• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.6
• /
• pp.521-525
• /
• 2011

Lane marking detection is one of important issues in the field of autonomous mobile robot. Especially, in urban environment, like pavement roads of downtown or tour tracks of Science Park, which have continuous patterns on the surface of the road, the lane marking detection becomes more important ability. Although there were many researches about lane detection and lane tracing, many of them used vision sensors mainly to detect lane marking. In this paper, we obtain 2 dimensional library data of 'Intensity' and 'Distance' using one laser rangefinder only. We design a simple classifier and filtering algorithm for the lane detection which uses only one LRF (Laser Range Finder). Allowing extended usage of LRF, this research provides more functionality not only in range finding but also in lane detecting to mobile robots. This work will be technically helpful for robot developers to design more simple and efficient autonomous driving system using LRF.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.3
• /
• pp.236-241
• /
• 2008

This paper presents a method to recognize the plane regions for movement of walking robots. When the autonomous agencies using stereo camera or laser scanning sensor is under unknown 3D environment, the mobile agency has to detect the plane regions to decide the moving direction and perform the given tasks. In this paper, we propose a very fast method for plane detection using normal vector of a triangle by 3 vertices defined on a small circular region. To reduce the effect of noises and outliers, the triangle rotates with respect to the center position of the circular region and generates a series of triangles with different normal vectors based on different three points on the boundary of the circular region. The vectors for several triangles are normalized and then median direction of the normal vectors is used to test the planarity of the circular region. The method is very fast and we prove the performance of algorithm for real range data obtained from a stereo camera system.

• The Journal of the Acoustical Society of Korea
• /
• v.13 no.5
• /
• pp.77-82
• /
• 1994

In speech signal processing, it is very important to detect the pitch exactly. Although various methods for detecting the pitch of speech signals have been developed, it is difficult to exactly extract the pitch for wide range of speakers and various utterances. Thus we propose a new pitch detection algorithm which takes advantage of the G-peak extraction. It is a method to detect the pitch period of the voiced signals by finding MZCI (maximum zero-crossing interval) of the G-peak which is defined as cut-off bandwidth rate of LPF (low pass filter). This algorithm performs robustly with a gross error rate of 3.63% even in 0 dB SNR environement. The gross error rate for clean speech is only 0.18%. Also it is able to process all courses with high speed.

• Journal of the Optical Society of Korea
• /
• v.20 no.6
• /
• pp.653-662
• /
• 2016

An optimized multilayer superlens is designed, using a rigorous and efficient approach based on the method of moments (MoM) in conjunction with a simulated annealing (SA) algorithm. For the MoM solution, fast evaluation of closed-form Green's functions (GFs) in the spatial domain is performed by applying the complex-image (CI) technique, which obviates the time-consuming numerical evaluation of Sommerfeld integrals. The imaging capability of the superlens is examined with the correlation coefficient; results show that using circular polarization for the incident wave can improve this coefficient. To validate the proposed method, finite-element-based simulations are exploited, which reveal the method's accuracy and computational efficiency. Simulation results indicate that the designed structure is capable of producing two-dimensional sub-diffraction-limited images in the visible range, which may make it more versatile for practical applications. Finally, as a considerable finding, it is demonstrated for the proposed design that using circularly polarized illumination provides improved super-resolving performance, compared to linearly polarized illumination.

• Journal of the Korean Society for Industrial and Applied Mathematics
• /
• v.10 no.1
• /
• pp.107-119
• /
• 2006

Recently with developments of an internet and web techniques, the amount of data that are stored in database is increasing rapidly. So the range of adaption in database has been expanded and a research of Data Mining techniques finding useful skills from the huge database has been progressed. Many original algorithms have been developed by cutting down the item set and the size of database isn't required in the entire course of creating frequent item sets. Although those skills could save time in some course, it requires too much time for adapting those techniques in other courses. In this paper, an algorithm is proposed. In an Transaction Database that the length of it's transactions are short or the number of items are relatively small, this algorithm scans a database once by using a Hashing Technique and at the same time, stores all parts of the set, can be appeared at each transaction, in an Hash-table. So without an influence of n minimum percentage of support, it can discover a set of frequent items in more shorter time than the time what is used by an original algorithm.

