• ETRI Journal
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• v.29 no.6
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• pp.769-778
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• 2007

This paper proposes a multiplication algorithm for $F_{p^m}$, which can be efficiently applied to many pairs of characteristic p and extension degree m except for the case that 8p divides m(p-1). It uses a special class of type- Gauss period normal bases. This algorithm has several advantages: it is easily parallelized; Frobenius mapping is easily carried out since its basis is a normal basis; its calculation cost is clearly given; and it is sufficiently practical and useful when parameters k and m are small.

• Nonlinear Functional Analysis and Applications
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• v.26 no.5
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• pp.995-1009
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• 2021

Many iterative algorithms like that Picard, Mann, Ishikawa and S-iteration are very useful to elucidate the fixed point problems of a nonlinear operators in various topological spaces. The recent trend for elucidate the fixed point via inertial iterative algorithm, in which next iterative depends on more than one previous terms. The purpose of the paper is to establish convergence theorems of new inertial Picard normal S-iteration algorithm for nonexpansive mapping in Hilbert spaces. The comparison of convergence of InerNSP and InerPNSP is done with InerSP (introduced by Phon-on et al. [25]) and MSP (introduced by Suparatulatorn et al. [27]) via numerical example.

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.1-10
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• 2014

In recent years, the research of 3D mapping technique in urban environments obtained by mobile robots equipped with multiple sensors for recognizing the robot's surroundings is being studied actively. However, the map generated by simple integration of multiple sensors data only gives spatial information to robots. To get a semantic knowledge to help an autonomous mobile robot from the map, the robot has to convert low-level map representations to higher-level ones containing semantic knowledge of a scene. Given a 3D point cloud of an urban scene, this research proposes a method to recognize the objects effectively using 3D graph model for autonomous mobile robots. The proposed method is decomposed into three steps: sequential range data acquisition, normal vector estimation and incremental graph-based segmentation. This method guarantees the both real-time performance and accuracy of recognizing the objects in real urban environments. Also, it can provide plentiful data for classifying the objects. To evaluate a performance of proposed method, computation time and recognition rate of objects are analyzed. Experimental results show that the proposed method has efficiently in understanding the semantic knowledge of an urban environment.

• Journal of Information Processing Systems
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• v.16 no.5
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• pp.1145-1157
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• 2020

A convolution neural networks (CNNs) has demonstrated outstanding performance compared to other algorithms in the field of face recognition. Regarding the over-fitting problem of CNN, researchers have proposed a residual network to ease the training for recognition accuracy improvement. In this study, a novel face recognition model based on game theory for call-over in the classroom was proposed. In the proposed scheme, an image with multiple faces was used as input, and the residual network identified each face with a confidence score to form a list of student identities. Face tracking of the same identity or low confidence were determined to be the optimisation objective, with the game participants set formed from the student identity list. Game theory optimises the authentication strategy according to the confidence value and identity set to improve recognition accuracy. We observed that there exists an optimal mapping relation between face and identity to avoid multiple faces associated with one identity in the proposed scheme and that the proposed game-based scheme can reduce the error rate, as compared to the existing schemes with deeper neural network.

• Korean Chemical Engineering Research
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• v.52 no.6
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• pp.736-742
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• 2014

If an accident occurs at work places that handle 'the accident preparedness substances', it causes more property damage and casualties than accidents of normal chemical substances. Even though various systems and regulations have been operated in order to prevent accidents, techniques for reducing and removing human error, which is one of the main reasons of accidents, are still inadequate. In this paper, hazardous work digitization, potential hazard verification, and work evaluation based on domestic technical guidelines have been performed through a case study of the accident of hydrofluoric acid leakage in Gumi in September 2012, and development of a new risk mapping method has been studied to supplement existing systems.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.1177-1179
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• 2003

Recently, the ground-based laser profiler is used for acquisition of 3D spatial information of a rchaeological objects. However, it is very difficult to measure complicated objects, because of a relatively low-resolution. On the other hand, texture mapping can be a solution to complement the low resolution, and to generate 3D model with higher fidelity. But, a huge cost is required for the construction of textured 3D model, because huge labor is demanded, and the work depends on editor's experiences and skills . Moreover, the accuracy of data would be lost during the editing works. In this research, using the laser profiler and a non-calibrated digital camera, a method is proposed for the automatic generation of 3D model by integrating these data. At first, region segmentation is applied to laser range data to extract geometric features of an object in the laser range data. Various information such as normal vectors of planes, distances from a sensor and a sun-direction are used in this processing. Next, an image segmentation is also applied to the digital camera images, which include the same object. Then, geometrical relations are determined by corresponding the features extracted in the laser range data and digital camera’ images. By projecting digital camera image onto the surface data reconstructed from laser range image, the 3D texture model was generated automatically.

