• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.2
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• pp.101-107
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• 2014

Mobile robots use an environment map of its workspace to complete the surveillance task. However grid-based maps that are commonly used map format for mobile robot navigation use a large size of memory for accurate representation of environment. In this reason, grid-based maps are not suitable for path planning of mobile robots using embedded board. In this paper, we present the path planning algorithm that produce a secure path rapidly. The proposed approach utilizes a hybrid map that uses less memory than grid map and has same efficiency of a topological map. Experimental results show that the fast path planning uses only 1.5% of the time that a grid map based path planning requires. And the results show a secure path for mobile robot.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.2017-2022
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• 2004

Data association is a process that matches a recent observation with known data set, which is used for the localization of mobile robots. Edges in topological maps have rich information which can be used for the data association. However, no systematic approach on using the edge data for data association has been reported. This paper proposes a systematic way of utilizing the edge data for data association. First, we explain a Local Generalized Voronoi Angle(LGA) to represent the edge data in 1-dimension. Second, we suggest a key factor extraction procedure from the LGA to reduce the number by $2^7-2^8$ times, for computational efficiency using the wavelet transformation. Finally we propose a way of data association using the key factors of the LGA. Simulations show that the proposed data association algorithm yields higher probability for similar edges in computationally efficient manner.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.5
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• pp.277-282
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• 2003

In this paper we propose Using Higher Order Neuron on the Supervised Learning Machine of the Kohonen Feature Map. The architecture of proposed model adopts the higher order neuron in the input layer of Kohonen Feature Map as a Supervised Learning Machine. It is able to estimate boundary on input pattern space because or the higher order neuron. However, it suffers from a problem that the number of neuron weight increases because of the higher order neuron in the input layer. In this time, we solved this problem by placing the second order neuron among the higher order neuron. The feature of the higher order neuron can be mapped similar inputs on the Kohonen Feature Map. It also is the network with topological mapping. We have simulated the proposed model in respect of the recognition rate by XOR problem, discrimination of 20 alphabet patterns, Mirror Symmetry problem, and numerical letters Pattern Problem.

• New & Renewable Energy
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• v.9 no.2
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• pp.15-22
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• 2013

The solar energy are an infinite source of energy and a clean energy without secondary pollution. The global solar energy reaching the earth's surface can be calculated easily according to the change of latitude, altitude, and sloped surface depending on the amount of the actual state of the atmosphere and clouds. The high-resolution solar-meteorological resource map with 1km resolution was developed in 2011 based on GWNU (Gangneung-Wonju National University) solar radiation model with complex terrain. The very high resolution solar energy map can be calculated and analyzed in Seoul and Eunpyung with topological effect using by 1km solar-meteorological resources map, respectively. Seoul DEM (Digital Elevation Model) have 10m resolution from NGII (National Geographic Information Institute) and Eunpyeong new town DSM (Digital Surface Model) have 1m spatial resolution from lidar observations. The solar energy have small differences according to the local mountainous terrain and residential area. The maximum bias have up to 20% and 16% in Seoul and Eunpyung new town, respectively. Small differences are that limited area with resolutions. As a result, the solar energy can calculate precisely using solar radiation model with topological effect by digital elevation data and its results can be used as the basis data for the photovoltaic and solar thermal generation.

• Journal of the Chungcheong Mathematical Society
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• v.28 no.3
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• pp.377-384
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• 2015

It is well known that the entropy map is upper semi-continuous for expansive homeomorphisms on a compact metric space. Recently, Morales [3] introduced the notion of measure expansiveness which is general than that of expansiveness. In this paper, we prove that the entropy map is upper semi-continuous for measure expansive homeomorphisms.

• Journal of the Korean Mathematical Society
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• v.37 no.6
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• pp.885-899
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• 2000

We obtain generalized versions of the Fan-Browder fixed point theorem for G-convex spaces. We define the class B of better admissible multimaps on G-convex spaces and show that any closed compact map in b fro ma locally G-convex uniform space into itself has a fixed point.

• Communications of the Korean Mathematical Society
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• v.20 no.4
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• pp.791-801
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• 2005

In this paper, we introduce the concepts of closure and interior defined by an intuitionistic gradation of openness. We also introduce the concepts of weakly gp-maps, gp-open maps and several types of compactness, and obtain some characterizations.

• Communications of the Korean Mathematical Society
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• v.11 no.2
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• pp.445-455
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• 1996

In this paper we study the Reidemeister number $R(f_G)$ for a self-map $f_G : (X, G) \to (X, G)$ of the transformation group (X,G), as an extenstion of the Reidemeister number R(f) for a self-map $f : X \to X$ of a topological space X.

• The Pure and Applied Mathematics
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• v.18 no.3
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• pp.261-268
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• 2011

For a compact Hausdorff space X with its p-fold covering map ${\sigma}$, we construct its corresponding topological groupoid ${\Gamma}$, and show that there is a strong relation between the dynamical structures of (X, ${\sigma}$) and the groupoid structures of ${\Gamma}$.

• Journal of the Chungcheong Mathematical Society
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• v.28 no.4
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• pp.647-651
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• 2015

Let (X, d) be a compact metric space, and let $f:X{\rightarrow}X$ be a continuous map. We consider that if a positively continuum-wise expansiveness continuous map f has the positively shadowing property in the nonwandering set, then the topological entropy is positive.