• 로봇학회논문지
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• 제9권2호
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• pp.104-110
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• 2014

Mapping is a fundamental element for robotic services. There are available many types of map data representation such as grid map, metric map, topology map, etc. As more robots are deployed for services, more chances of exchanging map data among the robots emerge and standardization of map data representation (MDR) becomes more valuable. Currently, activities in developing MDR standard are underway in IEEE Robotics and Automation Society. The MDR standard is for a common representation and encoding of the two-dimensional map data used for navigation by mobile robots. The standard focuses on interchange of map data among components and systems, particularly those that may be supplied by different vendors. This paper aims to introduce MDR standard and its application to map merging. We have applied the basic structure of the MDR standard to a grid map and Voronoi graph as a kind of topology map and performed map merging between two different maps. Simulation results show that the proposed MDR is suitable for map data exchange among robots.

• Geomechanics and Engineering
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• 제9권6호
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• pp.815-827
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• 2015

The mechanical behavior of soil and soil-rock mixture is investigated via the discrete element method. A non-overlapping combination method of spheres is used to model convex polyhedron rock blocks of soil-rock mixture in the DEM simulations. The meso-mechanical parameters of soil and soil-rock interface in DEM simulations are obtained from the in-situ tests. Based on the Voronoi cell, a method representing volumtric strain of the sample at the particle scale is proposed. The numerical results indicate that the particle rotation, occlusion, dilatation and self-organizing force chains are a remarkable phenomena of the localization band for the soil and soil-rock mixture samples. The localization band in a soil-rock mixture is wider than that in the soil sample. The current research shows that the 3D discrete element method can effectively simulate the mechanical behavior of soil and soil-rock mixture.

• 한국의상디자인학회지
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• 제21권2호
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• pp.109-122
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• 2019

The purpose of this study is to examine the clothing component information and attributes as the control parameters for the 3D modeling process of the biomorphic clothing sculpture using a parametric methodology. The 3D modeling parameters of biomorphic clothing sculpture were identified as exaggerated silhouette, surface texture, and digital color. The types of exaggerated silhouettes were shoulder and hip exaggeration, shoulder exaggeration, hip exaggeration, vertical exaggeration, and horizontal exaggeration. The types of surface texture were embossed, lacy, furry, and complex textures. The types of digital color were chrome, blur, blend, and acid colors. The characteristics of morphological representation due to the attributes of these control variables were identified as morphological variation, organic morphology, organizational morphology, and realistic morphology. As a result, it was found that the parameter attributes were applied to the biomorphic clothing sculpture parametric design process and developed into various shapes.

• 대한금속재료학회지
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• 제48권2호
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• pp.101-108
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• 2010

The local structural states of amorphous alloys have been depicted previously via short-range orders (SROs). However, the concept of SROs alone is inadequate and sometimes insufficient to explain the structure-property relation of the amorphous alloys. In this study, we propose new types of medium-range building structures that affect the mechanical properties, plasticity in particular. Using a combination of molecular dynamics simulations and the Voronoi tessellation method, we demonstrate a three-dimensional configuration of icosahedral medium-range orders (I-MROs) and elucidate how these icosahedral orders evolve by the application of shear deformation. It was observed that the structural stability of the icosahedral orders relies largely on how they are linked via percolation and this linking is explained in detail.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제16권7호
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• pp.2345-2358
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• 2022

This paper presents a method to generate stained-glass animation from video inputs. The method initially segments an input video volume into several regions considered as fragments of glass by mean-shift segmentation. However, the segmentation predominantly results in over-segmentation, causing several tiny segments in a highly textured area. In practice, assembling significantly tiny or large glass fragments is avoided to ensure architectural stability in stained glass manufacturing. Therefore, we use low-frequency components in the segmentation to prevent over-segmentation and subdivide segmented regions that are oversized. The subdividing must be coherent between adjacent frames to prevent temporal artefacts, such as flickering and the shower door effect. To temporally subdivide regions coherently, we obtain a panoramic image from the segmented regions in input frames, subdivide it using a weighted Voronoi diagram, and thereafter project the subdivided regions onto the input frames. To render stained glass fragment for each coherent region, we determine the optimal match glass fragment for the region from a dataset consisting of real stained-glass fragment images and transfer its color and texture to the region. Finally, applying lead came at the boundary of the regions in each frame yields temporally coherent stained-glass animation.

• Nuclear Engineering and Technology
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• 제55권4호
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• pp.1324-1331
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• 2023

In the present work, we carried out a molecular dynamics study of the kinetic properties of the FLiNaK molten salt, as well as a detailed study of the structure of this salt melt. The high value of the self-diffusion coefficient of fluorine ions is due to the large number of Coulomb repulsions between the most numerous negative ions. The calculated values of shear viscosity are in good agreement with the experimental data, as well as with the reference data obtained on the basis of finding the most reliable data. The total and partial functions of the radial distribution are calculated. According to the statistical analysis, fluorine ions have the greatest numerical diversity in the environment of similar ions, and sodium ions with the lowest representation in FLiNaK, have the least such diversity. For the subsystem of fluorine ions, the rotational symmetry of the fifth order is the most pronounced. Some of the fluorine ions form linear chains consisting of three atoms, which are not formed for positive ions. The results of the work give an understanding of the behavior molten FLiNaK under operating conditions in a molten salt reactor and will find application in future studies of this molten salt.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2021년도 춘계학술대회
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• pp.8-11
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• 2021

