• 대한기계학회논문집A
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• 제39권5호
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• pp.483-489
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• 2015

본 논문에서는 넓은 지역에서의 영상기반 자동 항법을 위한 실시간 위치인식 및 지도작성 방법을 제안한다. 한 대의 카메라에서 입력된 영상으로부터 제안된 방법은 6 자유도 카메라 자세와 3 차원 특징점 위치를 연속적으로 계산한다. 제안된 방법은 넓은 지역을 주행하며 촬영된 영상에 적용하여 그 위치와 환경지도를 성공적으로 작성하였이다. 본 논문에서는 이진기술자(binary descriptor)와 수치-위상(metric-topological)지도 표현법을 사용하여 GPU 나 영상의 축소 없이 실시간 성능과 광범위한 지역에서의 회귀점 검출(loop detection)을 하였다. 제안된 방법은 여러 환경에서 촬영된 영상과, 해당 영상의 GPS 기준값과 비교하여 평가하였다.

• 전기학회논문지
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• 제58권8호
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• pp.1605-1614
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• 2009

The technique of simultaneous localization and mapping is the most important research topic in mobile robotics. In the process of building a map in its available memory, the robot memorizes environmental information on the plane of grid or topology. Several approaches about this technique have been presented so far, but most of them use mapping technique as either grid-based map or topology-based map. In this paper we propose a frame of solving the SLAM problem of linking map covering, map building, localizing, path finding and obstacle avoiding in an automatic way. Some algorithms integrating grid and topology map are considered and this make the SLAM performance faster and more stable. The proposed scheme uses an occupancy grid map in representing the environment and then formulate topological information in path finding by A${\ast}$ algorithm. The mapping process is shown and the shortest path is decided on grid based map. Then topological information such as direction, distance is calculated on simulator program then transmitted to robot hardware devices. The localization process and the dynamic obstacle avoidance can be accomplished by topological information on grid map. While mapping and moving, pose of the robot is adjusted for correct localization by implementing additional pixel based image layer and tracking some features. A laser range finer and electronic compass systems are implemented on the mobile robot and DC geared motor wheels are individually controlled by the adaptive PD control method. Simulations and experimental results show its performance and efficiency of the proposed scheme are increased.

• 한국수학교육학회지시리즈B:순수및응용수학
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• 제30권4호
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• pp.357-375
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• 2023

In this paper, we introduce the concept of bipolar soft supra topological space and provide a characterization of the related concepts of bipolar soft supra closure and bipolar soft supra interior. We also establish a connection between bipolar soft supra topology and bipolar soft topology. Additionally, we present the concept of bipolar soft supra continuous mapping and examine the concept of bipolar soft supra compact topological space. A related result concerning the image of the bipolar soft supra compact space is proved. Finally, we identify the concepts of disconnected (connected) and strongly disconnected (strongly connected) space and derive several results linking them together. Relationships among these concepts are clarified with the aid of examples.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제11권4호
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• pp.254-258
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• 2011

In this paper, we introduce the notion of fuzzy (r, s)-S1-pre-semicontinuous mappings on intuitionistic fuzzy topological spaces in $\check{S}$ostak's sense, which is a generalization of $S_1$-pre-semicontinuous mappings by Shi-Zhong Bai. The relationship between fuzzy (r, s)-pre-semicontinuous mapping and fuzzy (r, s)-$S_1$-pre-semicontinuous mapping is discussed. The characterizations for the fuzzy (r, s)-$S_1$-pre-semicontinuous mappings are obtained.

• 대한의용생체공학회:학술대회논문집
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• 대한의용생체공학회 1995년도 추계학술대회
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• pp.193-196
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• 1995

An algorithm using topological mapping has been developed for a real-time detection of the QRS complexes of ECG signals. As a measurement of QRS complex energy, we used topological mapping from one dimensional sampled ECG signals to two dimensional vectors. These vectors are reconstructed with the sampled ECG signals and the delayed ones. In this method, the detection rates of CRS complex vary with the parameters such as R-R interval average and peak detection threshold coefficient. We use mean, median, and iterative method to determint R-R interval average and peak estimation. We experiment on various value of search back coefficient and peak detection threshold coefficient to find optimal rule.

• 한국지능시스템학회논문지
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• 제20권2호
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• pp.257-261
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• 2010

본 논문에서는 fuzzy r-generalized almost continuity의 개념과 특성을 연구한다. 특히 fuzzy r-generalized regular open sets를 이용하여 fuzzy r-generalized almost continuity의 특성을 밝힌다.

• Korean Journal of Mathematics
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• 제25권2호
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• pp.261-278
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• 2017

In this paper, we introduce the concepts of ([r, s], [t, u])-interval-valued intuitionistic fuzzy alpha generalized closed and open sets in the interval-valued intuitionistic smooth topological space and ([r, s], [t, u])-interval-valued intuitionistic fuzzy alpha generalized continuous mappings and then investigate some of their properties.

• Korean Journal of Mathematics
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• 제25권1호
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• pp.1-18
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• 2017

In this paper, we introduce the concepts of ([r, s], [t, u])-interval-valued intuitionistic fuzzy generalized preclosed sets and ([r, s], [t, u])-interval-valued intuitionistic fuzzy generalized preopen sets in the interval-valued intuitionistic smooth topological space and ([r, s], [t, u])-interval-valued intuitionistic fuzzy generalized pre-continuous mappings and then investigate some of their properties.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제10권1호
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• pp.73-81
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• 2010

We introduce the new category VSet(H) consisting of H-fuzzy spaces and H-fuzzy mappings between them satisfying a certain condition, and investigate VSet(H) in the sense of a topological universe. Moreover, we show that VSet(H) is Cartesian closed over Set.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제8권4호
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• pp.312-315
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• 2008

In this paper, we investigate some characterizations for fuzzy weakly (r, s)-continuous mapping on an intuitionistic fuzzy topological space in ${\check{S}}ostak's$ sense.