• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.6
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• pp.83-89
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• 2021

To improve the performance of self-driving cars, the introduction of V2X, a communication technology that connects vehicles, infrastructure, and vehicles, is essential. Even if traffic information of the other vehicle is known, the structure of the intersection and a distance calculation algorithm are required for accurate calculations at roundabouts. This paper proposes a design algorithm for a rotating intersection and implemented in Matlab that complies with the national design rules and enables accurate calculations. Assuming the roundabout and the entrance/exit path to be a circle, a method for measuring the distance between vehicles at an arbitrary point was proposed using the horizontal shift of the entrance circle to the main circle. The algorithm could be used in fully autonomous vehicles by designing a roundabout suitable for the terrain by arbitrarily varying the angle between branches and the radius of curvature of the entrance and exit roads, and transmitting a warning signal when a collision between two driving vehicles is expected.

• The Magazine of the IEIE
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• v.23 no.12
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• pp.115-125
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• 1996

This paper presents a new algorithm for the self-localization of a mobile robot using one degree perspective Invariant(Cross Ratio). Most of conventional model-based self-localization methods have some problems that data structure building, map updating and matching processes are very complex. Use of a simple cross ratio can be effective to the above problems. The algorithm is based on two basic assumptions that the ground plane is flat and two locally parallel sloe-lines are available. Also it is assumed that an environmental map is available for matching between the scene and the model. To extract an accurate steering angle for a mobile robot, we take advantage of geometric features such as vanishing points. Feature points for cross ratio are extracted robustly using a vanishing point and intersection points between two locally parallel side-lines and vertical lines. Also the local position estimation problem has been treated when feature points exist less than 4points in the viewed scene. The robustness and feasibility of our algorithms have been demonstrated through real world experiments In Indoor environments using an indoor mobile robot, KASIRI-II(KAist Simple Roving Intelligence).

• Korean Journal of Geomatics
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• v.4 no.1
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• pp.9-16
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• 2004

An object-oriented design was carried out for the digital photogrammetric processes. Classes were identified and implemented to develop an integrated digital photogrammetry system using a 3 dimensional self-calibration model for CCD cameras. This integrated system is deemed to be a significant progress from the conventional photogrammetric system which is a series of discrete processes. Object oriented methodology was selected for the implementation of the integrated photogrammetric system because it would be a very complex task to get the same result using a procedural programming language. Besides the simplification of development effort, object oriented methodology has further benefits of better management of program in case when updates to parts of the program are necessary. Using the classes designed in this study, a 3 dimensional self-calibration model was developed for a CCD camera. Classes for data input and image handling as well as classes for bundle adjustment were implemented. The bundle adjustment system was further enhanced with member functions to handle additional parameters for principal point coordinates and focal length, thereby, enabling the application to non-metric CCD cameras.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.419-422
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• 2003

To improve the recognition accuracy of a developed artificial odor discrimination system for three mixture fragrance recognition, Fuzzy Similarity based Self-Organized Network inspired by Immune Algorithm (F-SONIA) is proposed. Minimum, average, and maximum values of fragrance data acquisitions are used to form triangular fuzzy numbers. Then the fuzzy similarity treasure is used to define the relationship between fragrance inputs and connection strengths of hidden units. The fuzzy similarity is defined as the maximum value of the intersection region between triangular fuzzy set of input vectors and the connection strengths of hidden units. In experiments, performances of the proposed method is compared with the conventional Self-Organized Network inspired by Immune Algorithm (SONIA), and the Fuzzy Learning Vector Quantization (FLVQ). Experiments show that F-SONIA improves recognition accuracy of SONIA by 3-9％. Comparing to the previously developed artificial odor discrimination system that used FLVQ as pattern classifier, the recognition accuracy is increased by 14-25％.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.9
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• pp.2016-2022
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• 2010

We propose a new algorithm for reconstructing curves with self-intersections from sample points. In general, the result of curve reconstruction depends on how to select and order the representative points to resemble the shape of sample points. Most of the previous point ordering approaches utilize the Euclidean distance to compute the proximity of sample points without directional information, so they can not solve the non-simple curve reconstruction problem. In this paper, we develop a new distance estimating the adjacency between sample points, which is derived from the standard normal distribution of Brownian motion. Experimental results show that this approach is very effective to non-simple curve reconstruction.

