• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.339-346
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• 2006

Increased usage of autonomous underwater vehicle (AUV) has led to the development of alternative navigational methods that do not employ the acoustic beacons and dead reckoning sensors. This paper describes a simultaneous localization and mapping (SLAM) scheme that uses range sonars mounted on a small AUV. The SLAM is one of such alternative navigation methods for measuring the environment that the vehicle is passing through and providing relative position of AUV by processing the data from sonar measurements. A technique for SLAM algorithm which uses several ranging sonars is presented. This technique utilizes an unscented Kalman filter to estimate the locations of the AUV and objects. In order for the algorithm to work efficiently, the nearest neighbor standard filter is introduced as the algorithm of data association in the SLAM for associating the stored targets the sonar returns at each time step. The proposed SLAM algorithm is tested by simulations under various conditions. The results of the simulation show that the proposed SLAM algorithm is capable of estimating the position of the AUV and the object and demonstrates that the algorithm will perform well in various environments.

• Korean Journal of Veterinary Research
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• v.54 no.4
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• pp.225-231
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• 2014

Klotho deficiency is an early event in acute kidney injury (AKI) that exacerbates acute kidney damage. The present study explored the expression of Klotho and inflammation related factors in cisplatin-induced AKI. Rats (n = 18) were treated with cisplatin intraperitoneal injection (5 mg/kg) or left untreated as controls (n = 6), then sacrificed at 5 (n = 6) and 10 days (n = 6) treatment. Five days after cisplatin injection, the serum kidney enzymes and kidney cell apoptosis were significantly increased. Moreover, the expression of Klotho was decreased when compared to the control group, especially in the cortex and outer medulla regions. In contrast, inflammation related signals including nuclear factor kappa B, tumor necrosis factor-${\alpha}$, and tumor necrosis factor-like weak inducer of apoptosis were enhanced. However, 10 days after cisplatin injection, Klotho expression was enhanced upon both IHC and Western blot analysis, with slightly recovered renal function and decreased apoptosis. Furthermore, inflammation related signals expression was decreased relative to the 5 days group. Overall, this study confirmed the opposite expression patterns between Klotho and inflammation related signals and their localization in cisplatin-induced AKI kidney.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.9
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• pp.959-966
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• 2015

In this paper, we propose an indoor visible light communication(VLC) localization using Walsh code which can identify overlapped signals transmitted from the different LED sources as each of orthogonal signal at a receiver and using Manchester code which can eliminate the flicker of LED light and maintain a constant brightness. The proposed system can estimate the relative position of the receiver by using Lambertian radiation properties and trilateration method that are applied to the location information of fixed LED sources and the received signals from them. In order to verify the feasibility of the proposed system, we carried out the simulation in an indoor space with $6{\times}6{\times}1.5m^3$ installed LED lamps of 16. The simulation result shows that the proposed method achieves an average positioning error of 0.0536 m and a maximum positioning error of 0.2977 m.

• Journal of Advanced Navigation Technology
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• v.19 no.2
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• pp.133-139
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• 2015

This paper surveys vision based autonomous navigation technologies for unmanned systems. Main branches of visual navigation technologies are visual servoing, visual odometry, and visual simultaneous localization and mapping (SLAM). Visual servoing provides velocity input which guides mobile system to desired pose. This input velocity is calculated from feature difference between desired image and acquired image. Visual odometry is the technology that estimates the relative pose between frames of consecutive image. This can improve the accuracy when compared with the exisiting dead-reckoning methods. Visual SLAM aims for constructing map of unknown environment and determining mobile system's location simultaneously, which is essential for operation of unmanned systems in unknown environments. The trend of visual navigation is grasped by examining foreign research cases related to visual navigation technology.

• The Journal of the Acoustical Society of Korea
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• v.28 no.4
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• pp.318-327
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• 2009

In this paper, we propose a 3-D geometric localization method for near-field broadband source in shallow water environments. According to the waveguide invariant theory, slope of the interference pattern which is seen in a sensor spectrogram directly proportional to a range of the source. The relative ratio of the range between source and sensors was estimated by matching of two interference patterns in spectrogram. Then this ratio is applied to the Apollonius's circle which shows the locus of a source whose range ratio from two sensors is constant. Two Apollonius's circles from three sensors make the intersection point that means the horizontal range and the azimuth angle of the source. And this intersection point is constant with source depth. Therefore the source depth can be estimated using 3-D hyperboloid equation whose range difference from two sensors is constant. To evaluate a performance of the proposed localization algorithm, simulation is performed using acoustic propagation program and analysis of localization error is demonstrated. From simulation results, error estimate for range and depth is described within 50 m and 15 m respectively.

