• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1939-1944
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• 2003

This paper presents a global path planning algorithm based on a visibility graph method, and applies additionally various constraints for constructing the reduced visibility graph. The modification algorithm for generating the rounded path is applied to the globally shortest path of the visibility graph using the robot size constraint in order to avoid the obstacle. In order to check the visibility in given 3D map data, 3D CAD data with VRML format is projected to the 2D plane of the mobile robot, and the projected map is converted into an image for easy map analysis. The image processing are applied to this grid map for extracting the obstacles and the free space. Generally, the tree size of visibility graph is proportional to the factorial of the number of the corner points. In order to reduce the tree size and search the shortest path efficiently, the various constraints are proposed. After short paths that crosses the corner points of obstacles lists up, the shortest path among these paths is selected and it is modified to the combination of the line path and the arc path for the mobile robot to avoid the obstacles and follow the rounded path in the environment. The proposed path planning algorithm is applied to the mobile robot LCAR-III.

• 한국인터넷방송통신학회논문지
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• 제11권3호
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• pp.83-91
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• 2011

본 논문에서 최근 다양한 로봇에 기존에 개발된 소프트웨어를 쉽게 적용하기 위한 플랫폼 개발에 기여하고 있는데, 국내에서 개발한 지능형로봇 개발을 위한 공통기반 플랫폼(OPRoS)에서 동작하는 3차원 물체 인식 컴포넌트 개발한 내용을 기술하였다. 컴포넌트 구성 내용과 3차원 공간 인식을 위해 사용한 기존 시각차 맵과 깊이 맵에 대한 알고리즘에 대한 언급을 했으며, 또한 시각차 맵을 만들기 위해 스테레오 매칭 방법과 블럭 매칭 방법을 표현했다. 기존 알고리즘으로 만들어진 컴포넌트는 OPRoS가 탑재된 컴퓨터에서 동작을 시켜 실험을 하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제10권1호
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• pp.364-380
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• 2016

The most popular approach in object classification is based on the bag of visual-words model, which has several fundamental problems that restricting the performance of this method, such as low time efficiency, the synonym and polysemy of visual words, and the lack of spatial information between visual words. In view of this, an object classification based on weakly supervised E2LSH and saliency map weighting is proposed. Firstly, E2LSH (Exact Euclidean Locality Sensitive Hashing) is employed to generate a group of weakly randomized visual dictionary by clustering SIFT features of the training dataset, and the selecting process of hash functions is effectively supervised inspired by the random forest ideas to reduce the randomcity of E2LSH. Secondly, graph-based visual saliency (GBVS) algorithm is applied to detect the saliency map of different images and weight the visual words according to the saliency prior. Finally, saliency map weighted visual language model is carried out to accomplish object classification. Experimental results datasets of Pascal 2007 and Caltech-256 indicate that the distinguishability of objects is effectively improved and our method is superior to the state-of-the-art object classification methods.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계 학술대회논문집(수송기계편)
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• pp.208-211
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• 2005

This paper describes the development process of steering system for reduce idle vibration through the data level of frequency and sensitivity. High stiffness and light weight vehicle is a major target in the refinement of passenger cars to meet customers' contradictable requirements between NVH performance and fuel economy. The target frequency of the steering system is set by benchmarking of a competitive vehicle and the vibration mode map is used to separate steering column modes from resonance of body structure and engine idle rpm. This paper descirbes the analysis approach process for high stiffness of steering system and the design guideline is suggested about steering column and support system by using mother car at initial design stage. We used a patent map in order to analyze accurately a technical trend and suggested the design process using dynamic damper of steering system considering sensitivity. And we established techniques of analysis on steering system and evaluated the level of accuracy of analysis through correlating the test and analysis results. It makes possible to design the good NVH performance vehicle at initial design stage and save vehicles to be used in tests. These improvements can lead to shortening the time needed to develop better vehicles.

• 로봇학회논문지
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• 제2권3호
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• pp.234-241
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• 2007

Effective tools which can alleviate the complexity and computational load problem in collision-free motion planning for multi-agent system have steadily been demanded in robotics field. To reduce the complexity, the extended collision map (ECM) which adopts decoupled approach and prioritization is already proposed. In ECM, the collision regions which represent the potential collision of robots are calculated using the computational power; the complexity problem is not resolved completely. In this paper, we propose a mathematical analysis of the extended collision map; as a result, we formulate the collision region as an equation with 5-8 variables. For mathematical analysis, we introduce realistic assumptions as follows; the path of each robot can be approximated to a straight line or an arc and every robot moves with uniform velocity or constant acceleration near the intersection between paths. Our result reduces the computational complexity in comparison with the previous result without losing optimality, because we use simple but exact equations of the collision regions. This result can be widely applicable to coordinated multi-agent motion planning.

