• Journal of the Institute of Electronics Engineers of Korea TC
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• v.46 no.6
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• pp.66-77
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• 2009

In this paper, we propose a CORBA middleware extension which is suitable to SCA based communication environment. The extensions guarantee the components to interconnect others without consideration about its implementation way and enables the developers to easily achieve the performance improvements in comparison to the existing methodology. This extension includes the HAO, the IDL2VHDL compiler, and the improvement of ORBit. The HAO is ORB implemented in logic level and is limited the some function according to the characteristic of FPGA. In addition, the IDL2VHDL compiler provides the mapping from CORBA IDL to VHDL, the VHSIC hardware description language, and the additional procedures for processing the component. Finally, the improved ORBit, CORBA ORB on GPP, can be direct connecting with the HAO on FPGA.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.9
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• pp.2023-2030
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• 2010

In this paper, we present research results of developing high performance scan conversion unit and implementing it on FPGA chip. To increase performance of scan conversion unit, we propose an architecture of scan converter that is a SIMD architecture and uses tile-based traversing method. The proposed scan conversion unit can operate about 124Mhz clock frequency on Xilinx Vertex4 LX100 device. To verify the scan conversion unit, we also develop shader unit, texture mapping unit and $240{\times}320$ color TFT-LCD controller to display outputs of the scan conversion unit on TFT-LCD. Because the scan conversion unit implemented on FPGA has 311Mpixels/sec pixel rate, it is applicable to desktop pc's 3d graphics system as well as mobile 3d graphics system needing high pixel rates.

• Journal of the Korean Association of Geographic Information Studies
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• v.10 no.1
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• pp.1-9
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• 2007

3D data are in great demand for pedestrian navigation recently. For pedestrian navigation, we needs to reconstruct 3D model in detail from people's eye. In order to present spatial features in detail for pedestrian navigation, it is indispensable to develop 3D model not only in outdoor environment but also in indoor environment such as underground shopping complex. However, it is very difficult to acquire 3D data efficiently by mobile mapping without GPS. In this research, 3D shape was acquired by Laser scanner, and texture by CCD(Charge Coupled Device) sensor. Continuous changes position and attitude of sensors were measured by IMU(Inertial Measurement Unit). Moreover, IMU was corrected by relative orientation of CCD images without GPS(Global Positioning System). In conclusion, Reliable, quick, and handy method for acquiring 3D data for indoor environment is proposed by a combination of a digital camera and a laser scanner with IMU.

• Journal of the Korean Institute of Intelligent Systems
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• v.10 no.5
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• pp.506-512
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• 2000

In this paper, we propose a Fuzzy Classifier System(FCS) makes the classifier system be able to carry out the mapping from continuous inputs to outputs. The FCS is based on the fuzzy controller system combined with machine learning. Therefore the antecedent and consequent of a classifier in FCS are the same as those of a fuzzy rule. In this paper, the FCS modifies input message to fuzzified message and stores those in the message list. The FCS constructs rule-base through matching between messages of message list and classifiers of fuzzy classifier list. The FCS verifies the effectiveness of classifiers using Bucket Brigade algorithm. Also the FCS employs the Genetic Algorithms to generate new rules and modifY rules when performance of the system needs to be improved. Then the FCS finds the set of the effective rules. We will verifY the effectiveness of the poposed FCS by applying it to Autonomous Mobile Robot avoiding the obstacle and reaching the goal.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.12B
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• pp.1359-1370
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• 2009

In wireless sensor networks, data dissemination is based on data-centric routing that well matches the publish/subscribe communication paradigm. The publish/subscribe paradigm requires decoupling properties: space, time, and synchronization decoupling. For large-scale applications, the three decoupling properties provide scalability and robust communication. However, existing data dissemination schemes for wireless sensor networks do not achieve full decoupling. Therefore, we propose a novel data dissemination scheme that fully accomplishes the three decoupling, called ARBIETER. ARBITER constructs an independent network structure as a logical software bus. Information interworking between publishers and subscribers is indirectly and asynchronously performed via the network structure. ARBITER also manages storage and mapping of queries and data on the structure because of supporting different time connection of publishers and subscribers. Our simulation proves ARBITER show better performance in terms of scalability, network robustness, data responsibility, mobility support, and energy efficiency.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.3
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• pp.210-216
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• 2016

