• Journal of the Korean Society for Precision Engineering
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• v.17 no.10
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• pp.141-146
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• 2000

We introduce the algorithms of 3-D position estimation using a laser sensor for automatic die remodeling. First, a vision sensor based on the optical triangulation was used to collect the range data of die surface. Second, line vector equations were constructed by the measured range data, and an analytic algorithm was proposed for recognizing the die location with these vector equations. This algorithm could make the transformation matrix without any specific corresponding points. To ascertain this algorithm, folded SUS plate was measured by the laser vision sensor attached to a 3-axis cartesian manipulator and the transformation matrix was calculated.

• Proceedings of the Korea Institutes of Information Security and Cryptology Conference
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• 2006.06a
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• pp.665-669
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• 2006

애드혹(ad hoc) 네트워크에서의 위치기반 라우팅(position-based routing)은 노드의 지리적인 위치정보를 이용함으로써 효율적인 라우팅이 가능하다는 장점이 있다. 위치기반 라우팅에서 위치 서비스(location service)는 라우팅의 안전성과 효율성에 있어서 매우 중요한 부분이며 본 논문에서는 안전한 위치 서비스 프로토콜을 제안한다. 제안한 프로토콜은 메시지를 인증하고 무결성을 보장하기 위해 공개키 시스템을 사용하지만 PKI(Public Key Infrastructure) 기반구조를 사용하지는 않는다. 노드는 자신이 생성한 공개키/개인키 쌍을 이용하여 자신이 소유주임을 주장할 수 있는 위치 주소를 생성하여 라우팅에 사용하게 되며 공격자는 이미 참여하고 있는 다른 노드를 가장하여 메시지를 보내거나 공격할 수 없다. 제안한 프로토콜은 기존에 존재했던 다양한 공격들에 대해 안전하며 위치 서비스를 대상으로 한 공격에도 안전하게 대응할 수 있다.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.8
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• pp.767-773
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• 2008

This paper presents a localization system based on the use of electric compass and tracking IR light source. Digital RGB(Red, Green, Blue)signal of digital CMOS Camera is sent to CPLD which converts the color image to binary image at 30 frames per second. CMOS camera has IR filter and UV filter in front of CMOS cell. The filters cut off above 720nm light source. Binary output data of CPLD is sent to DSP that rapidly tracks the IR light source by moving Camera tilt DC motor. At a robot toward north, electric compass signals and IR light source angles which are used for calculating the data of the location system. Because geomagnetic field is linear in local position, this location system is possible. Finally, it is shown that position error is within ${\pm}1.3cm$ in this system.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.49.6-49
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• 2001

This paper describes a self-localization method for the mobile robot using panoramic view images. A panoramic view image has the information of location of the objects from the viewer robot and direction between the objects at a position. Among the sequence of panoramic view images, the target objects in the image like traffic signs, facade of a building, road signs, etc. locate in the real world so that robot´s position and direction deliver to localize from his view. With the previously captured panoramic images, the method calculates the distance and direction of the region of interest, corresponds the regions between the sequences, and identifies the location in the world. To obtain the region, vertical edge line segments

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.79.4-79
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• 2002

Our goal is the development of a system that estimates the location of interested point in a room with accuracy and low cost. Non-contacting position estimating method is widely used in various areas. Among these methods, acoustic signal-based method is the cheapest and provides reasonably accurate estimation as a result of many research efforts. Most of the acoustic-signal-based three-dimensional location estimators such as 3D sonic digitizer are using the ultrasound, and are organized with two procedures; time-of-flight (TOF) estimation and localization estimation. Since the errors in estimating the TOF could be accumulated with that of localization estimate, accuracy of TOF estimate is as...

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.10
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• pp.962-967
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• 2006

Indoor positioning is highlighted recently, and various kinds of indoor positioning systems are under developments. Since positioning systems have their own characteristics, proper positioning scheme should be chosen according to the required specifications. Positioning methods are classified into time-based and angle-based one. This paper presents the error analysis of time-based and angle-based location methods. Because measurements of these methods are nonlinear, linearizations are needed in both cases to estimate the user position. In the linearization, Gauss-Newton method is used in both cases. To analyze the position error, we investigate the error ellipse parameters that include eccentricity, rotation angle, and the size of ellipse. Simulation results show that the major axes of TOA and AOA method lie in different quadrants at most region of workspace, especially where the geometry is poor. When the TOA/AOA hybrid is employed, it is found that the error ellipse is reduced to the intersection of ellipses of TOA and AOA.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2834-2836
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• 2000

This paper introduces the behavior-based learning controller for mobile robot using topological map. When the mobile robot navigates to the goal position, it utilizes given information of topological map and its location. Under navigating in unknown environment, the robot classifies its situation using ultrasonic sensor data, and calculates each motor schema multiplied by respective gain for all behaviors, and then takes an action according to the vector sum of all the motor schemas. After an action, the information of the robot's location in given topological map is incorporated to the learning module to adapt the weights of the neural network for gain learning. As a result of simulation, the robot navigates to the goal position successfully after iterative gain learning with topological information.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2022.04a
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• pp.235-236
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• 2022

In the present study, the effect of horizontal vent position on fire phenomena in the enclosure with vertical and horizontal vents was examined using numerical simulation. Case 1 indicates the condition that the horizontal vent is in the center of the ceiling. Case 3 indicates the condition that the horizontal vent is far away from the vertical vent. Case 2 indicates the condition that the horizontal vent is installed between Case 1 and Case 3. The temperature distribution, smoke layer temperature, velocity distribution, and mass flow rate of horizontal vent flow were analyzed. In Case 2, the temperatures were lowest and the mass flow rate through the horizontal vent was largest. This is because the flame is inclined by the inflow through the vertical vent. Hence, to determine the proper horizontal vent location for the high smoke ventilation performance, the inflow through the vertical vent and its effect on flame behavior should be considered.

• The Journal of Korea Robotics Society
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• v.15 no.1
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• pp.70-76
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• 2020

Multi-floor navigation of a mobile robot requires a technology that allows the robot to safely get on and off the elevator. Therefore, in this study, we propose a method of recognizing the elevator from the current position of the robot and estimating the location of the elevator locally so that the robot can safely get on the elevator regardless of the accumulated position error during autonomous navigation. The proposed method uses a deep learning-based image classifier to identify the elevator from the image information obtained from the RGB-D sensor and extract the boundary points between the elevator and the surrounding wall from the point cloud. This enables the robot to estimate the reliable position in real time and boarding direction for general elevators. Various experiments exhibit the effectiveness and accuracy of the proposed method.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.91-94
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• 2001

In this paper, we proposed localization method of mobile robot using color landmark mounted on ceiling. This work is composed 2 parts : landmark recognition part which finds the position of multiple landmarks in image and identifies them and absolute position estimation part which estimates the location and orientation of mobile robot in indoor environment. In landmark recognition part, mobile robot detects artificial color landmarks using simple histogram intersection method in rg color space which is insensitive to the change of illumination. Then absolute position estimation part calculates relative position of the mobile robot to the detected landmarks. For the verification of proposed algorithm, ceiling-orientated camera was installed on a mobile robot and performance of localization was examined by designed artificial color landmarks. As the result of test, mobile robot could achieve the reliable landmark detection and accurately estimate the position of mobile robot in indoor environment.