• International Journal of Internet, Broadcasting and Communication
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• 제10권3호
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• pp.42-50
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• 2018

The majority of existing falling recognition techniques provide service by recognizing only that the falling occurred. However, it is important to recognize not only the occurrence of falling but also the situation before and after the falling, as well as the location of the falling. In this paper, we design and propose the falling notification service system to recognize and provide service. This system uses the acceleration sensor of the smartphone to recognize the occurrence of a falling and the situation before and after the falling. In order to check the location of falling, GPS sensor data is used in the Google Map API to map to the map. Also, a crosswalk map converted into grid-based coordinates based on the longitude and latitude of the crosswalk is stored, and the locations before and after falling are mapped. In order to reduce the connection speed and server overload for real-time data processing, fog computing and cloud computing are designed to be distributed processing.

• 대한원격탐사학회지
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• 제23권5호
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• pp.335-346
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• 2007

This study is aiming at improving the Environmental Conservation Value Assessment Map(ECVAM) of National Land in Korea. The ECVAM items are composed of legal and environmental/ecological assessments. A popular method applied to ECVAM is an overlay environmental/ecological assessment items. The purpose of this study is to offer complementary items of the ECVAM by examining assessment items. In this study we assessed the ECVAM by five methods. Method 1 is Grade 1 areas of each administrative district; Method 2 is comparing overlapped areas of each assessment items Grade 1, 2 and permission of each assessment items duplication; Method 3 is Grade 1, 2 areas by only singular assessment items; Method 4 is Grade 1 areas only of Method 2; and Method 5 is Grade 2 areas only of Method 2. Method 1 showed Seoul and other metropolitan cities revealed a large proportion of Grade I regions by the legal assessment items. Gang won-Do, showed a large proportion of Grade I regions by the environmental/ecological assessment item. Method 2 showed 93.4% of diameter Grade II(standard for stability); forest diameter item accounted for 99.9% by Method 3, Method 4 showed 95.7% of forest diameter, and forest density accounted for 66.4% by Method 5. This study contributes to reduce the complexity in the process of manufacturing ECVAM of National Land, and to raise the flexibility in the process of managing and updating this map.

• 한국산업정보학회논문지
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• 제15권4호
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• pp.17-27
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• 2010

주요 IT 벤더들은 클라우드 컴퓨팅 기술을 이용하여 설치과정 생략, 운용비용 절감, 서비스품질 등에 중점을 두어 대규모 콘텐츠 서비스를 제공하고 있다. 반면에, 대규모 콘텐츠 데이터의 가공, 분석을 수행하는 데이터 처리 프로세스는 처리 시간의 단축을 위한 방법론이 요구되고 있다. 이에 본 논문에서는 클라우드 환경에서 대규모 콘텐츠를 위한 효율적인 자원처리 기법(Efficient_Cloud_Processing_Scheme : ECPS)을 제안한다. 제안한 기법은 리소스 확장 방안을 CPU 및 스토리지 등의 인프라스트럭처 단계에서 설계한다. 대규모 콘텐츠에 대한 자원 할당 방안을 Hadoop 플랫폼 기반의 MapReduce 프로그래밍 기법과 데이터마이닝 분야에서 숨겨진 패턴을 탐지하는데 사용되는 연관규칙을 이용하여 제시한다. 기존 설정값으로 자원을 할당하여 비교하여 ECPS기법을 적용한 결과, 제안 기법이 20% 이상의 성능 및 속도가 향상되었음을 확인하였다.

• 한국측량학회지
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• 제32권5호
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• pp.459-467
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• 2014

최근 공공기관에서 다양한 공간 정보를 제작하고 보급함에 따라 정부기관 및 지자체 등의 구축된 공간정보를 융합하고 연계하는 일의 중요성이 점점 증대되고 있다. 현지 조사와 별도의 측량 작업 없이 필요한 공간정보를 융합을 통해 생성할 경우 시간과 노동 비용을 절감할 수 있을 뿐만 아니라 불필요한 예산의 이중 집행을 근본적으로 막을 수 있다. 그러나 새롭게 도입된 안전행정부의 도로명주소지도와 기존의 국가 기본도인 국토지리정보원의 수치지도2.0의 통합과 연계에 대한 연구는 매우 부족한 실정이다. 실제 공공기관의 공간정보 관련 업무에 도로명주소지도를 활용하도록 장려하고 있으나 대부분의 업무에는 국가 기본도인 수치지도가 활용되고 있다. 이에 본 연구에서는 수치지도2.0과 도로명주소지도의 통합과 연계를 위해 두 지도의 건물 레이어에 대한 매칭을 실시하고 신규 건물을 갱신하였다. 가구계 기반의 ICP(Iterative Closest Point) 기하보정을 통해 두 지도의 건물에 대한 기하학적 차이를 보정하고 계층적 군집화 기반의 다중 대응 객체 탐색 알고리즘을 적용하여 다대다 매칭을 수행하였다. 제안된 매칭기법의 정확도 평가 결과, 95% 이상의 높은 정확도를 보였으며 매칭 된 두 지도 데이터의 건물 레이어에 대한 통합적인 활용과 융합이 가능함을 확인하였다. 또한 최신성이 높고 갱신주기가 짧은 도로명주소지도를 이용하여 수치지도의 신규건물을 갱신함으로써 융합된 공간정보를 생성하고 비용 절감 효과를 거둘 수 있음을 확인하였다.

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2014년도 춘계 종합학술대회 논문집
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• pp.37-38
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• 2014