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Design of Vision/INS Integrated Navigation System in Poor Vision Navigation Environments
Youngsun Kim,Dong-Hwan Hwang 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
This paper proposes a design method for an inertial and landmark-based vision integrated navigation system in poor vision navigation environments, which have fewer visible landmarks in an area. An indirect Kalman filter with feedback structure is used in the presented navigation system. The system is designed to use focal plane measurements of landmarks instead of a vision navigation solution for effective measurement usage in poor vision environments. The proposed design is confirmed through the computer simulations and its performance is evaluated comparing the integration system which uses a vision navigation solution.
랜드마크가 충분하지 않은 환경에서의 관성/비전 통합항법시스템
김영선(Youngsun Kim),황동환(Dong-Hwan Hwang) 대한전기학회 2014 전기학회논문지 Vol.63 No.1
An INS/vision integrated navigation algorithm is proposed for environments with insufficient number of landmarks. In the proposed algorithm, the raw measurements on the focal plane are directly used in order to cope with the situation where the number of landmarks are not sufficient. In addition to this, the combination of landmarks, which has smallest value of DOP, is used in the update of measurement in order to improve navigation performance. In order to evaluate the performance of the proposed integrated navigation system, Monte-Carlo simulation and van test was performed. The results of the simulation and experiment show that the proposed navigation system gives better navigation performance than an INS/vision integrated navigation system which does not use the raw measurements on the focal plane and the navigation system provides navigation solutions even in environments with insufficient number of landmarks.
신영선(Youngsun Shin),오송석(SongSeuk Oh),김황래(Hwang Rae Kim),박진섭(JinSub Park) 한국정보과학회 2005 한국정보과학회 학술발표논문집 Vol.32 No.1
유비쿼터스 환경이 도래하면서 언제, 어느 곳에서든 네트?을 사용하여 정당한 사용자임을 확인하고자 하는 요구가 증대하고 있다. 기존의 사용자 인증 방식은 인증기관으로부터 받은 인증서와 비밀키를 하드웨어 장치나 스마트카드 등의 보조 기억장치에 저장하여 휴대하고 다녀야 하는 번거로움이 있다. 또한 사용자의 비밀키를 키위탁 센터에 위탁하여 필요할 때 사용할 수 있도록 하고 있으나 여러 가지 위협으로부터 안전할 수 없는 상황이다. 본 논문에서는 이러한 휴대의 불편함과 여러 가지 위협으로부터 보호하고, 사용자가 언제 어디서든 인증을 제공받을 수 있는 동적 키생성 및 키복구 모듈을 제안한다.
시선각 측정기반 비전항법시스템에서 랜드마크의 기하학적 배치에 대한 2차원 항법오차
김영선(Youngsun Kim),지현민(Hyun-min Ji),황동환(Dong-Hwan Hwang) 대한전기학회 2012 전기학회논문지 Vol.61 No.3
Geometric effect of landmarks to the navigation error is investigated in the two-dimensional line-of-sight measurement based vision navigation system. DOP is derived between line-of-sight measurement error and navigation solution error. For cases of three landmarks in an area, variations of the DOP were observed through computer simulations. Vision navigation system experiments were performed for the cases. Simulation and experimental results show that navigation solution errors have similar trend to DOP values of the simulation.
A Reconfigurable Processor Infrastructure for Accelerating Java Applications
HAN, Youngsun,HWANG, Seok Joong,KIM, Seon Wook The Institute of Electronics, Information and Comm 2008 IEICE transactions on fundamentals of electronics, Vol.91 No.8
<P>In this paper, we present a reconfigurable processor infrastructure to accelerate Java applications, called Jaguar. The Jaguar infrastructure consists of a compiler framework and a runtime environment support. The compiler framework selects a group of Java methods to be translated into hardware for delivering the best performance under limited resources, and translates the selected Java methods into Verilog synthesizable code modules. The runtime environment support includes the Java virtual machine (JVM) running on a host processor to provide Java execution environment to the generated Java accelerator through communication interface units while preserving Java semantics. Our compiler infrastructure is a tightly integrated and solid compiler-aided solution for Java reconfigurable computing. There is no limitation in generating synthesizable Verilog modules from any Java application while preserving Java semantics. In terms of performance, our infrastructure achieves the speedup by 5.4 times on average and by up to 9.4 times in measured benchmarks with respect to JVM-only execution. Furthermore, two optimization schemes such as an instruction folding and a live buffer removal can reduce 24% on average and up to 39% of the resource consumption.</P>
김영선 ( Youngsun Kim ),최동희 ( Donghee Choi ),장호선 ( Hosun Jang ),나창수 ( Changsu Na ),최태진 ( Taejin Choi ),황문현 ( Moonhyeon Hwang ),조주현 ( Joohyun Cho ),이경인 ( Kyoungin Lee ),김선민 ( Sunmin Kim ),표병식 ( Byoungsik 경락경혈학회 2013 Korean Journal of Acupuncture Vol.30 No.4
Objectives: To observe the changes in the expression of neurotransmitters NO and enzymes that create NO, such as nNOS, iNOS and eNOS, upon the needle insertion on river point, one of the five transport points of three yang meridians on the forefoot. Methods: Based on rats, needle was inserted on both sides of LI5, SI5 and TE6, which are river points of three yang meridians on the forefoot, and were retained for five minutes. After the retention, blood was drawn via cardiac puncture and tissues from each point around meridian vessels were extracted to be examined on the changes of the expression of NO, as well as of nNOS, iNOS and eNOS. Results: In terms of the effect on NO creation in tissues, none of the experimental groups showed any significant change compared to the Normal group. In terms of the effect on expression of nNOS within tissues, LI5 and SI5 showed significant increase based on the results of immunohistochemistry. In iNOS within tissues, LI5 and SI5 showed significant increase based on the results of immunohistochemistry. In eNOS within tissues, SI5 showed significant increase based on the results of immunohistochemistry. Conclusions: The effect on the function of NO, nNOS, iNOS and eNOS of needle insertion on the river points of three yang meridians on the forefoot could be observed, and based on this study, it is considered that the effect of needle stimulation on the changes of nervous system could be found out through additional research.