• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1184-1189
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• 2003

Map building and position estimation capabilities are practically indispensable for a mobile robot to execute its given tasks in its working environments. An autonomous map building method and a smart localization method is proposed in our previous works. The experimental verifications are carried out in this paper. We applied the proposed algorithms to mobile service robots in large-scale indoor buildings. Experimental results show that our strategy is reliable and feasible in tough conditions like non-polygonal and dynamic environments. The advantages of the algorithms are well-illustrated through real experiments.

• Journal of Platform Technology
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• v.11 no.6
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• pp.34-46
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• 2023

The design of non-pneumatic tires, which are created by filling the space between the wheel and the tread with elastomeric compounds or polygonal spokes, has become an important research topic in the automotive and aerospace industries. In this study, a system was designed for the design of non-pneumatic tires through the implementation of a generative adversarial network. We specifically examined factors that could impact the design, including the type of non-pneumatic tire, its intended usage environment, manufacturing techniques, distinctions from pneumatic tires, and how spoke design affects load distribution. Using OpenCV, various shapes and spoke configurations were generated as images, and a GAN model was trained on the projected GANs to generate shapes and spokes for non-pneumatic tire designs. The designed non-pneumatic tires were labeled as available or not, and a Vision Transformer image classification AI model was trained on these labels for classification purposes. Evaluation of the classification model show convergence to a near-zero loss and a 99% accuracy rate confirming the generation of non-pneumatic tire designs.

• Journal of the HCI Society of Korea
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• v.1 no.1
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• pp.37-44
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• 2006

Specular reflections provide the visual feedback that describes the material type of an object, its local shape, and lighting environment. In photorealistic rendering, there have been a number of research available to render specular reflections effectively based on a local reflection model. In traditional cel animations and cartoons, specular reflections plays important role in representing artistic intentions for an object and its related environment reflections, so the shapes of highlights are quite stylistic. In this paper, we present a method to render and control stylized specular reflections using projective textures based on principal curvature analysis. Specifying a texture as a pattern of a highlight and projecting the texture on the specular region of a given 3D model, we can obtain a stylized representation of specular reflections. For a given polygonal model, a view point, and a light source, we first find the maximum specular intensity point, and then locate the texture projector along the line parallel to the normal vector and passing through the point. The orientation of the projector is determined by the principal directions at the point. Finally, the size of the projection frustum is determined by the principal curvatures corresponding to the principal directions. The proposed method can control the position, orientation, and size of the specular reflection efficiently by translating the projector along the principal directions, rotating the projector about the normal vector, and scaling the principal curvatures, respectively. The method is be applicable to real-time applications such as cartoon style 3D games. We implement the method by Microsoft DirectX 9.0c SDK and programmable vertex/pixel shaders on Nvidia GeForce FX 7800 graphics subsystems. According to our experimental results, we can render and control the stylized specular reflections for a 3D model of several ten thousands of triangles in real-time.