• Proceedings of the KSRS Conference
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• 1998.09a
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• pp.252-256
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• 1998

Accurate mapping of satellite images is one of the most important Parts in many remote sensing applications. Since the position and the attitude of a satellite during image acquisition cannot be determined accurately enough, it is normal to have several hundred meters' ground-mapping errors in the systematically corrected images. The users which require a pixel-level or a sub-pixel level mapping accuracy for high-resolution satellite images must use a number of Ground Control Points (GCPs). In this paper, the performance of two geometric correction algorithms is tested and compared. One is the polynomial warping algorithm which is simple and popular enough to be implemented in most of the commercial satellite image processing software. The other is full camera modelling algorithm using Physical orbit-sensor-Earth geometry which is used in satellite image data receiving, pre-processing and distribution stations. Several criteria were considered for the performance analysis : ultimate correction accuracy, GCP representatibility, number of GCPs required, convergence speed, sensitiveness to inaccurate GCPs, usefulness of the correction results. This paper focuses on the usefulness of the precision correction algorithm for regular image pre-processing operations. This means that not only final correction accuracy but also the number of GCPs and their spatial distribution required for an image correction are important factors. Both correction algorithms were implemented and will be used for the precision correction of KITSAT-3 images.

• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.25-31
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• 2022

Moving among multiple floors is one of the most challenging tasks for indoor autonomous robots. Most of the previous researches for indoor mapping and localization have focused on singular floor environment. In this paper, we present an algorithm that creates a multi-floor map using 3D point cloud. We implement localization within the multi-floor map using a LiDAR and an IMU. Our algorithm builds a multi-floor map by constructing a single-floor map using a LOAM-based algorithm, and stacking them through global registration that aligns the common sections in the map of each floor. The localization in the multi-floor map was performed by adding the height information to the NDT (Normal Distribution Transform)-based registration method. The mean error of the multi-floor map showed 0.29 m and 0.43 m errors in the x, and y-axis, respectively. In addition, the mean error of yaw was 1.00°, and the error rate of height was 0.063. The real-world test for localization was performed on the third floor. It showed the mean square error of 0.116 m, and the average differential time of 0.01 sec. This study will be able to help indoor autonomous robots to operate on multiple floors.

• Journal of Mechanical Science and Technology
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• v.17 no.12
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• pp.1922-1927
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• 2003

Nonlinear normal mode (NNM) vibration, in a nonlinear dual mass Hamiltonian system, which has 6$\^$th/ order homogeneous polynomial as a nonlinear term, is studied in this paper. The existence, bifurcation, and the orbital stability of periodic motions are to be studied in the phase space. In order to find the analytic expression of the invariant curves in the Poincare Map, which is a mapping of a phase trajectory onto 2 dimensional surface in 4 dimensional phase space, Whittaker's Adelphic Integral, instead of the direct integration of the equations of motion or the Birkhoff-Gustavson (B-G) canonical transformation, is derived for small value of energy. It is revealed that the integral of motion by Adelphic Integral is essentially consistent with the one obtained from the B-G transformation method. The resulting expression of the invariant curves can be used for analyzing the behavior of NNM vibration in the Poincare Map.

• The Korean Journal of Nuclear Medicine
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• v.37 no.1
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• pp.63-72
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• 2003

Functional MRI (fMRI) provides an indirect mapping of cerebral activity, based on the detection of the local blood flow and oxygenation changes following neuronal activity (Blood Oxygenation Level Dependent). fMRI allows us to study noninvasively the normal and pathological aspects of functional cortical organization. Each fMRI study compares two different states of activity. Echo-Planar Imaging is the technique that makes it possible to study the whole brain at a rapid pace. Activation maps are calculated from a statistical analysis of the local signal changes. fMRI is now becoming an essential tool in the neurofunctional evaluation of normal volunteers and many neurological patients as well as the reference method to image normal or pathologic functional brain organization.