• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.39 no.4
• /
• pp.386-392
• /
• 1990

This paper discribes a sonar-based certainty grid, the probabilistic representation of the uncertain and incomplete sensor knowledge, for autonomous mobile robot navigation. We use sonar sensor range data to build a map of the robot's surroundings. This range data provides information about the location of the objects which may exist in front of the sensor. From this information, we can compute the probability of being occupied and that of being empty for each cell. In this paper, a new method using Bayesian formula is introduced, which enables us to overcome some difficulties of the Ad-Hoc formula that has been the only way of updating the grids. This new formula can be applied to other kinds of sensors as well as sonar sensor. The validity of this formula in the real world is verified through simulation and experiment. This paper also shows that a wide angle sensor such as sonar sensor can be used effectively to identify the empty area, and the simultaneous use of multiple sensors and fusion in a certainty grid can improve the quality of the map.

• Journal of the Korean Society for Railway
• /
• v.3 no.4
• /
• pp.229-236
• /
• 2000

In this study, the unsteady flow field induced by a high-speed train passing through a tunnel is numerically simulated by using an axi-symmetric Euler Equation. The modified patched grid scheme applied to a structured grid system was used to handle the relative motion of a train. The hybrid-dimensional approach which mixed 1D and axi-symmetric dimension was used to reduce the computation time and memory storage. By employing the hybrid-dimensional approach, a long tunnel as much as 5 km was able to be simulated efficiently. The results show that the maximum pressure rise in the tunnel by the entrance of the train is a function of both train speed and train-tunnel cross-sectional area ratio. The unsteady pressure fluctuation in the tunnel and around the train was also investigated in the real condition; Korean high-speed train on the Seoul-Pusan line.

• Proceedings of the KIEE Conference
• /
• 2005.10b
• /
• pp.83-85
• /
• 2005

Exploration involving mapping and localization in an unknown environment is an important task in mobile robots. For this, robot must be able to build a reliable map of surroundings and to estimate the position of it. In this paper, we developed technique for gird-based localization of a mobile robot with ultrasonic sensors using EKF(Extended Kalman Filter). We also describe the information about landmarks detected in the environment. Finally, the robot experiments show the efficiency of our approach in the real environment.

• Proceedings of the KSME Conference
• /
• 2002.08a
• /
• pp.91-94
• /
• 2002

It is important to develop new effective technologies for increasing the interruption capacity and reducing the size of a GCB (Gas Circuit Breaker). It is not easy to test the real GCB model in practice as in theory. Therefore, a simulation tool based on a CFD (Computational Fluid Dynamics) algorithm has been developed to facilitate an optimization of the interrupter. But the choice of grid is not at all trivial in the complicated geometries like a GCB. In this paper, we have applied a CFD-CAD integration using Cartesian cut-cell method, which is one of the grid generation techniques for dealing with complex and multi-component geometries.

• Proceedings of the IEEK Conference
• /
• 1999.11a
• /
• pp.1131-1134
• /
• 1999

In general CELP type vocoders provide good speech quality around 4.8kbps. Among them, G.723.1 developed for Internet Phone and videoconferencing includes two vocoders, 5.3kbps ACELP and 6.3kbps MO-MLQ. Since 6.3kbps MP-MLQ requires large amount of computation for fixed codebook search, it is difficult to realize real time processing. In order to improve the problem this paper proposes the new method that reduces the processing time up to about 50% of codebook search time. We first decide the grid bit, then search the codebook. Grid bit is selected by comparison between synthetic speech, which is synthesized with only odd or even pulses of target vector. and DC removed original speech. As a result, we reduced the total processing time of G.723.1 MP-MLQ up to about 26.08%. In objective quality test 11.19㏈ of segSNR was obtained, and in subjective quality test there was almost no speech degradation.

• The Journal of Korea Robotics Society
• /
• v.4 no.3
• /
• pp.169-176
• /
• 2009

Low-cost sensors have been widely used for mobile robot navigation in recent years. However, navigation performance based on low-cost sensors is not good enough to be practically used. Among many navigation techniques, building of an accurate map is a fundamental task for service robots, and mapping with low-cost IR sensors was investigated in this research. The robot's orientation uncertainty was considered for mapping by modifying the Bayesian update formula. Then, the data association scheme was investigated to improve the quality of a built map when the robot's pose uncertainty was large. Six low-cost IR sensors mounted on the robot could not give rich data enough to align the range data by the scan matching method, so a new sample-based method was proposed for data association. The real experiments indicated that the mapping method proposed in this research was able to generate a useful map for navigation.

• The Journal of Korea Robotics Society
• /
• v.9 no.2
• /
• pp.96-103
• /
• 2014

Global localization is one of the essential issues for mobile robot navigation. In this study, an indoor global localization method is proposed which uses a Kinect sensor and a monocular upward-looking camera. The proposed method generates an environment map which consists of a grid map, a ceiling feature map from the upward-looking camera, and a spatial feature map obtained from the Kinect sensor. The method selects robot pose candidates using the spatial feature map and updates sample poses by particle filter based on the grid map. Localization success is determined by calculating the matching error from the ceiling feature map. In various experiments, the proposed method achieved a position accuracy of 0.12m and a position update speed of 10.4s, which is robust enough for real-world applications.

• Journal of Fisheries and Marine Sciences Education
• /
• v.19 no.2
• /
• pp.269-277
• /
• 2007

We propose the architecture for the bidirectional remote educational system using the APII(Asia-Pacific II) international network. The proposed system was imported function of the VoIP and Web storage with Access Grid System for adopting the various cooperating methods of the remote education, and also implemented the network monitoring functions system using MRTG. Using the proposed methods, we have verified the performance and problems of implemented system through the real-time remote education using bidirectional communication between KOREA and Japan.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.8
• /
• pp.773-780
• /
• 2015

Navigation in outdoor environments is a fundamental and challenging problem for unmanned ground vehicles. Detecting lane markings or boundaries on the road may be one of the solutions to make navigation easy. However, because of various environments and road conditions, a robust lane detection is difficult. In this paper, we propose a new approach for estimating virtual lanes on a traversable region. Estimating the virtual lanes consist of two steps: (i) we detect virtual road region through road model selection based on traversability at current frame and similarity between the interframe and (ii) we estimate virtual lane using the number of lane on the road and results of previous frame. To improve the detection performance and reduce the searching region of interests, we use a probability map representing the traversability of the outdoor terrain. In addition, by considering both current and previous frame simultaneously, the proposed method estimate more stable virtual lanes. We evaluate the performance of the proposed approach using real data in outdoor environments.

• Proceedings of the KIPE Conference
• /
• 2005.07a
• /
• pp.591-594
• /
• 2005

Islanding of PV systems occurs when the uitilty grid is removed but local sources continue to operate and provide power to local loads. Islanding Is one of the serious problems in an electric power system connected with dispersed power sources. Also, this scan present safety hazards and the possibility of damage to other electric equipments. If the real and reactive power of RLC load and PV system are closely matched, islanding phenomena can't be detected by the passive methods. Several active methods were proposed to detect islanding phenomena. The most effective method is SFS method which was suggested by Sandia National Laboratory. In this paper, a new anti-islanding algorithm is proposed and its validity is verified through simulation and experimental results for utility interconnection of PV system.