• Journal of IKEEE
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• v.18 no.4
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• pp.636-644
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• 2014

This paper is to technically implement the sensing platform for Home-Wellness Robot. First, self-localization technique is based on a smart home and object in a home environment, and IOT(Internet of Thing) between Home Wellness Robots. RF tag is set in a smart home and the absolute coordinate information is acquired by a object included RF reader. Then bluetooth communication between object and home wellness robot provides the absolute coordinate information to home wellness robot. After that, the relative coordinate of home wellness robot is found and self-localization through a stereo camera in a home wellness robot. Second, this paper proposed fuzzy control methode based on a vision sensor for approach object of home wellness robot. Based on a stereo camera equipped with face of home wellness robot, depth information to the object is extracted. Then figure out the angle difference between the object and home wellness robot by calculating a warped angle based on the center of the image. The obtained information is written Look-Up table and makes the attitude control for approaching object. Through the experimental with home wellness robot and the smart home environment, confirm performance about the proposed self-localization and posture control method respectively.

• International Journal of Oral Biology
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• v.37 no.1
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• pp.25-29
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• 2012

During maxillofacial surgery, the infraorbital and mental nerves are blocked at eac foramen to induce local anesthesia. This study examined the relative locations of the infraorbital foramen (IOF) and mental foramen (MF) based on softtissue landmarks. Twenty-eight hemifacial cadavers were dissected to expose the IOF and MF. The distances between the bilateral IOFs, the bilateral MFs, the alae of the nose (alares), and the corners of the mouth (cheilions) were measured directly on cadavers by using a digital vernier caliper. The vertical and horizontal distances of the IOF and MF relative to the alare and cheilion were measured indirectly on digital photographs using Adobe Photoshop (Adobe, CA, USA). The distance between the bilateral IOFs ($58.09{\pm}4.04mm$) was longer than the distance between the bilateral MFs ($50.32{\pm}1.93mm$). The distances between the bilateral alares and cheilions were $41.22{\pm}3.44mm$ and $58.43{\pm}6.62mm$, respectively. The IOF was located $12.92{\pm}3.75mm$ superior and $7.88{\pm}2.56mm$ lateral to the alare, and the vertical angle (Angle 1) between these structures was $31.67{\pm}13.36^{\circ}$ superolaterally. The MF was located $21.83{\pm}3.26mm$ inferior and $5.56{\pm}3.37mm$ medial to the cheilion, and the vertical angle (Angle 2) between these structures was $14.05{\pm}10.12^{\circ}$ inferomedially. In conclusion, these results provide more detailed information about the locations of the IOF and MF relative to soft-tissue landmarks.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.47 no.3
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• pp.5-12
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• 2010

A novel algorithm which computes the orientations and the locations of mobile robots with repeating feature of ceiling textures is proposed. For orientation computation, the relative angle between a strait line on a ceiling image and the center line of the robot is firstly computed. The relative angle is added to the global reference angles of straight lines of the ceiling and a group of robot orientation candidates is composed. The robot orientation is determined from such orientation candidate group by choosing the closest one to the previous robot orientation. Similarly, the location of the robot is determined from the robot location candidate group by choosing the closest one to the previous robot location, where robot location candidate group is composed by adding the relative location of the robot to global locations of neighboring nodes of the previous robot locations. The experiment has been done to test the accuracy of the algorithm in computing locations and orientations.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.2
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• pp.146-151
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• 2013

With the development of mobile internet, requirements of positioning accuracy for the LBS (Location Based Service) are becoming more and more higher. The LBS is based on the position of each mobile device. So, it requires a proper acquisition of accurate user's indoor position. Thus indoor positioning technology and its accuracy is crucial for various LBS. In general, RSSI (Received Signal Strength Indicator) measurements are used to obtain the position information of mobile unit under WLAN environment. However, indoor positioning error increases as multiple AP's configurations are becoming more complex. To overcome this problem, an enhanced indoor localization method by AP (Access Point) selection criteria adopting DOP (Dilution of Precision) is proposed.

• MALSORI
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• no.57
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• pp.85-97
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• 2006

This paper suggests an algorithm that can estimate the direction of the sound source in real time. The algorithm uses the time difference and sound intensity information among the recorded sound source by four microphones. Also, to deal with noise of robot itself, the Kalman filter is implemented. The proposed method can take shorter execution time than that of an existing algorithm to fit the real-time service robot. Also, using the Kalman filter, signal ratio relative to background noise, SNR, is approximately improved to 8 dB. And the estimation result of azimuth shows relatively small error within the range of ${\pm}7$ degree.