• 전자공학회논문지CI
• /
• 제37권2호
• /
• pp.11-20
• /
• 2000

위상 관계는 공간 데이터베이스의 질의 최적화에 중요한 역할을 한다. 만일 위상 관계를 사전에 알 수 있다면 비용이 많이 드는 질의 처리는 피할 수 있다. 본 논문에서는 1) 공간 객체간의 위상 관계의 파악, 2) 주어진 위상 관계의 일관성 검사, 3) 주어진 위상 관계로부터 새로운 위상 관계의 유도 등의 문제에 관하여 논의하고자 한다. 이러한 논의는 위상 관계와 관련된 질의가 주어졌을 때 효과적인 공간 질의 처리를 가능하게 하여준다. 특히 위상 관계로서 8가지 종류(｛equal, disjoint, overlap, meets, contains, contained-in, properly-contains, properly-contained-in｝)를 고려한다. 본 논문에서는 주어진 위상 관계의 일관성을 검증하는 알고리즘을 제시하고 주어진 위상 관계로부터 모든 가능한 새로운 위상 관계를 유도하는 알고리즘을 제시한다.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2003년도 춘계학술대회
• /
• pp.822-827
• /
• 2003

Topological maps have drawn more attention recently because they are compact, provide natural interfaces, and are applicable to path planning easily. To build a topological map incrementally, Voronoi diagram was used by many researchers. The Voronoi diagram, however, has difficulty in applying to arbitrarily shaped objects and needs long computation time. In this paper, we present a new method for global topological map from the local topological maps incrementally. The local topological maps are created through a thinning algorithm from a local grid map, which is built based on the sensor information at the current robot position. A thinning method requires simpler computation than the Voronoi diagram. Localization based on the topological map is usually difficult, but additional nodes created by the thinning method can improve localization performance. A series of experiments have been conducted using a two-wheeled mobile robot equipped with a laser scanner. It is shown that the proposed scheme can create satisfactory topological maps.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2002년도 ICCAS
• /
• pp.38.3-38
• /
• 2002

$\textbullet$ The topological map using a thinning needs much simpler computation than that using a Voronoi. $\textbullet$ A thinning can provide much information on the environment (additional nodes). $\textbullet$ Each node created in a local map is considered as temporary and redundant nodes are discarded. $\textbullet$ A global topological map can be built fast and correctly through a thinning algorithm. $\textbullet$ Path planning can be easily achieved with a topological map.

• 한국초전도ㆍ저온공학회논문지
• /
• 제21권1호
• /
• pp.6-9
• /
• 2019

Developing a gate-tunable, scalable, and topologically-protectable supercurrent qubit and integrating it into a quantum circuit are crucial for applications in the fields of quantum information technology and topological phenomena. Here we propose that the nano-hybrid supercurrent transistors, a superconducting quantum analogue of a transistor, made of topological insulator nanowire would be a promising platform for unprecedented control of both the supercurrent magnitude and the current-phase relation by applying a voltage on a gate electrode. We believe that our experimental design will help probing Majorana state in topological insulator nanowire and establishing a solid-state platform for topological supercurrent qubit.

• 대한기계학회논문집A
• /
• 제30권9호
• /
• pp.1124-1133
• /
• 2006

This paper addresses the localization and navigation problem using invisible two dimensional barcodes on the floor. Compared with other methods using natural/artificial landmark, the proposed localization method has great advantages in cost and appearance, since the location of the robot is perfectly known using the barcode information after the mapping is finished. We also propose a navigation algorithm which uses the topological structure. For the topological information, we define nodes and edges which are suitable for indoor navigation, especially for large area having multiple rooms, many walls and many static obstacles. The proposed algorithm also has an advantage that errors occurred in each node are mutually independent and can be compensated exactly after some navigation using barcode. Simulation and experimental results. were performed to verify the algorithm in the barcode environment, and the result showed an excellent performance. After mapping, it is also possible to solve the kidnapped case and generate paths using topological information.

