• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1039-1043
• /
• 2005

Despite the many significant advances made in robot architecture, the basic approaches are deliberative and reactive methods. They are quite different in recognizing outer environment and inner operating mechanism. For this reason, they have almost opposite characteristics. Later, researchers integrate these two approaches into hybrid architecture. In such architecture, Reactive module also called low-level motion control module have advantage in real-time reacting and sensing outer environment; Deliberative module also called high-level task planning module is good at planning task using world knowledge, reasoning and intelligent computing. This paper presents a framework of the integrated planning and control for mobile robot navigation. Unlike the existing hybrid architecture, it learns topological map from the world map by using MST (Minimum Spanning Tree)-based SOFM (Self-Organizing Feature Map) algorithm. High-level planning module plans simple tasks to low-level control module and low-level control module feedbacks the environment information to high-level planning module. This method allows for a tight integration between high-level and low-level modules, which provide real-time performance and strong adaptability and reactivity to outer environment and its unforeseen changes. This proposed framework is verified by simulation.

• Proceedings of the Korean Association of Geographic Inforamtion Studies Conference
• /
• 2004.10a
• /
• pp.27-40
• /
• 2004

When we derive multi-scale databases from a source spatial database, thegeometries and topological relations in the source database are transformed according to a predefined set of constraints. This means that the derived databases should be checked to see if the constraints are respected during the construction or updates of databases and to maintain the consistency of multi-scale databases. In this paper, we focus on the topological consistency between the source and derived databases, which is one of the important constraints to respect. In particular, we deal with the method of assessment of topological consistency, when 2-dimensional objects are collapsed to 1-dimensional ones. We introduce eight types of topological relations between 2-dimensional objects and 19 topological ones between 1-dimensional objects and propose four different strategies to convert 2-dimensional topological relations in the source database to 1-dimensional ones objects in the target database. With these strategies, we guarantee the topological consistency between multi-scale databases.

• Journal of the Korean Mathematical Society
• /
• v.33 no.4
• /
• pp.1115-1122
• /
• 1996

In study of the dynamics of a map f from a topological space X to itself, a central role is played by the various recursive properties of the points of X. One such property is periodicity. A weaker property is that of being nonwandering. Intermediate recursive properties include almost periodicity and recurrence.

• Journal of the Chungcheong Mathematical Society
• /
• v.11 no.1
• /
• pp.73-85
• /
• 1998

This paper deals with the topological stability of continuous maps. First, the notion of local expansion is given and we show that local expansions of compact metric spaces have the shadowing property. Also, we prove that if a continuous surjective map f is a local homeomorphism and local expansion, then f is topologically stable in the class of continuous surjective maps. Finally, we find homeomorphisms which are not topologically stable.

• Journal of the Korean Mathematical Society
• /
• v.51 no.4
• /
• pp.837-851
• /
• 2014

We consider ${\omega}$-chaos as defined by S. H. Li in 1993. We show that c-dense ${\omega}$-scrambled sets are present in every transitive system with two-sided limit shadowing property (TSLmSP) and that every transitive map on topological graph has a dense Mycielski ${\omega}$-scrambled set. As a preliminary step, we provide a characterization of dynamical properties of maps with TSLmSP.

• Kyungpook Mathematical Journal
• /
• v.53 no.3
• /
• pp.341-348
• /
• 2013

In this paper, the concept of supra $b$-irresolute maps is introduced and several properties of it is investigated. Furthermore, the notion of supra $b$-connectedness is defined and researched by means of supra $b$-separated sets.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.06a
• /
• pp.1468-1471
• /
• 2005

This Paper is to find out a solution for the full-coverage algorithm requiring the real-time processing such as mobile home service robots and vacuum cleaner robots. Previous methods are used by adopting based grid approach method. They used lots of sensors, a high speed CPU, expensive ranger sensors and huge memory. Besides, most full-coverage algorithms should have a map before obstacle avoidance. However, if a robot able to recognize the tangent vector of obstacles, it is able to bring the same result with less sensors and simplified hardware. Therefore, this study suggests a topological based approach and a local obstacle voidance method using a few of PSD sensors and ultra sonic sensors. The simulation results are presented to prove its applicability.