This paper presents a novel collision avoidance technique for mobile robots based on omni-directional vision simultaneous localization and mapping (SLAM). This method estimates the avoidance path and speed of a robot from the location of an obstacle, which can be detected using the Lucas-Kanade Optical Flow in images obtained through fish-eye cameras mounted on the robots. The conventional methods suggest avoidance paths by constructing an arbitrary force field around the obstacle found in the complete map obtained through the SLAM. Robots can also avoid obstacles by using the speed command based on the robot modeling and curved movement path of the robot. The recent research has been improved by optimizing the algorithm for the actual robot. However, research related to a robot using omni-directional vision SLAM to acquire around information at once has been comparatively less studied. The robot with the proposed algorithm avoids obstacles according to the estimated avoidance path based on the map obtained through an omni-directional vision SLAM using a fisheye image, and returns to the original path. In particular, it avoids the obstacles with various speed and direction using acceleration components based on motion information obtained by analyzing around the obstacles. The experimental results confirm the reliability of an avoidance algorithm through comparison between position obtained by the proposed algorithm and the real position collected while avoiding the obstacles.

• The Journal of the Korea Contents Association
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• v.11 no.1
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• pp.438-447
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• 2011

geoContents have been closely related with personal life since the Google Earth and Street View by Google and the Road View by Daum were introduced. So, Location-based content, which is referred to geoContents, involving geometric spacial information and location-based image information is a sharp rise in demand. A mobile mapping system used in the area of map upgrade and road facility management has been having difficulties in satisfying the demand in the cost and time for obtaining these kinds of contents. This paper addresses geoData acquisition and processing system for producing panoramic images. The system consists of 3 devices: the first device is 3 GPS receivers for acquiring location information which is including position, attitude, orientation, and time. The second is 6 cameras for image information. And the last is to synchronize the both data. The geoData acquired by the proposed system and the method for authoring geoContents which are referred to a panoramic image with position, altitude, and orientation will be used as an effective way for establishing the various location-based content and providing them service area.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.36 no.2
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• pp.67-74
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• 2018

This study has proposed a methodology to detect suspicious facilities that occupy national and public land by using the cadastral and digital maps. First, we constructed a spatial database of national & public land based on the cadastral maps by linking its management ledger. Using the PNU (Parcel Number) code as a key field, the data managed by different institutions are integrated into a single spatial information DB (database) and then, the use or nonuse state of each parcel is confirmed on the cadastral map. Next, we explored the suspicious facilities that existed in the unused parcel by utilizing the digital topographical map. Then, the proposed methodology was applied for various regions and tested its feasibility. Through this study, it will be possible to improve the utilization of digital maps and to manage the national and public land efficiently and economically.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.1
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• pp.249-256
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• 2011

Since various applications is converged in digital televisions, playing game on DTV will be available in the immediate future. Game programming of DTV is more difficult than that of PC in a viewpoint of game development. Since TV use very simple remote controller as user interface, mapping type, choice type, and one-button type are used among mobile game user interfaces. In addition, we suggest to use text class, numeral class, bitmap class, and shape class of DTV OSD middleware which is proven software, instead of developing new DTV-oriented game engine. The proposed interfaces can be applied in various game situations and allow intuitive and fast operations. By using OSD middleware, game actions can be subdivided into state structures, OSD objects can be used as game objects, and events and actions of remote controller keys are easily defined.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.37 no.5
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• pp.1-10
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• 2000

In this paper, we propose a Fuzzy Classifier System(FCS) makes the classifier system be able to carry out the mapping from continuous inputs to outputs. The FCS is based on the fuzzy controller system combined with machine learning. Therefore the antecedent and consequent of a classifier in FCS are the same as those of a fuzzy rule. In this paper, the FCS modifies input message to fuzzified message and stores those in the message list. The FCS constructs rule-base through matching between messages of message list and classifiers of fuzzy classifier list. The FCS verifies the effectiveness of classifiers using Bucket Brigade algorithm. Also the FCS employs the Genetic Algorithms to generate new rules and modify rules when performance of the system needs to be improved. Then the FCS finds the set of the effective rules. We will verify the effectiveness of the poposed FCS by applying it to Autonomous Mobile Robot avoiding the obstacle and reaching the goal.