• Journal of Institute of Control, Robotics and Systems
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• v.8 no.6
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• pp.492-497
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• 2002

Map building is the process of modeling the robot's environment. The map is usually built based on a grid-based or topological approach, which has its own merits and demerits. These two methods, therefore, can be integrated to provide a better way of map building, which compensates for each other's drawbacks. In this paper, a method of building the topological map based on the occupancy grid map through a Voronoi diagram is presented and verified by various simulations. This Voronoi diagram is made by using a labeled Voronoi diagram scheme which is suitable for the occupancy grid maps. It is shown that the Proposed method is efficient and simple fur building a topological map. The simple path-planning problem is simulated and experimented verify validity of the proposed approach.

• Journal of the Korea Society of Computer and Information
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• v.13 no.1
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• pp.11-20
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• 2008

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.174-179
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• 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.

• Journal of the Korean Mathematical Society
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• v.58 no.4
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• pp.967-976
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• 2021

We obtain the list of prime knots with arc index 12 up to 16 crossings and their minimal grid diagrams. This is a continuation of the works [5] and [8] in which Cromwell matrices were generated to obtain minimal grid diagrams of all prime knots up to arc index 11. We provide minimal grid diagrams of the prime alternating knots with arc index 12. They are the 10 crossing prime alternating knots. The full list of 19,513 prime knots of arc index 12 up to 16 crossings and their minimal grid diagrams can be found in the arXiv [6].

• Journal of Power Electronics
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• v.13 no.5
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• pp.854-860
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• 2013

The voltage variation problem at the point of common coupling (PCC) in a grid-connected wind turbine is investigated. The voltage variation problem is one of the most frequent power quality issues for the grid connection of large amounts of input power in a weak grid. Through the simplified modeling of the wind turbine and power network, the magnitude of PCC voltage variation is calculated by using the equivalent circuit parameters and output power of the wind turbine. The required amount of reactive power that can compensate the voltage variation is also presented analytically by using the vector diagram method. The proposed calculation and compensation method of the PCC voltage variation is verified by computer simulations and experiments.

• International journal of advanced smart convergence
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• v.12 no.1
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• pp.1-8
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• 2023

Smart IoT over high speed network and high performance smart devices explodes the ubiquitous services and applications. Nearest Neighbor(NN) query is one of the important type of queries that have to be supported for ubiquitous information services. In order to process efficiently NN queries in the wireless broadcast environment, it is important that the clients determine quickly the search space and filter out NN from the candidates containing the search space. In this paper, we propose a hybrid index of Voronoi and grid partition to provide quick search space decision and rapid filtering out NN from the candidates. Grid partition plays the role of helping quick search space decision and Voronoi partition providing the rapid filtering. We show the effectiveness of the proposed index by comparing the existing indexing schemes in the access time and tuning time. The evaluation shows the proposed index scheme makes the two performance parameters improved than the existing schemes.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2008.10a
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• pp.386-389
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• 2008

Forming limit diagram is created by graphical illustration indicating major and minor strain. In order to provide the criterion for forming safety, FLC(forming limit curve) need to be fitted to the diagram. However, the standard method for the strain measurement and FLC plotting are not fixed yet, which results in inconvenience in digitalized analysis. In this study, new construction method for FLC was suggested in order to minimize operator dependency. For this purpose, major and minor strain were measured automatically and analyzed. Then, a second order equation is adopted to fit the FLC. Optimized by response surface method was performed to ensure particular characteristics of the FLC.

• International Journal of Internet, Broadcasting and Communication
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• v.15 no.2
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• pp.22-30
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• 2023

The portable mobile devices with high performance and high speed 5G network activate and explode the demands for ubiquitous information services that remove the limitations of time for the communication and places to request for the information. NN (Nearest Neighbor) search is one of the most important types of queries to be processed efficiently in the information services. Various indexes have been proposed to support efficient NN search in the wireless broadcast system. The indexes adopting Hilbert curve, grid partition or Voronoi diagram enable the clients to search for NN quickly in the wireless broadcast channel. It is necessary that an efficient means to evaluate the performances of various indexes. In this paper, we propose an open framework that can adopt a variety of indexing schemes and evaluate and compare the performances of them. The proposed framework is organized with open and flexible structure that can adopt hybrid indexing schemes extensible to Voronoi diagram as well as simple indexing schemes. With the implemented framework, we demonstrate the efficiency and scalability and flexibility of the proposed framework by evaluating various indexing schemes for NN query.

• Journal of the korean Society of Automotive Engineers
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• v.11 no.1
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• pp.7-13
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• 1989

본 고에서는 당사에서 이용하고 있는 그릿드 마킹법에 의한 변형의 측정과 성형 한계도의 이용에 관하여 간략하게 소개하고자 한다.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.822-827
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• 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.