• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.189-196
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• 2011

This paper presents a method of topological modeling using only low-cost sonar sensors. The proposed method constructs a topological model by extracting sub-regions from the local grid map. The extracted sub-regions are considered as nodes in the topological model, and the corresponding edges are generated according to the connectivity between two sub-regions. A grid confidence for each occupied grid is evaluated to obtain reliable regions in the local grid map by filtering out noisy data. Moreover, a convexity measure is used to extract sub-regions automatically. Through these processes, the topological model is constructed without predefining the number of sub-regions in advance and the proposed method guarantees the convexity of extracted sub-regions. Unlike previous topological modeling methods which are appropriate to the corridor-like environment, the proposed method can give a reliable topological modeling in a home environment even under the noisy sonar data. The performance of the proposed method is verified by experimental results in a real home environment.

• Journal of the Chungcheong Mathematical Society
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• v.20 no.1
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• pp.31-35
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• 2007

In dealing with transformation group, topological approach is very natural. But, it is not sufficient to investigate geometric properties of transformation group and we need geometric method. Frankel-McDuff Conjecture is very interesting in the point that it shows struggling between topological method and geometric method. In this paper, the author suggest generalized Frankel-McDuff conjecture as a topological version of the conjecture and construct a counterexample for the generalized version, and from this we assert that topological method does not work for Frankel-McDuff Conjecture.

• Journal of the Korea Computer Graphics Society
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• v.4 no.1
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• pp.11-19
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• 1998

Non-manifold topological operations such as Euler and Boolean operations provide a versatile environment for modeling domains. The implementation of these operations raises geometrical issues that need to be addressed to ensure the topological validity of the underlying model, and they uses the glue operation which provides a basic method to modify the topology of non-manifold models when vertices, edges and faces are contacting each other. Topological information such as adjacency relationships should be inferred when gluing non-manifold models. Two methods of reasoning can be employed to find the topological information : topological reasoning and geometrical reasoning. The topological method can infer the adjacency relationships by using stored topological information. On the other hand, the geometrical method can find topological ambiguities by considering the geometrical shape at the local area of gluing when the topological relations were not stored. This paper describes the geometrical reasoning method.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2006.04a
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• pp.299-306
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• 2006

Using a level set method and topological derivatives, a topological shape optimization method that is independent of an initial design is developed for linearly elastic structures. In the level set method, the initial domain is kept fixed and its boundary is represented by an implicit moving boundary embedded in the level set function, which facilitates to handle complicated topological shape changes. The 'Hamilton-Jacobi (H-J)' equation and computationally robust numerical technique of 'up-wind scheme' lead the initial implicit boundary to an optimal one according to the normal velocity field while minimizing the objective function of compliance and satisfying the constraint of allowable volume. Based on the asymptotic regularization concept, the topological derivative is considered as the limit of shape derivative as the radius of hole approaches to zero. The required velocity field to update the H -J equation is determined from the descent direction of Lagrangian derived from optimality conditions. It turns out that the initial holes is not required to get the optimal result since the developed method can create holes whenever and wherever necessary using indicators obtained from the topological derivatives. It is demonstrated that the proper choice of control parameters for nucleation is crucial for efficient optimization process.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.822-827
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• 2003

Topological maps have drawn more attention recently because they are compact, provide natural interfaces, and are applicable to path planning easily. To build a topological map incrementally, Voronoi diagram was used by many researchers. The Voronoi diagram, however, has difficulty in applying to arbitrarily shaped objects and needs long computation time. In this paper, we present a new method for global topological map from the local topological maps incrementally. The local topological maps are created through a thinning algorithm from a local grid map, which is built based on the sensor information at the current robot position. A thinning method requires simpler computation than the Voronoi diagram. Localization based on the topological map is usually difficult, but additional nodes created by the thinning method can improve localization performance. A series of experiments have been conducted using a two-wheeled mobile robot equipped with a laser scanner. It is shown that the proposed scheme can create satisfactory topological maps.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.25 no.1
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• pp.16-25
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• 2021

This paper is studied the existence of a solution for the impulsive Cauchy problem involving the Caputo fractional derivative in Banach space by using topological structures. We based on using topological degree method and fixed point theorem with some suitable conditions. Further, some topological properties for the set of solutions are considered. Finally, an example is presented to demonstrate our results.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.444-449
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• 2006

Path planning is a key element in navigation of a mobile robot. Several algorithms such as a gradient method have been successfully implemented so for. Although the gradient method can provide the global optimal path, it computes the navigation function over the whole environment at all times, which result in high computational cost. This paper proposes a high-speed path planning scheme, called a gradient method with topological information, in which the search space for computation of a navigation function can be remarkably reduced by exploiting the characteristics of the topological information reflecting the topology of the navigation path. The computing time of the gradient method with topological information can therefore be significantly decreased without losing the global optimality. This reduced path update period allows the mobile robot to find a collision-free path even in the dynamic environment.

• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.247-254
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• 2011

This paper presents a method of sonar grid map matching for topological place recognition. The proposed method provides an effective rotation invariant grid map matching method. A template grid map is firstly extracted for reliable grid map matching by filtering noisy data in local grid map. Using the template grid map, the rotation invariant grid map matching is performed by Ring Projection Transformation. The rotation invariant grid map matching selects candidate locations which are regarded as representative point for each node. Then, the topological place recognition is achieved by calculating matching probability based on the candidate location. The matching probability is acquired by using both rotation invariant grid map matching and the matching of distance and angle vectors. The proposed method can provide a successful matching even under rotation changes between grid maps. Moreover, the matching probability gives a reliable result for topological place recognition. The performance of the proposed method is verified by experimental results in a real home environment.

• Bulletin of the Korean Mathematical Society
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• v.48 no.5
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• pp.1111-1117
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• 2011

Using the moving plane method, we establish the radial symmetry of topological one-vortex solutions of a semilinear elliptic system arising from the self-dual Maxwell-Chern-Simons O(3) model.

• Journal of applied mathematics & informatics
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• v.10 no.1_2
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• pp.361-370
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• 2002

We are to present some properties of binary relations on fuzzy topological spares by means of categorical method. The concept of fuzzy topological ordered spaces was introduced by Katsaras[8]. In this paper we study some special categories, i.e, FTQOS, FTPOS, LSCQ, USCQ, SCQ, CQ, NQO, CRQO, associated with fuzzy topological spaces.