• Journal of the Korean Society for Precision Engineering
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• v.31 no.3
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• pp.253-259
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• 2014

This study proposes a map-based control method to improve a vehicle's lateral stability, and the performance of the proposed method is compared with that of the conventional model-referenced control method. Model-referenced control uses the sliding mode method to determine the compensated yaw moment; in contrast, the proposed map-based control uses the compensated yaw moment map acquired by vehicle stability analysis. The vehicle stability region is calculated by a topological method based on the trajectory reversal method. The performances of model-referenced control and map-based control are compared under various road conditions and driving inputs. Model-referenced control uses a control input to satisfy the linear reference model, and it generates unnecessary tire lateral forces that may lead to worse performance than an uncontrolled vehicle with step steering input on a road with low friction coefficient. The simulation results show that map-based control provides better stability than model-referenced control.

• Proceedings of the KSRS Conference
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• 2008.10a
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• pp.433-436
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• 2008

A demand on the spatial data management has been rapidly increased with the introduction and diffusion process of ITS, Telematics, and Wireless Sensor Network, and many different people use the digital map that offers various thematic spatial data. Spatial data for digital map can manage to tile-based and feature-based data. The existing tile-based digital map management systems have difficult problems of data construction, history management, and updating based on a spatial object. In order to solve these problems, this paper proposed the data model for the feature-based digital map management system that is designed for feature-based seamless map, history management, real-time updating of spatial data, and analyzed the validity and utility of the proposed model.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.86-88
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• 2005

An autonomous semantic-map building method is proposed, with the robot localized in the semantic-map. Our semantic-map is organized by objects represented as SIFT features and vision-based relative localization is employed as a process model to implement extended Kalman filters. Thus, we expect that robust SLAM performance can be obtained even under poor conditions in which localization cannot be achieved by classical odometry-based SLAM

• IEIE Transactions on Smart Processing and Computing
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• v.2 no.5
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• pp.277-281
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• 2013

Modern speaker verification systems based on support vector machines (SVMs) use Gaussian mixture model (GMM) supervectors as their input feature vectors, and the maximum a posteriori (MAP) adaptation is a conventional method for generating speaker-dependent GMMs by adapting a universal background model (UBM). MAP adaptation requires the appropriate amount of input utterance due to the number of model parameters to be estimated. On the other hand, with limited utterances, unreliable MAP adaptation can be performed, which causes adaptation noise even though the Bayesian priors used in the MAP adaptation smooth the movements between the UBM and speaker dependent GMMs. This paper proposes a sparse MAP adaptation method, which is known to perform well in the automatic speech recognition area. By introducing sparse MAP adaptation to the GMM-SVM-based speaker verification system, the adaptation noise can be mitigated effectively. The proposed method utilizes the L0 norm as a regularizer to induce sparsity. The experimental results on the TIMIT database showed that the sparse MAP-based GMM-SVM speaker verification system yields a 42.6% relative reduction in the equal error rate with few additional computations.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.683-688
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• 1994

Recently, the Z-Map model has been used widely to represent the three dimensional geometric shape and to achieve the cross-section and point evaluation of the shape. In this paper, the CNC cutting planning and simulation modules for product with three dimensional geometric shape are realized based on the Z-Map model. The realized system has the various capabilities related to the automatic generation of tool path for the rough and finish cutting processes, the automatic elimination of overcut, the automatic generation of CNC program for a machining center and the cutting simulation. Especially, the overcut-free tool path is obtained by using the CL Z-Map models which are composed of the offset surfaces of the geometric shape of product.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.7 no.5
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• pp.38-45
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• 1998

The Z-map model which is quite similar to the non-parametric patch is widely used to describe the shape of a surface because of its simplicity. Despite the inherent advantage of z-map model. it has drawbacks that there exists difficulty in expressing the vertical walls and its related contact treatment method. In the region of vertical walls, there is a convergence problem in searching the contact point. In this study a contact point finding scheme is presented, based on the z value of the z-map model on the sheet normal direction. To show the utility of this scheme a compared with the experimental results. The effects of the Z-map grid distances and the interpolations of the inside Z-map value are also discussed.

• Journal of Korea Spatial Information System Society
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• v.11 no.1
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• pp.71-78
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• 2009

A demand on the spatial data management has been rapidly increased with the introduction and diffusion process of ITS, Telematics, and Wireless Sensor Network. And many different users use the digital map that offers various thematic spatial data. Spatial data for digital map can be managed by tile-based and feature-based data. The existing tile-based digital map management systems have difficult problems such as data construction, history management, and update data based on a spatial object. In order to solve these problems, we proposed the data model for feature-based digital map management system for representation of feature-based seamless map, history management, real-time update of spatial data, and analyzed the validity and utility of the proposed model.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1132-1135
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• 1996

The objective of this paper is to make a model-based map for the localization of an autonomous mobile robot(AMR) from ultrasonic sensor measurements, that are acquired when the AMR explores unknown indoors. First, the AMR navigates on unknown space by wall-following and gathers range data from the ultrasonic sensor. Then, the range data are converted to a wall-marked gird map, from which lines representing the walls are extracted using the Hough transform. This process is implemented on an AMR having an ultrasonic sensor, and a preliminary experimental result is presented.

• JSTS:Journal of Semiconductor Technology and Science
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• v.15 no.5
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• pp.511-518
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• 2015

As the cost-per-byte of SSDs dramatically decreases, the introduction of SSDs to Hadoop becomes an attractive choice for high performance data processing. In this paper the cost-per-performance of SSD-based Hadoop cluster (SSD-Hadoop) and HDD-based Hadoop cluster (HDD-Hadoop) are evaluated. For this, we propose a MapReduce performance model using queuing network to simulate the execution time of MapReduce job with varying cluster size. To achieve an accurate model, the execution time distribution of MapReduce job is carefully profiled. The developed model can precisely predict the execution time of MapReduce jobs with less than 7% difference for most cases. It is also found that SSD-Hadoop is 20% more cost efficient than HDD-Hadoop because SSD-Hadoop needs a smaller number of nodes than HDD-Hadoop to achieve a comparable performance, according to the results of simulation with varying the number of cluster nodes.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.5
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• pp.47-56
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• 2003

Geometric cutting-simulation and verification play an important role in detecting NC machining errors in mold & die manufacturing and thereby reducing correcting time & cost on the shop floor. Current researches in the area may be categorized into view-based, solid-based, and discrete vector-based methods mainly depending on workpiece models. Each methodology has its own strengths and weaknesses in terms of computing speed, representation accuracy, and its ability of numerical inspection. The paper proposes a hybrid modeling scheme for workpiece representation with z-map model and discrete vector model, which performs 3-axis and 5-axis cutting-simulation via tool swept surface construction by connecting a sequence of silhouette curves.