• Journal of information and communication convergence engineering
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• 제10권4호
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• pp.390-395
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• 2012

This paper describes an implementation of automatic mutual localization of swarm robots using a particle filter. Each robot determines the location of the other robots using wireless sensors. The measured data will be used for determination of the movement method of the robot itself. It also affects the other robots' self-arrangement into formations such as circles and lines. We discuss the problem of a circle formation enclosing a target that moves. This method is the solution for enclosing an invader in a circle formation based on mutual localization of the multi-robot without infrastructure. We use trilateration, which does require knowing the value of the coordinates of the reference points. Therefore, specifying the enclosure point based on the number of robots and their relative positions in the coordinate system. A particle filter is used to improve the accuracy of the robot's location. The particle filter is operates better for mutual location of robots than any other estimation algorithms. Through the experiments, we show that the proposed scheme is stable and works well in real environments.

• 제어로봇시스템학회논문지
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• 제22권4호
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• pp.301-306
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• 2016

This paper presents the results of a study for robust self-localization and indoor slam using external cameras (such as a CCTV) and odometry of mobile robot. First, a position of mobile robot was estimated by using maker and odometry. This data was then fused with camera data and odometry data using an extended kalman filter. Finally, indoor slam was realized by applying the proposed method. This was demonstrated in the actual experiment.

• 전기전자학회논문지
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• 제18권4호
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• pp.636-644
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• 2014

본 논문에서는 스마트 홈 환경 내에서 웰니스 로봇의 이동을 위한 로봇의 사물인터넷 기반 지능형 자기위치인식 및 자세제어 방법을 제안한다. 먼저, 자기위치인식 방법은 스마트 홈, 홈 환경 내 위치하고 있는 물체, 홈 웰니스 로봇 간의 사물인터넷을 기반으로 하는 방법을 제안한다. 스마트 홈에 RF태그를 설치하고 환경 내 물체에 RF 리더를 내장하여 환경 내 물체의 절대좌표 정보를 획득하고, 물체와 홈 웰니스 로봇간 블루투스 통신을 이용하여 물체의 절대좌표 정보를 홈 웰니스 로봇에 제공한 후, 홈 웰니스 로봇에 장착되어 있는 스테레오 카메라를 통해서 물체를 기준으로 한 홈 웰니스 로봇의 상대 좌표를 알아내어 로봇의 스마트 홈 환경에서의 자기위치인식을 한다. 둘째로, 홈 웰니스 로봇의 물체 접근을 위한 비전센서 기반의 퍼지 자세 제어 방법을 제안한다. 홈 웰니스 로봇의 정면에 장착된 스테레오 카메라를 기준으로 물체까지의 깊이 정보를 추출하고 영상의 중앙을 기준으로 틀어진 각을 계산하여 물체와 홈 웰니스 로봇 정면과의 각도차를 알아낸다. 얻은 정보를 퍼지 순람표(Look-Up table)로 작성하여 물체에 접근하기 위한 홈 웰니스 로봇의 자세제어를 하도록 한다. 이렇게 제안한 각각의 자기위치인식 및 자세제어 방법의 성능은 실제 구축한 스마트 홈 환경과 웰니스 로봇을 가지고 실험하여 확인한다.

• Journal of Ginseng Research
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• 제43권3호
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• pp.421-430
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• 2019

Background: The ginsenoside Rg3, one of active components of red ginseng, has chemopreventive and anticancer potential. Cancer stem cells retain self-renewal properties which account for cancer recurrence and resistance to anticancer therapy. In our present study, we investigated whether the standardized Korean Red Ginseng extract (RGE) and Rg3 could modulate the manifestation of breast cancer stem cell-like features through regulation of self-renewal activity. Methods: The effects of RGE and Rg3 on the proportion of $CD44^{high}/CD24^{low}$ cells, as representative characteristics of stem-like breast cancer cells, were determined by flow cytometry. The mammosphere formation assay was performed to assess self-renewal capacities of breast cancer cells. Aldehyde dehydrogenase activity of MCF-7 mammospheres was measured by the ALDEFLUOR assay. The expression levels of Sox-2, Bmi-1, and P-Akt and the nuclear localization of hypoxia inducible $factor-1{\alpha}$ in MCF-7 mammospheres were verified by immunoblot analysis. Results: Both RGE and Rg3 decreased the viability of breast cancer cells and significantly reduced the populations of $CD44^{high}/CD24^{low}$ in MDA-MB-231 cells. RGE and Rg3 treatment attenuated the expression of Sox-2 and Bmi-1 by inhibiting the nuclear localization of hypoxia inducible $factor-1{\alpha}$ in MCF-7 mammospheres. Suppression of the manifestation of breast cancer stem cell-like properties by Rg3 was mediated through the blockade of Akt-mediated self-renewal signaling. Conclusion: This study suggests that Rg3 has a therapeutic potential targeting breast cancer stem cells.

