• Journal of Institute of Control, Robotics and Systems
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• v.21 no.2
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• pp.108-114
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• 2015

Automated driving systems require a high level of performance regarding environmental perception, especially in urban environments. Today's on-board sensors such as radars or cameras do not reach a satisfying level of development from the point of view of robustness and availability. Thus, map data is often used as an additional data input to support these systems. An accurate digital map is used as a powerful additional sensor. In this paper, we propose a new approach for vehicle localization using a lane map and a single-layer LiDAR. The maps are created beforehand using a highly accurate DGPS and a single-layer LiDAR. A pose estimation of the vehicle was derived from an iterative closest point (ICP) match of LiDAR's intensity data to the lane map, and the estimated pose was used as an observation inside a Kalmanfilter framework. The achieved accuracy of the proposed localization algorithm is evaluated with a highly accurate DGPS to investigate the performance with respect to lateral vehicle control.

• Journal of Korean Society for Geospatial Information Science
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• v.2 no.2 s.4
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• pp.117-124
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• 1994

This paper aims at inspecting the reliability of GPS data, changing WGS 84 data into the longitude coordinates system after surveying a small number of geodetic survey or cadastre triangulation point and supplementry control point around the Kwang-Ju area, and grasping the several problems posed by introducing GPS to the cadastue or the general triangulation surveying from this time.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.12
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• pp.1234-1239
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• 2011

The scan matching is widely used in localization and mapping of mobile robots. This paper presents a probabilistic scan matching method. To improve the performance of the scan matching, a direction of data point is incorporated into the scan matching. The direction of data point is calculated using the line fitted by the neighborhood data. Owing to the incorporation, the performance of the matching was improved. The number of iterations in the scan matching decreased, and the tolerance against a high rotation between scans increased. Based on real data of a laser range finder, experiments verified the performance of the proposed direction augmented probabilistic scan matching algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.90.1-90
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• 2002

Counters for the various kinds of bank notes require high-speed distinctive point extraction and recognition for notes. In this paper we propose a new point extraction and recognition algorithm for bank notes. For distinctive point extraction we use a coordinate data extraction method from specific parts of a bank note representing the same color. The recognition algorithm uses a back-propagation neural network that has coordinate data input. The proposed algorithm is designed to minimize recognition time.

• Journal of Mechanical Science and Technology
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• v.15 no.2
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• pp.192-198
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• 2001

We consider an interpolation problem with nonuniform rational B-spline curves given ordered data points. The existing approaches assume that weight for each point is available. But, it is not the case in practical applications. Schneider suggested a method which interpolates data points by automatically determining the weight of each control point. However, a drawback of Schneiders approach is that there is no guarantee of avoiding undesired poles; avoiding negative weights. Based on a quadratic programming technique, we use the weights of the control points for interpolating additional data. The weights are restricted to appropriate intervals; this guarantees the regularity of the interpolating curve. In a addition, a knot placement is proposed for pleasing interpolation. In comparison with integral B-spline interpolation, the proposed scheme leads to B-spline curves with fewer control points.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.25 no.2
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• pp.141-148
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• 2007

With the use of world geodetic system, the UIS DB of WonJu City, which was established on Korea coordinate system becomes to face the need of coordinates transformation. However, the UIS DB of Wonju City is based on dualistic control points of Korea geodetic system, which means the coordinates system is not standardized. Therefore it is required to establish a plan for transformation into world geodetic system. For this purpose, we calculated coordinate transformation coefficients per control point data of Korea geodetic system and verified the accuracy of transformation coefficients. Through the process, we propose a plan for transforming the coordinate system of UIS DB in WonJu City, which has been based on dualistic control point data of Korea geodetic system, efficiently into the world geodetic system.

• Journal of the Korean Society for Library and Information Science
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• v.46 no.2
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• pp.157-174
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• 2012

This study tries to describe personal name access point control ontology for the American novelist Mark Twain using RDF/OWL axiom to control access point based on the ontology. The Axiom used in this study are disjoint with class, domain and range, property cardinality, inverse functional property, individual and literal data property. As a result, in the ontology environment we can accept various access points as equal access points exclusive of authority heading and heading concept. It can successfully describe Mark Twain's personal name access point control ontology and display using the OntoGraf.

• 한국정보디스플레이학회:학술대회논문집
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• 2008.10a
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• pp.677-680
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• 2008

AiPi technology incorporates an embedded clock and control scheme with a point-to-point bus topology, achieving the smallest possible number of interface lines between a timing controller and source drivers. A 46" AiPi-based 10-bit FHD prototype requires only 20 interface lines, compared to 38 lines for mini-LVDS. The measured maximum data rate per one data pair is more than 800Mbps.

• Journal of the Korean Data and Information Science Society
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• v.26 no.2
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• pp.525-533
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• 2015

Modern production process is a very complex structure combined observations which are correlated with several factors. When the error signal occurs in the process, it is very difficult to know the root causes of an out-of-control signal because of insufficient information. However, if we know the time of the change, the system can be controlled more easily. To know it, we derive a maximum likelihood estimator (MLE) of the change point in a process when observations are from a multivariate IMA(1,1) process by monitoring residual vectors of the model. In this paper, numerical results show that the MLE of change point is effective in detecting changes in a process.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1137-1143
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• 2009

This paper presents the FPGA implementation of efficient algorithms for approximating exponential function based on floating point format data. The Taylor-Maclaurin expansion as a conventional approximation method becomes inefficient since high order expansion is required for the large number to satisfy the approximation error. A format converter is designed to convert fixed data format to floating data format, and then the real number is separated into two fields, an integer field and an exponent field to separately perform mathematic operations. A new assembly command is designed and added to previously developed command set to refer the math table. To test the proposed algorithm, assembly program has been developed. The program is downloaded into the Altera DSP KIT W/STRATIX II EP2S180N Board. Performances of the proposed method are compared with those of the Taylor-Maclaurin expansion.