• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2381-2383
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• 2003

This paper presents an effective approach to dynamic obstacle avoidance for mobile robot. The main concept of this approach includes modified polar mapping for recognition of the moving obstacle in vision-based robot systems. To simplify the segmentation of the moving obstacle from the background and to obtain its relative position data the modified polar mapping is proposed. Dynamic moving obstacles are avoided with a vision sensor and stationary obstacles are avoided with a sonar sensor.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.400-403
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• 2005

The sonar sensors can be divided into a piezo type and an electrostatic type according to a principle of an operating system. The electrostatic type of a sonar sensor is used for map building in this paper. If we know the characteristics of sonar sensor, we can derive the ultrasonic pressure equation from an acoustics theory. We, therefore, developed Ultrasonic Pressure Probabilistic Model (UPPM) to consider the sound pressure in the probability updating process. In this paper, we found that the quality of the resulting probability map is considerably improved, through combining the UPPM with the grid-based mapping algorithm.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.16 no.2
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• pp.201-206
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• 2016

Aircraft have a cross axis of the three each other for maintenance of aircraft position. It is called roll axis, pitch axis and yaw axis. Attitude reference system is a sensor for detecting a change of the three axis. In this paper, mobile robot platform install part of Pan-tilt and HMD attitude reference system, because of we use control camera. The acceleration sensor is very weak a lot of noise to vibration, also problem with data from process of mapping to the data problems to arise. However to solve this problem, we removed the average filter and Cosine Interpolation for Pan-tilt. Using capacity evaluation for outdoor environment for we are proposing. Mobile robot has HMD and equipped Pan-tilt. We control mobile robot camera. In this experiment result is little bit delay happening, however Pan-tilt camera is relatively stable control checking. Also, we will checking any terrain and slopes is no problem for mobile robot driving skills.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.8 no.7
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• pp.1588-1596
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• 2004

Recently, many WMS(Web Mapping Services) and POI(Point of Interest) service on to be in service on the Internet using Web CIS(Geographic Information System) as information Technology and computer HW are evolved faster in its speed, network bandwidth and features. The Web GIS is, however, limited and constrained on the specification of its system configuration, the service class provided and the presentation methodology of a map. As the mobile Internet becomes popular in mobile service, Web GIS service on mobile environment is strongly required and to be provided by LBS(Location Based Service) on a mobile client such as PDA with location information of the user. In this paper, we made an effort to design and implement a GIS computing environment by thin client for mobile web mapping service. For implementing the thin client GIS computing environment, we were using NGII's(National Geographic Information Institute's) DXF map, representing the map by SVG(Scalable Vector Graphics) recommended by OGC(OpenGis Consortium), and adapting standard XML web service to provide the thin client GIS service on PDA by applying the location information of the user in realtime with GPS on mobile environment.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.34.1-34
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• 2002

1. Introduction 2. Focus of Expansion 3. Log-Polar Mapping 4. Egomotion and Optical Flow 5. Experimental Results 6. Conclusion. References.

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.1-10
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• 2014

In recent years, the research of 3D mapping technique in urban environments obtained by mobile robots equipped with multiple sensors for recognizing the robot's surroundings is being studied actively. However, the map generated by simple integration of multiple sensors data only gives spatial information to robots. To get a semantic knowledge to help an autonomous mobile robot from the map, the robot has to convert low-level map representations to higher-level ones containing semantic knowledge of a scene. Given a 3D point cloud of an urban scene, this research proposes a method to recognize the objects effectively using 3D graph model for autonomous mobile robots. The proposed method is decomposed into three steps: sequential range data acquisition, normal vector estimation and incremental graph-based segmentation. This method guarantees the both real-time performance and accuracy of recognizing the objects in real urban environments. Also, it can provide plentiful data for classifying the objects. To evaluate a performance of proposed method, computation time and recognition rate of objects are analyzed. Experimental results show that the proposed method has efficiently in understanding the semantic knowledge of an urban environment.

• ETRI Journal
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• v.38 no.6
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• pp.1042-1051
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• 2016

The mobile hotspot network (MHN), which is capable of providing a data rate of gigabits per second at high speed, is considered a potential use case of the future enhanced mobile broadband for 5G. Because a unidirectional network deployment has been considered for an MHN, non-orthogonal multiple access (NOMA) can be employed to improve the system performance. For a practical implementation of NOMA under an MHN highway scenario where multiple pieces of MHN terminal equipment are served through the same beam simultaneously, a NOMA transceiver is proposed in this paper. For the NOMA transmitter, Gray-coded QAM constellation mapping is extended to arbitrary modulation order q. For the NOMA receiver, successive interference cancellation (SIC) is no longer necessary, and instead, a parallel demodulation is proposed. The numerical and simulation results suggest that the proposed NOMA transceiver outperforms the conventional NOMA SIC receiver and can be flexibly used for an MHN highway scenario.

• IE interfaces
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• v.15 no.1
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• pp.73-81
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• 2002

In mobile phone, complex user interface tend to cause the degradation of product usability. This problem is mainly due to the small hardware user interface of mobile phone. That is, because many functions must be operated in small hardware interface, the principle of one-to-one mapping between a function and a control is disregarded in design, often. In order to resolve this problem, users' characteristics must be considered in the user interface design of mobile phone. So, users' basic characteristics that must be considered in the user interface design of mobile phone were studied through two experiments, questionnaire survey and user testing.

• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.205-211
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• 2020

In this paper, we propose a modified ORB-SLAM (Oriented FAST and Rotated BRIEF Simultaneous Localization And Mapping) for precise indoor navigation of a mobile robot. The exact posture and position estimation by the ORB-SLAM is not possible all the times for the indoor navigation of a mobile robot when there are not enough features in the environment. To overcome this shortcoming, additional IMU (Inertial Measurement Unit) and encoder sensors were installed and utilized to calibrate the ORB-SLAM. By fusing the global information acquired by the SLAM and the dynamic local location information of the IMU and the encoder sensors, the mobile robot can be obtained the precise navigation information in the indoor environment with few feature points. The superiority of the modified ORB-SLAM was verified to compared with the conventional algorithm by the real experiments of a mobile robot navigation in a corridor environment.

• Proceedings of the Korean Information Science Society Conference
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• 2002.10c
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• pp.712-714
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• 2002

현재 3차원 컴퓨터 그래픽 가속기에서 텍스쳐 매핑과 같은 실감기법을 처리해 주기 위해서는 넓은 대역폭과 많은 메모리를 필요로 한다. 또한 PDA와 같은 차세대 mobile 응용분야에서는 점차적으로 3차원 그래픽의 지원이 요구되고 있는 추세이다. 이를 mobile 환경에서 지원하기 위해서는 낮은 소비 전력 및 적은 메모리, 그리고 하드웨어 비용 등의 제약 요건이 따른다. 그러나 이러한 제약 조건에도 불구하고, mobile 환경에 적합한 3차원 그래픽 하드웨어의 연구는 필수적이다. 본 논문에서는 Windows CE 기반의 mobile 환경에서 Direct3D의 압축 텍스쳐 데이터를 효율적으로 처리하는 하드웨어를 제시한다. 이는 1 cycle에 2개 texel을 처리할 수 있으며, 작은 2-level cache를 사용하여 대역폭을 효과적으로 줄였다.