• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.411-412
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• 2007

본 논문에서는 경계선 추적에 널리 사용되고 있는 체인코드를 개선하여 윤곽선 추적 시 시간과 메모리 효율을 개선하였다. 일반적으로 정형화된 물체는 윤곽선의 동선이 대부분 이전 검색동선과 같은 방향으로 움직인다. 기존의 8방향 체인코드에는 같은 동선에 있는 경계선이라도 픽셀하나당 한번 씩 검사를 한다. 개선된 체인코드는 확인된 경계영역에서 상하좌우, 대각선 방향으로 한 픽셀씩 더 확인하여 기존 체인코드보다 시간과 메모리 효율을 개선할 수 있다.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.77.4-77
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• 2001

The quality of agricultural products is classified with various factors which are measured and determined by destructive and/or nondestructive method. NIR spectrum analysis method is used to determine internal qualities such as a brix and an acidity. CCD color camera is used to measure external quality like color and a size of fruit. today, nondestructive methods are widely researched. The quality and the garde of fruit loaded into a cup automatically and measured in real time by camera and NIR system is determined by internal and external factors. This paper proposes modified boundary tracking algorithm which detects the contour of fruit´s color image and make chain code faster than conventional method ...

• Journal of the Korea Society of Computer and Information
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• v.18 no.8
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• pp.65-75
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• 2013

This paper proposes a method of tracking the hand region and detecting the fingertip using only depth images. In order to eliminate the influence of lighting conditions and obtain information quickly and stably, this paper proposes a tracking method that relies only on depth information, as well as a method of using region growing to identify errors that can occur during the tracking process and a method of detecting the fingertip that can be applied for the recognition of various gestures. First, the closest point of approach is identified through the process of transferring the center point in order to locate the tracking point, and the region is grown from that point to detect the hand region and boundary line. Next, the ratio of the invalid boundary, obtained by means of region growing, is used to calculate the validity of the tracking region and thereby judge whether the tracking is normal. If tracking is normal, the contour line is extracted from the detected hand region and the curvature and RANSAC and Convex-Hull are used to detect the fingertip. Lastly, quantitative and qualitative analyses are performed to verify the performance in various situations and prove the efficiency of the proposed algorithm for tracking and detecting the fingertip.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.12
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• pp.973-979
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• 2001

Sliding mode control guarantees robustness in the presence of modeling uncertainties and external disturbances. However, this can be obtained at the cost of high control activity that may lead to chattering As one way to alleviate this problem a boundary layer around sliding surface is typically used. In this case the selection of controller gain, control ban width and boundary layer thickness is a crucial problem for the trade-off between tracking error and chattering. The parameter tuning is usually done by trail-and-error in practice causing significant effort and time. An auto tuning method based on fuzzy rules is proposed in the paper in this method tracking error and chattering are monitored by performance indices and the controller tunes the design parameters intelligently in order to compromise both indices. To demonstrate the efficiency of the propose method a mass-spring translation system and a roboic control system are simulated and tested It is shown that the proposed algorithm is effective to facilitae the parameter tuning for sliding mode controllers.

• Interaction and multiscale mechanics
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• v.1 no.2
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• pp.191-209
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• 2008

In this paper, we model grain boundary evolution based on a multiple level set method. Grain boundary migration under a curvature-induced driving force is considered and the level set method is employed to deal with the resulting topological changes of grain structures. The complexity of using a level set method for modeling grain structure evolution is due to its N-phase nature and the associated geometry compatibility constraint. We employ a multiple level set method with a predictor-multicorrectors approach to reduce the gaps in the triple junctions down to the grid resolution level. A ghost cell approach for imposing periodic boundary conditions is introduced without solving a constrained problem with a Lagrange multiplier method or a penalty method. Numerical results for both uniform and random grain structures evolution are presented and the results are compared with the solutions based on a front tracking approach (Chen and Kotta et al. 2004b).

• International Journal of Control, Automation, and Systems
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• v.2 no.4
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• pp.523-529
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• 2004

Sliding mode control with nonlinear interpolation in the boundary layer is proposed. A modified sigmoid function is used for nonlinear interpolation in the boundary layer and its parameter is tuned by a fuzzy controller. The fuzzy controller that takes both the sliding variable and a measure of chattering as its inputs tunes the parameter of the modified sigmoid function. Owing to the decreased thickness of the boundary layer and the tuned parameter, the proposed method has superior tracking performance than the conventional linear interpolation method.

• Journal of Power Electronics
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• v.12 no.1
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• pp.164-171
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• 2012

Variable step size maximum power point trackers (MPPTs) are widely used in photovoltaic (PV) systems to extract the peak array power which depends on solar irradiation and array temperature. One essential factor which judges system dynamics and steady state performances is the scaling factor (N), which is used to update the controlling equation in the tracking algorithm to determine a new duty cycle. This paper proposes a novel stability study of variable step size incremental resistance maximum power point tracking (INR MPPT). The main contribution of this analysis appears when developing the overall small signal model of the PV system. Therefore, by using linear control theory, the boundary value of the scaling factor can be determined. The theoretical analysis and the design principle of the proposed stability analysis have been validated using MATLAB simulations, and experimentally using a fixed point digital signal processor (TMS320F2808).

• Journal of Information Processing Systems
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• v.7 no.1
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• pp.17-28
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• 2011

Despite the fact that the deployment of sensor networks and target tracking could both be managed by taking full advantage of Voronoi diagrams, very little few have been made in this regard. In this paper, we designed an optimized barrier coverage and an energy-efficient clustering algorithm for forming Vonoroi-based Wireless Sensor Networks(WSN) in which we proposed a mobile target tracking scheme (CTT&MAV) that takes full advantage of Voronoi-diagram boundary to improve detectability. Simulations verified that CTT&MAV outperforms random walk, random waypoint, random direction and Gauss-Markov in terms of both the average hop distance that the mobile target moved before being detected and lower sensor death rate. Moreover, we demonstrate that our results are robust as realistic sensing models and also validate our observations through extensive simulations.

• Proceedings of the KIEE Conference
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• 1994.11a
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• pp.305-307
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• 1994

In this paper, the desist and the implementation of a robust adaptive controller for trajectory tracking control of the robot manipulator is presented. The proposed control scheme ensures that without any prior knowledge of the robot manipulator parameters, tracking errors are converged to some boundary in the presence of a state-dependent input disturbances as well as the ideal case. The 3 DOF robot manipulator including actuator dynamics is used for the implementation of the proposed control scheme. The experimental results show that the proposed control scheme is valid for trajectory tracking control of the robot manipulator.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.1
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• pp.135-144
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• 2001

In this study, the time varying boundary control using the right boundary transverse motion is suggested to stabilize the transverse vibration of an axially moving string on the basis of the energy flux between the moving string and the boundaries. The effectiveness of the active velocity boundary control is showed through the FDM simulation results. Sliding mode control is adopted in order to achieve velocity tracking control of the time varying right boundary to dissipate vibration energy of the string effectively. Optical sensor system for measuring the transverse vibration of an axially moving string is developed, and the angle of the incident wave to the right boundary, which is the input of the velocity boundary controller, is obtained. Experimental research is carried out to examine the validity and the performance of the transverse vibration control using the suggested velocity right boundary control scheme.