• The Journal of Korea Robotics Society
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• v.4 no.3
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• pp.185-191
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• 2009

This paper presents a new shape-based algorithm using affine category shape model for object category recognition and model learning. Affine category shape model is a graph of interconnected nodes whose geometric interactions are modeled using pairwise potentials. In its learning phase, it can efficiently handle large pose variations of objects in training images by estimating 2-D homography transformation between the model and the training images. Since the pairwise potentials are defined on only relative geometric relationship betweenfeatures, the proposed matching algorithm is translation and in-plane rotation invariant and robust to affine transformation. We apply spectral matching algorithm to find feature correspondences, which are then used as initial correspondences for RANSAC algorithm. The 2-D homography transformation and the inlier correspondences which are consistent with this estimate can be efficiently estimated through RANSAC, and new correspondences also can be detected by using the estimated 2-D homography transformation. Experimental results on object category database show that the proposed algorithm is robust to pose variation of objects and provides good recognition performance.

• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.233-239
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• 2020

The aims of this paper is to develop a modular agricultural robot and its autonomous driving algorithm that can be used in field farming. Actually, it is difficult to develop a controller for autonomous agricultural robot that transforming their dynamic characteristics by installation of machine modules. So we develop for the model based control algorithm of rotary machine connected to agricultural robot. Autonomous control algorithm of agricultural robot consists of the path control, velocity control, orientation control. To verify the developed algorithm, we used to analytical techniques that have the advantage of reducing development time and risks. The model is formulated based on the multibody dynamics methods for high accuracy. Their model parameters get from the design parameter and real constructed data. Then we developed the co-simulation that is combined between the multibody dynamics model and control model using the ADAMS and Matlab simulink programs. Using the developed model, we carried out various dynamics simulation in the several rotation speed of blades.

• Journal of Ship and Ocean Technology
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• v.10 no.4
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• pp.24-33
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• 2006

So far, the generation of a hull structural analysis model, that is, a finite element model of a hull structure, has been manually performed by a designer using design experience, and thus has required lots of time because of many constraints, the complexity, and the huge size of the hull structure. To make this task automatic, an algorithm for generating the hull structural analysis model is developed using the seam information of the hull structure. A generating system of the hull structural analysis model is implemented based on the developed algorithm. The applicability of the developed algorithm is demonstrated by applying it to the generation of the global and hold structural analysis models of a deadweight 300,000 ton VLCC (Very Large Crude oil Carrier). The results show that the developed algorithm can quickly generate these models at the initial design stage.

• Journal of Drive and Control
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• v.16 no.2
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• pp.22-29
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• 2019

This study presented a model predictive tracking control algorithm of autonomous truck based on object state estimation using extended Kalman filter. To design the model, the 1-layer laser scanner was used to estimate position and velocity of the object using extended Kalman filter. Based on these estimations, the desired linear path for object tracking was computed. The lateral and yaw angle errors were computed using the computed linear path and relative positions of the truck. The computed errors were used in the model predictive control algorithm to compute the optimal steering angle for object tracking. The performance evaluation was conducted on Matlab/Simulink environments using planar truck model and actual point data obtained from laser scanner. The evaluation results showed that the tracking control algorithm developed in this study can track the object reasonably based on the model predictive control algorithm based on the estimated states.

• International Journal of Control, Automation, and Systems
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• v.4 no.5
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• pp.559-566
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• 2006

In the real system application, the interacting multiple model (IMM) based algorithm requires less computing resources as well as a good performance with respect to the various target maneuverings. And it further requires an easy design procedure in terms of its structures and parameters. To solve these problems, a fuzzy interacting multiple model (FIMM) algorithm, which is based on the basis sub-models defined by considering the maneuvering property and the time-varying mode transition probabilities designed by using the mode probabilities as inputs of a fuzzy decision maker, is proposed. To verify the performance of the proposed algorithm, airborne target tracking is performed. Simulation results show that the FIMM algorithm solves all problems in the real system application of the IMM based algorithm.

• International Journal of Control, Automation, and Systems
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• v.5 no.3
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• pp.307-316
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• 2007

In real system application, the interacting multiple model (IMM) based algorithm operates with the following problems: it requires less computing resources as well as a good performance with respect to the various target maneuvering, it requires a robust performance with respect to the time-varying measurement noise, and further, it requires an easy design procedure in terms of its structures and parameters. To solve these problems, an adaptive fuzzy interacting multiple model (AFIMM) algorithm, which is based on the basis sub-models defined by considering the maneuvering property and the time-varying mode transition probabilities designed by using the mode probabilities as the inputs of the fuzzy decision maker whose widths are adjusted, is proposed. To verify the performance of the proposed algorithm, a radar target tracking is performed. Simulation results show that the proposed AFIMM algorithm solves all problems in the real system application of the IMM based algorithm.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.45 no.3
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• pp.93-102
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• 2008

In this paper, we propose a rate control algorithm for constant quality real time video coding. To achieve constant quality, previous algorithm exploit mean absolute of difference(MAD) as measure of frame complexity. However, if scene is abruptly changed or if quantization parameter is not constant, encoder produces various output bits with same MAD. Therefore we know that MAD does not appropriately reflect characteristic of frame. To solve this problem, we exploit model parameter as measure of frame complexity. Because model parameter means slope between output bits and MAD, it reflects correctly complexity of frame. And because previous model, R-MAD model, is not considered quantization parameter, as quantization parameter increases or decreases, model parameter of frame also vary. So model parameter obtained using previous model cannot reflect internal characteristic of video. We solve this problem using proposed model, which is considered quantization parameter. Experiment results show that our algorithm provide better performance, in terms of quality smoothness than previous algorithm. Especially, when scene is abruptly changed, our algorithm alleviates quality drop.

• Journal of the Korean Data and Information Science Society
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• v.14 no.4
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• pp.825-836
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• 2003

Based on customer information and financing processes in capital market, we derived individual models by applying multi-layered perceptrons, MDA, and decision tree. Further, the results from the existing single models were compared with the results from the integrated model that was developed using genetic algorithm. This study contributes not only to verifying the existing individual models and but also to overcoming the limitations of the existing approaches. We have depended upon the approaches that compare individual models and search for the best-fit model. However, this study presents a methodology to build an integrated data mining model using genetic algorithm.

• Communications for Statistical Applications and Methods
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• v.8 no.1
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• pp.173-184
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• 2001

We present an algorithm for the complexity reduction of a general Gaussian mixture model by using a penalized likelihood method. One of our important assumptions is that we begin with an overfitted model in terms of the number of components. So our main goal is to eliminate redundant components in the overfitted model. As shown in the section of simulation results, the algorithm works well with the selected densities.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.3
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• pp.82-87
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• 1998

In order to provide a manufacturing system with efficiency and flexibility to cope with the changes in shop floor status, the integration of process planning and operations scheduling is required. In this paper, an integrated system of process planning and operations scheduling based on the concept of process net model and genetic algorithm is suggested. The process net model includes the alternative process plans. The integrated system is applied for prismatic parts.