• Journal of KIISE:Software and Applications
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• v.33 no.9
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• pp.741-750
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• 2006

In this paper, we propose a method for reconstructing a 3D object (or a set of objects) from a 2D drawing provided by a designer. The input 2D drawing consists of a set of contours that may partially overlap each other or be self-overlapping. Accordingly, the resulting 3D object(s) may occlude each other or be self-occluding. The proposed method is composed of three major steps: 2D contour analysis, 3D skeleton computation, and 3D object construction. Our main contribution is to compute the 3D skeleton from the self-intersecting 2D counterpart. We formulate the 3D skeleton construction problem as a sequence of optimization problems, to shape the skeleton and place it in the 3D space while satisfying C1-continuity and intersection-free conditions. Our method is mainly for a silhouette-based sketching interface for the design of 3D objects including self-intersecting objects.

• Journal of the Korea Computer Graphics Society
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• v.6 no.1
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• pp.19-27
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• 2000

This paper proposes a non-self-intersecting multiresolution deformable model to extract and reconstruct three-dimensional boundaries of objects from volumetric data. Deformable models offer an attractive method for extracting and reconstructing the boundary surfaces. However, convensional deformable models have three limitations- sensitivity to model initialization, difficulties in dealing with severe object concavities, and model self-intersections. We address the initialization problem by multiresolution model representation, which progressively refines the deformable model based on multiresolution volumetric data in order to extract the boundaries of the objects in a coarse-to-fine fashion. The concavity problem is addressed by mesh size regularization, which matches its size to the unit voxel of the volumetric data. We solve the model self-intersection problem by including a non-self-intersecting force among the customary internal and external forces in the physics-based formulation. This paper presents results of applying our new deformable model to extracting a sphere surface with concavities from a computer-generated volume data and a brain cortical surface from a MR volume data.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.12
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• pp.142-150
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• 1996

Nowadays, as the development paeiod of new products becomes even shorter, the importance of Rapid Prototyping Technology(RPT) has been rapidly increased. The major application of RPT is an early verification of product designs and quick production of prototypes for testing. Moreover, RPT is applied not only as a second tooling process such as mold making and investment casting but also as a creating some physical structure in medical field. Despite the remarkable progress of RPT, it is required to improve various problems resulting from application such as production time, accuracy and materials. This paper presents a laser scan path generation for accuracy of stereolithographicparts The methodology of laser scan path generation is discussed based on the stereolithography, The procedure of this research is as follows : 1) Input laser scanning conditions such as a laser beam diameter and a laser scanning interval, 2) Reconstruct original contours without self intersecting offset, 3) Calculate offset about reconstructed contours, 4) Calculate intersection points between horizontal or vertical lines and offset contours for internal hatch, 5) Decide laser shutter on/off points. The algorithm developed and programmed by C language is verified as an efficient method after testing a number of STL files of mechanical parts.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.9
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• pp.3449-3467
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• 2015

A broadcast operation is the fundamental transmission technique in mobile ad-hoc networks (MANETs). Because a broadcast operation can cause a broadcast storm, only selected forwarding nodes have the right to rebroadcast a broadcast message among the one-hop and two-hop neighboring nodes of a sender. This paper proposes the maximum intersection self-pruning (MISP) algorithm to minimize broadcasting redundancy. Herein, an example is given to help describe the main concept of MISP and upper bounds of forward node have been derived based on induction. A simulation conducted demonstrated that when conventional blind flooding (BF), self-pruning (SP), an optimized link state routing (OLSR) multipoint relay (MPR) set, and dominant pruning (DP), are replaced with the MISP in executing Strong duplicate address detection (DAD), the performances in terms of the energy consumption, upper bounds of the number of forward nodes, and message complexity have been improved. In addition, to evaluate the performance in reference to the link error probability, P_e, an enhancement was achieved by computing a proposed retransmission limit, S, for error recovery based on this probability. Retransmission limit control is critical for efficient energy consumption of MANET nodes operating with limited portable energy where Strong DAD reacts differently to link errors based on the operational procedures.

• Journal of Institute of Convergence Technology
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• v.6 no.2
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• pp.9-13
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• 2016

Robot usually requires spline motion to move through multiple knots. In this paper, catmull-rom spline method is applied to the trajectory planning of industrial robot in task space. Centripetal catmull-rom is selected to avoid self-intersection and slow motion which can be occurred in uniform and chordal spline. The method to set two control points are proposed to satisfy velocity conditions of initial and final knots. To optimize robot motion, time scaling method is presented to minimize margin between real robot value and maximum value in velocity and acceleration. The simulation results show that the proposed methods are applied to trajectory planning and robot can follow the planned trajectory while robot motion does not exceed maximum value of velocity and acceleration.