• Journal of the Institute of Convergence Signal Processing
• /
• v.9 no.1
• /
• pp.39-45
• /
• 2008

This paper considers the multi-objective optimization of a multi-service arrayed waveguide grating-based single-hop WDM network with the two conflicting objectives of maximizing throughput while minimizing delay. This paper presents a genetic algorithm based methodology for finding the optimal throughput-delay tradeoff curve, the so-called Pareto-optimal frontier. Genetic algorithm based methodology provides the network architecture parameters and the Medium Access Control protocol parameters that achieve the Pareto-optima in a computationally efficient manner. The numerical results obtained with this methodology provide the Pareto-optimal network planning and operation solution for a wide range of traffic scenarios. The presented methodology is applicable to other networks with a similar throughput-delay tradeoff.

• The Journal of the Acoustical Society of Korea
• /
• v.32 no.2
• /
• pp.104-115
• /
• 2013

In a shallow water waveguide, reverberation signals and their Doppler effects form the primary limitation on sonar system performance. Therefore, in the reverberation-limited environment, it is necessary to estimate the reverberation level to be encountered under the conditions in which the sonar system is operated. In this paper, high-frequency reverberation model capable of simulating the reverberation signals received by a high-speed moving source in a range independent waveguide is suggested. In this model, eigenray information from the source to each boundary is calculated using the ray-based approach and the optimizing method for the launch angles. And the source receiving position changed by the moving source is found by a scattering path-finding algorithm, which considers the speed and direction of source and sound speed to find the path of source movement. The scattering effects from sea surface and bottom boundaries are considered by APL-UW scattering models. The model suggested in this paper is verified by a comparison to the measurements made in August 2010. Lastly, this model reflects well statistical properties of the reverberation signals.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.35 no.12A
• /
• pp.1188-1197
• /
• 2010

A most important thing in a connected dominating set(CDS)-based routing in a wireless ad-hoc network is to select a minimum number of dominating nodes and then build a backbone network which is made of them. Node failure in a CDS is an event of non-negligible probability. For applications where fault tolerance is critical, a traditional dominating-set based routing may not be a desirable form of clustering. It is necessary to minimize the frequency of reconstruction of a CDS to reduce message overhead due to message flooding. The idea is that by finding alternative nodes within a restricted range and locally reconstructing a CDS to include them, instead of totally reconstructing a new CDS. With the proposed algorithm, the resulting number of dominating nodes after partial reconstruction of CDS is not changed and also its execution time is faster than well-known algorithm of construction of CDS by 20~40%. In the case of high mobility situation, the proposed algorithm gives better results for the performance metrics, packet receive ratio and energy consumption.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.51 no.7
• /
• pp.9-17
• /
• 2014

This paper proposes a binary particle swarm optimization (BPSO) algorithm for distributed node localization in wireless sensor networks (WSNs). Each unknown node performs localization using the value of the measured distances from three or more neighboring anchors, i.e., nodes that know their location information. The node that is localized during the localization process is then used as another anchor for remaining nodes. The performances of particle swarm optimization (PSO) and BPSO in terms of localization error and computation time are compared by using simulations in Matlab. The simulation results indicate that PSO-based localization is more accurate. In contrast, BPSO algorithm performs faster for finding the location of unknown nodes for distributed localization. In addition, the effects of transmission range and number of anchor nodes on the localization error and computation time are investigated.

• The Journal of the Acoustical Society of Korea
• /
• v.26 no.1
• /
• pp.48-54
• /
• 2007

In this paper we have implemented a 3-D PL (Position Location) system to estimate the 3-dimensional position of a moving object in underwater environments. In this research, we let four sensors fixed in different Positions and moving sensorsto communicate with each other to find the 3-dementianal positions for both the fixed and moving objects. Using this we were also able to control the moving object remotely. When finding the position, we calculated the norm of the Jacobian matrix every iteration in the Newton algorithm. Also by using a different initial value for calculating the solution when the norm became higher than the critical value and the solution from the inverse matrix became unstable, we could find a more reliable position for the moving object. The proposed algorithm was used in implementing a DSP system capable of real-time position location. To verify the performance, experiments were done in a water tank. As a result we could see that our system could located the position of an object every 2 seconds with a error range of 5cm.