• Spatial Information Research
• /
• 제15권1호
• /
• pp.35-52
• /
• 2007

실세계에 가까운 가상현실의 표현기술과 웹을 통해 공간정보를 제공하는 3차원 GIS는 새로이 주목받는 분야 중에 하나이다. 특히, 공간데이터의 상호운용성에 대한 관심이 높아지고 있는 가운데, OGC는 상호운용을 지원하는 공간객체의 위상관계 명세를 발표하였다. 그러나 이 명세서는 2차원 공간객체에 국한되어있다. 이에 본 연구에서는 도시의 경관개선과 GIS 활용 기반 조성의 측면에서 3차원 공간객체의 위상관계를 구축하였다. 나아가 이를 토대로 신도시의 실정에 맞는 경관정보 가시화 방안을 제시하였다. 결과적으로 장소에 구애받지 않고 상시접속이 가능한 현실감 있는 도시경관에 대한 정보공유의 기틀을 마련하였다는 점에서 보다 큰 의의가 있다고 할 것이다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.174-179
• /
• 2003

Through the simultaneous localization and map building (SLAM) technique, a robot can create maps about its unknown environment while it continuously localizes its position. Grid maps and feature maps have been widely used for SLAM together with application of probability methods and POMDP (partially observed Markov decision process). But this approach based on grid maps suffers from enormous computational burden. Topological maps, however, have drawn more attention these days because they are compact, provide natural interfaces, and are easily applicable to path planning in comparison with grid maps. Some topological SLAM techniques like GVG (generalized Voronoi diagram) were introduced, but it enables the robot to decide only whether the current position is part of GVG branch or not in the GVG algorithm. In this paper, therefore, to overcome these problems, we present a method for updating a global topological map from the local topological maps. These local topological maps are created through a labeled Voronoi diagram algorithm from the local grid map built based on the sensor information at the current robot position. And the nodes of a local topological map can be utilized as the features of the environment because it is robust in light of visibility problem. The geometric information of the feature is applied to the extended Kalman filter and the SLAM in the indoor environment is accomplished. A series of simulations have been conducted using a two-wheeled mobile robot equipped with a laser scanner. It is shown that the proposed scheme can be applied relatively well.

• 한국측량학회지
• /
• 제31권6_2호
• /
• pp.511-520
• /
• 2013

Recently, human activities have expanded from outdoor spaces to indoor spaces since a lot of complex buildings were constructed over the world. Especially, visitors in a shopping mall would like to receive specific information of interest regarding various shopping-related activities as well as shopping itself. However, when it comes to providing the information, existing guide services have some drawbacks. Firstly, the existing services cannot provide visitors with the information of other stores simply and promptly on the current location. Secondly, the services have difficulties in representation and share of the shopping-related knowledge, and in providing inferred information. Thus, the purpose of this study is to develop a method that allows topological analysis utilizing ontology technique around the current position in such shopping mall in order to provide shopping-related information. For this, the shopping activity ontology model is designed, and based on the ontology model, inferencing rules are defined in order to extract the information of interest efficiently through semantic queries. Also, a geocoding method in indoor spaces is used regarding the current location, and optimal routing analysis, which is one of topological analysis, is applied with the result from the semantic queries. As a result, an Android application is developed for 3D visualization and user interface.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제11권8호
• /
• pp.3950-3964
• /
• 2017

With the increasing popularity of 3D technology such as 3D printing, 3D modeling, etc., there is a growing need to search for similar models on the internet. Matching non-rigid shapes has become an active research field in computer graphics. In this paper, we present an efficient and effective non-rigid model retrieval method based on topological structure and local volume. The integral geodesic distances are first calculated for each vertex on a mesh to construct the topological structure. Next, each node on the topological structure is assigned a local volume that is calculated using the shape diameter function (SDF). Finally, we utilize the Hungarian algorithm to measure similarity between two non-rigid models. Experimental results on the latest benchmark (SHREC' 15 Non-rigid 3D Shape Retrieval) demonstrate that our method works well compared to the state-of-the-art.

• Korean Journal of Mathematics
• /
• 제29권4호
• /
• pp.649-664
• /
• 2021

There have been numerous efforts to provide legal information to the general public easily. Most of the existing legal information services are based on keyword-oriented legal ontology. However, this keyword-oriented ontology construction has a sense of disparity from the relationship between the laws used together in actual cases. To solve this problem, it is necessary to study which laws are actually used together in various judicial precedents. However, this is difficult to implement with the existing methods used in computer science or law. In our study, we analyzed this by using topological data analysis, which has recently attracted attention very promisingly in the field of data analysis. In this paper, we applied the the Mapper algorithm, which is one of the topological data analysis techniques, to visualize the relationships that laws form organically in actual precedents.