• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.5
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• pp.17-26
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• 1998

B-ISDN has many advantages to provide multimedia, image transfer, etc. Recently, ABR service has been proposed in order to satisfy user's various requirements in it. In this paper, we propose a new ABR flow control algorithm called CAPRO. This algorithm uses the buffer proportional to propagation delay and controls the traffic on a link-by-link basis in order to minimize the effect of propagation delay. In order to use buffer more efficienctly, we define the request cell and the control cell. Then, we analyze our algorithm using mathematical model, simulate it using SLAM system, and compare to the existing EPRCA. As a result, our algorithm has the benifit of the throughput, cell loss probability, and fairness.

• The Journal of the Acoustical Society of Korea
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• v.17 no.8
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• pp.88-92
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• 1998

본 논문에서는 다층구조물에 대한 토모그라픽 영상을 복원하기 위해 기존의 SLAM 시스템에 쿼드러쳐 검출기와 시료회전장치를 부가하여 STAM 시스템을 구성하고 BFP 알 고리즘을 이용하여 영상복원 프로그램을 개발하였다. 본 실험에서는 시료로서 알루미늄을 사용하여 2개 층이 서로 다른 패턴을 갖는 불균질 층을 만들고 그 사이를 물로써 채워진 다 층구조물을 구성하였으며 또한 불균질 층 간격을 각각 8λ, 10λ 그리고 12λ가 되도록 제 작하였다. 이들 시료는 STAM 시스템에서 4중 프로젝션(0°, 90°, 180°, 270°)시켜 토모 그라픽 데이터를 획득하고 이를 영상처리하여 토모그라픽 영상을 복원하였다. 영상분석 결 과, 본 STAM 시스템은 4중 프로젝션시 12λ의 불균질 층 간격에서 높은 분해능의 토모그 라픽 영상을 얻을 수 있었고 각 층에 대한 위치를 결정할 수 있었다.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.24 no.62
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• pp.97-109
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• 2001

This research is concerned with jobshop scheduling problem for an advanced manufacturing system like flexible manufacturing which consists of two machine centers and a single automated guided vehicle(AGV). The objective is to develop and evaluate heuristic scheduling procedures that minimize makespan to be included travel time of AGV. A new heuristic algorithm is proposed and illustrates the proposed algorithm. The heuristic algorithm is implemented for various cases by SLAM II. The results show that the proposed algorithm provides better solutions in reduction ratio and frequency than the previous algorithm.

• The Transactions of the Korea Information Processing Society
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• v.6 no.3
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• pp.742-749
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• 1999

This paper proposes the mechanism of cell buffering in the output buffer of ATM switch for the traffic with the different QOS in the ATM environment. The proposed mechanism, VQS(Variable Queue Sharing) can minimize the cell loss ratio(CLR) of bursty traffic through the sharing of CBR queue, VBR queue, ABR queue to maximize the utilization of queue resource. To evaluate VQS performance, we make simulator using Visual Slam 2.0. We compare the CLP and cell average delay of VQS and HOL, QLT_HOL using the bursty traffic patterns.

• Proceedings of the Korea Information Processing Society Conference
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• 2014.11a
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• pp.817-820
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• 2014

본 논문에서는 휴대용 카메라를 이용한 3차원 공간 재구성을 위해 카메라의 실시간 포즈를 정확히 추정할 수 있는 카메라 포즈 최적화 시스템을 제안한다. 본 시스템에서는 3차원 공간에서 6차원 자유도를 가지고 움직이는 카메라의 주행 거리와 추정 포즈들 사이의 관계를 3차원 포즈 그래프로 나타냈다. 그리고 이 포즈 그래프에 대표적인 포즈 SLAM 알고리즘인 g2o를 적용함으로써, 최적화된 카메라 포즈들을 계산해낸다. 본 논문에서는 TUM 대학의 벤치마크 데이터 집합을 이용해 다양한 성능 평가 실험들을 수행하였고, 이를 통해 본 논문에서 제안한 카메라 포즈 최적화 시스템의 높은 성능을 확인할 수 있었다.

• Proceedings of the Korea Information Processing Society Conference
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• 2018.10a
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• pp.537-540
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• 2018

본 논문은 Jetson_TX2(임베디드 보드)의 ROS(Robot Operating System)기반으로 맵 지도를 작성하고, SLAM 및 DQN(Deep Q-Network)을 이용한 목적지까지의 이동명령(목표 선속도, 목표 각속도)을 자이로센서로 측정한 현재 각속도를 이용하여 Cortex-M3의 기반의 MCU(Micro Controllor Unit)에 하달하여 엔코더(encoder) 모터에서 측정한 현재 선속도와 자이로센서에서 측정한 각속도 값을 이용하여 PID제어를 통한 실내 자율주행 서비스 로봇.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1767-1768
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• 2007

This paper represents a map building system of Embedded Linux mobile robot. We propose a localization method which uses multiple sensors such as indoor GPS and encoder sensor for simultaneous map building system. In this paper we proposed a multiple sensor system for SLAM. For this, we developed a sensor based navigation algorithm and grid based map building algorithm under the Embedded Linux O.S. We proved this system's validity through field test

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.293-300
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• 2019

In this paper, an Embedded solution for fast navigation and precise positioning of mobile robots by floor features is introduced. Most of navigation systems tend to require high-performance computing unit and high quality sensor data. They can produce high accuracy navigation systems but have limited application due to their high cost. The introduced navigation system is designed to be a low cost solution for a wide range of applications such as toys, mobile service robots and education. The key design idea of the system is a simple localization approach using line features of the floor and delayed localization strategy using topological map. It differs from typical navigation approaches which usually use Simultaneous Localization and Mapping (SLAM) technique with high latency localization. This navigation system is implemented on single board Raspberry Pi B+ computer which has 1.4 GHz processor and Redone mobile robot which has maximum speed of 1.1 m/s.

• Electronics and Telecommunications Trends
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• v.36 no.2
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• pp.22-31
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• 2021

This report introduces a definition for robot task intelligence and explains the basis of the challenges associated with implementing robot task intelligence in real-world problems. Two fundamental elements of this intelligence, robot manipulation and navigation, are introduced herein. We describe the existing trends and industrial applications of the robot task intelligence in logistics and agricultural automation. Furthermore, as an underpinning technology for this intelligence, we review the existing three-dimensional position estimation techniques and summarize the difficulties associated with applying pure SLAM technology to real-world applications. Finally, we discuss the prospects of the robot task intelligence research and its potential for solving real-world problems.

• Korean Journal of Remote Sensing
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• v.39 no.1
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• pp.111-127
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• 2023

In visual slam and 3D data modeling, the Iterative Closest Point method is a primary fundamental algorithm, and many technical fields have used this method. However, it relies on search methods that take a high search time. This paper solves this problem by applying an effective point cloud refinement method. And this paper also accelerates the point cloud registration process with an indexing scheme using the spatial decomposition method. Through some experiments, the results of this paper show that the proposed point cloud refinement method helped to produce better performance.