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.6
• /
• pp.554-560
• /
• 2006

In this paper, we propose the topological map building method about unknown environment using the ultrasonic sensors. An ultrasonic sensor inherently has the range error due to the specular reflection. To decrease this error, we estimate the obstacle states(position and velocity) using the local minimum sensor values and Jacobian. Estimated states are used to avoid the obstacles and build the topological map similar to the type that human being memorizes an environment. When a mobile robot is faced with three problems(comer way, cross way and dead end), it senses the movable directions using FIS(Fuzzy Inference System). Among these directions, it can select the target direction using binary decision tree(Turn Side Selector). Proposed algorithm has been verified with three simulations and three implementations.

• Bulletin of the Korean Mathematical Society
• /
• v.60 no.3
• /
• pp.659-675
• /
• 2023

Let K be an algebraically closed field of characteristic 0 and let f be a non-fibered planar quadratic polynomial map of topological degree 2 defined over K. We assume further that the meromorphic extension of f on the projective plane has the unique indeterminacy point. We define the critical pod of f where f sends a critical point to another critical point. By observing the behavior of f at the critical pod, we can determine a good conjugate of f which shows its statue in GIT sense.

• Proceedings of the Korea Water Resources Association Conference
• /
• 2022.05a
• /
• pp.482-482
• /
• 2022

하천의 합류부에서는 수질이 다른 유체가 혼합하여 합류 전과 다른 특성을 보인다. 하천의 합류부에서 수질을 효율적으로 관리하기 위해서는 수질의 공간적인 혼합 특성을 규명하는 것이 중요하다. 합류부에서 수질의 공간적인 혼합 특성을 분석하기 위해 본 연구에서는 토폴로지 데이터 분석(topological data analysis, TDA), 자기 조직화 지도(Self-Organizing Map, SOM), k-평균 알고리즘(K-means clustering algorithm) 세 가지 기법을 이용하였다. 세 가지 기법을 비교하여 어떤 알고리즘이 합류부의 수질 변화 특성을 더 뚜렷하게 나타내는지 분석하였다. 수질 변화 비교 인자들은 pH, chlorophyll, DO, Turbidity 등이 있고, 수질 인자들은 YSI를 활용해 측정하였다. 자료의 측정 지역은 낙동강과 황강이 합류하는 지역이며, 보트에 YSI 장비를 부착하고 횡단하여 측정하였다. 측정한 데이터를 R 프로그램을 통해 세 가지 기법을 적용시켜 수질 변화 비교를 분석한다. 토폴로지 데이터 분석(topological data analysis, TDA)은 거대하고 복잡한 데이터로부터 유의미한 정보를 추출하는 데 사용하고, 자기조직화지도(Self-Organizing Map, SOM) 기법은 차원 축소와 군집화를 동시에 수행한다. k-평균 알고리즘(K-means clustering algorithm) 기법은 주어진 데이터를 k개의 클러스터로 묶는 머신러닝 비지도학습에 속하는 알고리즘이다. 세 가지 방법들의 주목적은 클러스터링이다. 클러스터 분석(Cluster analysis)이란 주어진 데이터들의 특성을 고려해 동일한 성격을 가진 여러 개의 그룹으로 대상을 분류하는 데이터 마이닝의 한 방법이다. 군집화 방법들인 TDA, SOM, K-means를 이용해 합류 지역의 수질 특성들을 클러스터링하여 수질 패턴들을 분석해 하천 수질 오염을 방지할 수 있을 것이다. 본 연구에서는 토폴로지 데이터 분석(topological data analysis, TDA), 자기조직화지도(Self-Organizing Map, SOM), k-평균 알고리즘(K-means clustering algorithm) 세 가지 기법을 이용하여 합류부에서의 수질 특성을 비교하며 어떤 기법이 합류의 특성을 더욱 뚜렷하게 나타내는지 규명했다. 합류의 특성을 군집화 방법을 이용해 알게 된다면, 합류부의 수질 변화 패턴을 다른 합류 지역에서도 적용할 수 있을 것으로 기대된다.