest. For the method to estimate population exposed to noises by using a noise map, the estimation methods using census output areas and total ground area are considered to be more rational than the grid noise map estimation method or the method to estimate the living space per capita.

• 한국정보통신학회논문지
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• 제18권10호
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• pp.2523-2529
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• 2014

실외에서는 GPS를 기반으로 하는 다양한 위치 추정 시스템을 사용하여 위치 추정 서비스를 제공할 수 있으나, 실내에서는 가시위성의 부족과 신호의 미약으로 GPS를 사용할 수 없어 실내에 존재하는 자원을 기반으로 하는 위치 추정시스템을 사용하고 있다. 특히 WLAN의 신호를 이용하는 fingerprinting 기법은 AP에서 제공하는 RSSI를 이용하여 위치를 추정하기에 실내에서 이용하기에 적합하다. 하지만 fingerprinting 기법은 fingerprinting map을 구축하는 offline 단계에서 얼마나 정확한 데이터를 이용하였는가에 따라 위치 추정의 정확도가 달라지는 단점이 존재한다. 본 논문에서는 이러한 단점을 보완하기 위해 fingerprinting map을 구축하는 단계에서 다수의 데이터를 샘플링 하여 그 중 빈도가 높은 데이터를 저장하여 위치 추정 정밀도를 높이는 위치 추정 시스템을 제안한다. 제안하는 머저리티 샘플링 데이터 기반의 위치 추정 시스템은 map에 저장되어야 하는 RSSI를 클라이언트와 서버에서 가장 빈도가 높은 RSSI데이터를 필터링하여 map을 구축한 후 유사거리측정방식에 의해 위치를 추정하는 시스템이다. 실험결과 최소 87.5 %, 최대 90.4%의 위치 추정 정밀도를 가지는 것을 알 수 있으며, 최소 0.25 ~ 2.72m의 오차 범위를 가지는 것을 확인 할 수 있었다.

• 융합신호처리학회논문지
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• 제4권3호
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• pp.15-20
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• 2003

핸즈프리 마이크를 이용한 원격회의나 원격 통신 시스템과 같은 몇 가지의 응용분야에서, 음성 신호는 주위 잡음뿐만 아니라 마이크와 스피커사이의 결합에 의해 발생하는 에코에 의해서 왜곡되기 쉽다. 게다가 채널 왜곡이나 부가적인 잡음을 포함한 환경 잡음들은 원래의 입력 음성신호에 영향을 미치리라 고려된다. 본 논문에서는, 이러한 핸즈프리 음성에 있어서의 음성 인식률을 향상시키기 위해 에코 제거기와 최대 사후 추정(MAP)을 이용한 새로운 접근방식을 소개한다. 이 접근방식에서, 제안된 시스템이 에코를 포함한 주위 잡음 환경에서의 핸즈프리 음성인식에 효과적이라는 것을 보여준다 또한, 실험 결과는 에코 제거기와 MAP 환경적응 기술의 결합 시스템이 에코와 잡음 환경에 잘 적응하는 것을 보여준다.

• 한국환경과학회지
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• 제18권8호
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• pp.885-897
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• 2009

In order to make sure the impact of spatial resolution of wind energy map on the estimation of wind power density in the Korean Peninsula, the comparison studies on the characteristics of wind energy map with three different spatial resolutions were carried out. Numerical model used in the establishment of wind map is MM5 (5th generation Mesoscale Model) with RBAPS (Regional Data Assimilation and Prediction System) as initial and boundary data. Analyzed Period are four months (March, August, October, and December), which are representative of four seasons. Since high spatial resolution of wind map make the undulation of topography be clear, wind pattern in high resolution wind map is correspond well with topography pattern and maximum value of wind speed is also increase. Indication of island and mountains in wind energy map depends on the its spatial resolution, so wind patterns in Heuksan island and Jiri mountains are clearly different in high and low resolutions. And area averaged power density can be changed by estimation method of wind speed for unit area in the numerical model and by treatment of air density. Therefore the studiable resolution for the topography should be evaluated and set before the estimation of wind resources in the Korean Peninsula.