• Journal of the Institute of Convergence Signal Processing
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• v.11 no.4
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• pp.345-353
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• 2010

A general solution in global self-position location of robot is to generate multiple hypothesis in self-position of robot, which is to look for the most positive self-position by evaluating each hypothesis based on features of observed landmark. Markov Localization(ML) or Monte Carlo Localization(MCL) to be the existing typical method is to evaluate all pairs of landmark features and generated hypotheses, it can be said to be an optimal method in sufficiently calculating resources. But calculating quantities was proportional to the number of pairs to evaluate in general, so calculating quantities was piled up in wide environments in the presence of multiple pairs if using these methods. First of all, the positive and promising pairs is located and evaluated to solve this problem in this paper, and the newly locating method to make effective use of calculating time is proposed. As the basic method, it is used both RANSAC(RANdom SAmple Consensus) algorithm and preemption scheme to be efficiency method of RANSAC algorithm. The calculating quantity on each observation of robot can be suppressed below a certain values in the proposed method, and the high location performance can be determined by an experimental on verification.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.8
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• pp.752-759
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• 2008

In this paper, we propose a high accurate geo-location system based on a single base station, where its location is obtained by Time-of-Arrival(ToA) and Direction-of-Arrival(DoA) of the radio signal. For estimating accurate ToA and DoA information, a MUltiple SIgnal Classification(MUSIC) is adopted. However, the estimation of ToA and DoA using MUSIC algorithm is a time-consuming process. The position tracking bias is occurred by the time delay caused by the estimation process. In order to mitigate the bias error, we propose the estimation method of the position tracking bias and compensate the location error produced by the time delay using the position tracking bias mitigation. For accurate self-localization of mobile robot, the Unscented Kalman Filter(UKF) with position tracking bias is applied. The simulation results show the efficiency and accuracy of the proposed geo-location system and the enhanced performance when the Unscented Kalman Filter is adopted for mobile robot application.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.49.6-49
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• 2001

This paper describes a self-localization method for the mobile robot using panoramic view images. A panoramic view image has the information of location of the objects from the viewer robot and direction between the objects at a position. Among the sequence of panoramic view images, the target objects in the image like traffic signs, facade of a building, road signs, etc. locate in the real world so that robot´s position and direction deliver to localize from his view. With the previously captured panoramic images, the method calculates the distance and direction of the region of interest, corresponds the regions between the sequences, and identifies the location in the world. To obtain the region, vertical edge line segments

• Proceedings of the Korean Institute of Building Construction Conference
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• 2022.04a
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• pp.245-246
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• 2022

Recently, research on the self-healing of concrete using bacteria has been actively conducted. The self-healing method using bacteria has a low self-healing rate and the surrounding environment of the fracture site is very important. A previous study to solve this problem involves the manufacture of capsules using 3D printing. Fracture position control was an important topic in 3D printing-based capsules. In this study, to compensate for the shortcomings of existing studies, a capsule capable of selective destruction location control was produced using PDMS-based molds that are not restricted by the environment. Resin capsules were prepared for each part using several molds and a bonding surface was arranged. In order to verify this on the bonding surface, fracture strength and wave unit values were analyzed through a three-way compression experiment. It can be seen that as the curing time increases, the deviation between samples decreases. In addition, through experiments, it was confirmed that the junction surface and wave unit values coincide in all three directions. It can be used for self-healing research using various solutions.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.10a
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• pp.842-846
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• 2015

In this study, we propose an algorithm of the method of recovering quickly find the location of the error encountered during separate operations in the functional structure of complex digital circuits by mimicking the self-healing function of the cell. By the digital circuit was divided by 9 function block unit of function, proposes a method that It can quickly detect and recover the error position. It was the detection and recovery algorithms for the error location in the digital circuit of a complicated structure and could extended the number of function block for the $3{\times}3$ matrix structure on the digital circuit.

• The KIPS Transactions:PartB
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• v.12B no.4 s.100
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• pp.387-394
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• 2005

This paper describes an idea for determining self-localization using visual landmark. The critical geometric dimensions of a pentagon are used here to locate the relative position of the mobile robot with respect to the pattern. This method has the advantages of simplicity and flexibility. This pentagon is also provided nth a unique identification, using invariant features and colors that enable the system to find the absolute location of the patterns. This algorithm determines both the correspondence between observed landmarks and a stored sequence, computes the absolute location of the observer using those correspondences, and calculates relative position from a pentagon using its (ive vortices. The algorithm has been implemented and tested. In several trials it computes location accurate to within 5 centimeters in less than 0.3 second.

• The KIPS Transactions:PartC
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• v.17C no.3
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• pp.281-290
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• 2010

In geographic forwarding algorithms, traditional route maintenance requires mobile nodes periodically exchange beacon messages with their neighbors. In beacon message based forwarding scheme, a longer interval reduces the number of beacons needed, but may result in significant location errors. Conversely, a shorter interval guarantees more accurate location information, but induces control overheads.Therefore, the fixed or dynamic interval scheme based forwarding schemes cannot adapt well to different mobility environments. Also, existing schemes result in the uncertainty of neighbor node's position in the forwarding table of mobile node. Therefore, this paper presents a self-adaptive location checking mechanism based proactive geo-routing algorithm for beacon-based geographic routing. Simulation results show that the proposed routing algorithm not only significantly increases the relay transmission rate but also guarantees the high end-to-end packet delivery in low and high mobility environments.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.6 no.2
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• pp.178-182
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• 2005

The proposed system in this paper is designed to provide users with a means of global location information using Orbcomm satellite communication and X.400 protocol. The system's two-way data transmission capabilities allow users to track mobile or fixed objects anywhere in the world via Internet. This study utilizes the X.400 protocol, and the SIP(Serial Interface Protocol) and self defined control protocol to implement data communication link in this paper. Data processor board connected to SC(Subscriber Communicator) is also designed and implemented to interface with GPS receiver. The experimental results of the proposed global position location system is evaluated through real-time experiments, and we have confirmed it works well according to the protocol designed in this paper.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.2
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• pp.168-177
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• 2008

Path finding is a key element in the navigation of a mobile robot. To find a path, robot should know their position exactly, since the position error exposes a robot to many dangerous conditions. It could make a robot move to a wrong direction so that it may have damage by collision by the surrounding obstacles. We propose a method obtaining an accurate robot position. The localization of a mobile robot in its working environment performs by using a vision system and Virtual Reality Modeling Language(VRML). The robot identifies landmarks located in the environment. An image processing and neural network pattern matching techniques have been applied to find location of the robot. After the self-positioning procedure, the 2-D scene of the vision is overlaid onto a VRML scene. This paper describes how to realize the self-positioning, and shows the overlay between the 2-D and VRML scenes. The suggested method defines a robot's path successfully. An experiment using the suggested algorithm apply to a mobile robot has been performed and the result shows a good path tracking.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.11
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• pp.2745-2750
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• 2015

Abstract should be placed here In this study, we propose an algorithm of the method of recovering quickly find the location of the error encountered during separate operations in the functional structure of complex digital circuits by mimicking the self-healing function of the cell. By the digital circuit was divided by 9 function block unit of function, proposes a method that It can quickly detect and recover the error position. It was the detection and recovery algorithms for the error location in the digital circuit of a complicated structure and could extended the number of function block for the $3{\times}3$ matrix structure on the dital circuit.