• Journal of Advanced Marine Engineering and Technology
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• 제38권5호
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• pp.566-572
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• 2014

Recently, indoor navigation has been applied in large convention centers by using wireless sensor networks (WSNs), which provide not only a user's path to be traveled but also orientation and shopping information to increase user's convenience. This paper presents the localization system for estimating relative coordinates without pre-deployment of the reference node based on ultra wide band (UWB) ranging system, which is relatively suitable for indoor localization compared to other wireless communications, and azimuth sensor. The proposed localization system which consists of an azimuth sensor and a mobile node composed of three nodes estimates relative coordinates of the reference node without applying any recursive and time consumption algorithms. Also, in the process of estimating relative coordinates of the reference node, ranging errors are minimized through the proposed technique and the number of nodes can be reduced. Experimental results show the feasibility and validity of the proposed system.

• 제어로봇시스템학회논문지
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• 제11권5호
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• pp.398-405
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• 2005

The intelligent robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, robots need to recognize their position and posture in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for a robot to estimate of his position by solving uncertainty for mobile robot navigation, as one of the best important problems. In this paper, we describe a method for the localization of a mobile robot using image information of a moving object. This method combines the observed position from dead-reckoning sensors and the estimated position from the images captured by a fixed camera to localize a mobile robot. Using a priori known path of a moving object in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a moving object and the estimated robot's position. Also, the control method is proposed to estimate position and direction between the walking human and the mobile robot, and the Kalman filter scheme is used for the estimation of the mobile robot localization. And its performance is verified by the computer simulation and the experiment.

• 대한수학회지
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• 제48권1호
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• pp.147-158
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• 2011

In this paper, we consider a multi-dimensional diffusion process in a self-similar random environment and prove a limit theorem for the shape of the full trajectory of the diffusion by using the localization phenomenon.

• 한국멀티미디어학회:학술대회논문집
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• 한국멀티미디어학회 2012년도 춘계학술발표대회논문집
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• pp.266-266
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• 2012

• 한국통신학회논문지
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• 제34권1A호
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• pp.65-75
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• 2009

무선 센서 네트워크(WSN: Wireless Sensor Network) 환경에서 사건의 탐지(event detection)와 라우팅(routing), 정보추적(information tracking) 등의 중요한 기능을 수행하기 위해 센서노드의 위치를 측정하는 문제는 반드시 해결되어야 한다. DV-Hop 알고리즘은 멀티 홉에서 얻어지는 정보를 기반으로 위치를 측정하며 비교적 적은 앵커로도 구현이 가능하지만 보다 정밀한 위치측정을 위해 개선되어야 할 부분이 존재한다. 그러한 요인 중 하나로 알고리즘에 사용되는 홉 간 거리가 여러 앵커 노드로 부터의 홉 간 거리의 평균값으로 계산되는 것을 들 수 있다. 이는 홀(Hole)과 같은 장애물에 의한 홉 수의 증가로 발생할 수 있는 미지노드와 앵커사이에 거리 값 계산의 오차를 발생시킨다. 본 논문에서는 DV-Hop 알고리즘의 이러한 문제점을 분석하고 이를 보완 가능한 그룹기반DV-Hop(GDV-Hop) 알고리즘을 제시한다. 그룹 기반 DV-Hop 알고리즘은 다양한 비컨의 라우팅 경로에 의한 위치오차를 효과적으로 줄일 수 있을 뿐 아니라 불필요한 비컨전송의 오버 헤드를 줄일 수 있는 장점을 갖는다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.846-851
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• 2004

In this paper, we propose a global ultrasonic system for the self-localization and autonomous navigation of indoor mobile robots. The ultrasonic sensor is regarded as the most cost-effective ranging system among the possible alternatives, and it is widely used for general purpose, since it requires simple electronic drivers and has relatively high accuracy. The global ultrasonic system presented in this paper consists of four or more ultrasonic generators fixed at reference positions in the global coordinates of an indoor environment and two receivers mounted on the mobile robots. By using the RF (Radio Frequency) modules added to the ultrasonic sensors, the robot is able to control the ultrasonic generation and to obtain the critical distances from the reference positions, which are required in order to localize is position in the global coordinates. A kalman filter algorithm designed for the self-localization using the global ultrasonic system and the experimental results of the autonomous navigation are presented in this paper.