본 논문은 실내환경에서 로봇의 센싱영역을 벗어난 곳에 위치하는 사용자에게 접근하여 배달서비스를 제공하기 위해 로봇의 최적 위치를 추정하는 방법을 제안한다. 먼저, 사용자의 위치를 추정하기 위해 비콘-태그 모듈정보에 삼변측량법을 적용하여 실내환경에서 위치를 추정하였고, 사용자 추정위치로부터 최적의 로봇 이동목표(Goal)를 설정하기 위해 보로노이 그래프(GVG)의 생성 노드정보를 기반으로 사용자 위치, 장애물, 이동경로 정보의 연산을 통해 최종 위치를 추정하였다. 실제 로봇플랫폼의 목적지 이동을 통해 해당 서비스로봇의 위치정밀도를 검증하였다.

• 한국실내디자인학회논문집
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• 제21권2호
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• pp.35-45
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• 2012

The development of digital media made the change of architectural paradigm from tectonic to the surface and pattern. This means the transition to the new kind of materiality and the resurrection of ornament. This study started as an aim to apply biological pattern to architectural design from the new perception of pattern. Architectural patterns in the early era appeared as ladders, steps, chains, trees, vortices. But since 21st century, we can find patterns in nature like atoms and molecular structures, fluid forms of dynamics and new geometrical pattern like fractal and first of all biological patterns like viruses and micro-organisms, Voronoi cells, DNA structure, rhizomes and various hybrids and permutations of these. Pattern became one of the most important elements and themes of contemporary architecture through the change of materiality and resurrection of ornament with the new perception of surface in architecture. One of the patterns that give new creative availability to the architectural design is biological pattern which is self-organized as an optimum form through interaction with environment. Biological patterns emerge mostly as self-replicating patterns through morphogenesis, certain geometrical patterns(in particular triangles, pentagons, hexagons and spirals). The architectural application methods of biological patterns are direct figural pattern of organism, circle pattern, polygon pattern, energy-material control pattern, differentiation pattern, parametric pattern, growth principle pattern, evolutionary ecologic pattern. These patterns can be utilized as practical architectural patterns through the use of computer programs as morphogenetic programs like L-system, MoSS program and genetic algorithm programs like Grasshoper, Generative Components with the help of computing technology like mapping and scripting.

• Journal of Computing Science and Engineering
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• 제5권3호
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• pp.210-222
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• 2011

In this work, we study the problem of privacy-preservation data publishing in moving objects databases. In particular, the trajectory of a mobile user in a plane is no longer a polyline in a two-dimensional space, instead it is a two-dimensional surface of fixed width $2A_{min}$, where $A_{min}$ defines the semi-diameter of the minimum spatial circular extent that must replace the real location of the mobile user on the XY-plane, in the anonymized (kNN) request. The desired anonymity is not achieved and the entire system becomes vulnerable to attackers, since a malicious attacker can observe that during the time, many of the neighbors' ids change, except for a small number of users. Thus, we reinforce the privacy model by clustering the mobile users according to their motion patterns in (u, ${\theta}$) plane, where u and ${\theta}$ define the velocity measure and the motion direction (angle) respectively. In this case, the anonymized (kNN) request looks up neighbors, who belong to the same cluster with the mobile requester in (u, ${\theta}$) space: Thus, we know that the trajectory of the k-anonymous mobile user is within this surface, but we do not know exactly where. We transform the surface's boundary poly-lines to dual points and we focus on the information distortion introduced by this space translation. We develop a set of efficient spatiotemporal access methods and we experimentally measure the impact of information distortion by comparing the performance results of the same spatiotemporal range queries executed on the original database and on the anonymized one.

• 한국멀티미디어학회논문지
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• 제11권5호
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• pp.692-702
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• 2008

게임이나 가상현실공간에서의 경로 계획은 자율적으로 움직이는 캐릭터들의 수가 많아짐에 따라 그 비중이 높아지고 있다. 로드맵 방식이란 이동 가능한 경로를 나타내는 지도를 사전에 제작하여 경로를 계획하는데 이용하는 방법을 말하며 높은 품질의 경로를 제공할 수 있다는 장점이 있다. 그렇지만 로드맵이 한번 정해지면 모든 캐릭터가 하나의 지도 위에서 움직이기 때문에 크기가 다른 캐릭터들의 특성이 반영되지 못하는 단점이 있다. 본 논문에서는 캐릭터별로 자신의 크기에 맞는 로드맵을 가지고 경로 계획에 각자 이용할 수 있는 효율적인 방법을 제안한다. 이 방법은 캐릭터의 수에 관계없이 전체 지도는 가시성 그래프를 응용하여 1회만 생성하고, 캐릭터의 크기에 따라 이동 가능한 경로를 점진적으로 추가하는 방식으로 제안되기 때문에 효율적이다. 시뮬레이션을 통해 개별 로드맵 방식으로 얻을 수 있는 효과를 보여주며 이때 수반되는 트레이드오프를 분석한다.