• Transactions on Control, Automation and Systems Engineering
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• 제3권4호
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• pp.272-282
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• 2001

Uncertainties are the main reasons of deterioration of contour control of industrial articulated robot arm. In this paper, a high-precision contour control method was proposed to overcome some main uncertainties, such as torque saturation, system delay dynamics, interference between robot links, friction, and so on. Firstly, each considered factor of uncertainties was introduced briefly. Then proper realizable objective trajectory generation was presented to avoid torque saturation from objective trajectory. According to the model of industrial articulated robot arm, construction of Gaussian neural network controller with considering system delay dynamic, interference between robot links and friction was explained in detail. Finally, through the experiment and simulation, the effectiveness of proposed method was verified. Furthermore, based on the results it was shown that the Gaussian neural network controller can be also adapted for the various kinds of friction and high-speed motion of industrial articulated robot arm.

• Journal of the Korean Institute of Telematics and Electronics T
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• 제36T권4호
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• pp.24-29
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• 1999

In this paper, a simple contour-preserving filtering algorithm is proposed. The goal of the contour-preserving filtering method is to remove noise ad granularity as the preprocessing for the image segmentation procedure. Our method finds edge map and separates the image into the edge region and the non-edge region using this edge map. For the non-edge region, typical smoothing filters could be used to remove the noise and the small areas during the segmentation procedure. The result of simulation shows that our method is slightly better than the typical methods such as the median filtering and gradient inverse weighted filtering in the point of view of analysis of variance (ANOVA).

• Journal of computational fluids engineering
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• 제9권4호
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• pp.7-12
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• 2004

In the present study a semi-automatic mesh generation program has been developed by using DXF file containing contour line data. The program consists of DXF file reader and mapping algorithm. Pre-generated 2-D planar mesh points are to be mapped one by one onto triangular surface whose three vertices are three nearest contour points surrounding the mapping point. The present program has been successfully tested for mesh generations for the road tunnel ventilation analysis and analysis of lava movement in mountain area.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.130-134
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• 1992

The ability of a robot system to comply to an environment via the control of tool-environment interaction force is of vital for the successful task accomplishment in many robot application. This paper presents the implementation of external force control for two dimensional contour following task using a commercial robot system. Force accommodation is used since a constraint imposed in our work is not to modify the commercial robot system. A linear, decoupled model of two dimensional contour following system in the discrete time domain is derived first. Then the experimental verification of linear control is obtained using a PUMA 560 manipulator with standard Unimation controller, Astek FS6-120A six axis wrist force sensor attached externally to the arm and LSI-11173 microcomputer. Experimentally obtained data shows that the RMS contact force error is 0.8246 N when following the straight edge and 2.3768 N when following 40 mm radius curved contour.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.135-139
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• 1992

Control of tool-environment interaction force to comply the robot system to an environment is of vital in many automated process. This paper presents the implementation of an adaptive force control with commercial robot system in two dimensional contour following task. A model reference adaptive control system, combined with the linear compensators, is implemented. That is, a use of adaptive control is to provide an auxiliary control system so that the contour following performance can be improved from that of using linear control system only. Hyperstability is used to derive the adaptive control law. Experimental verification of the proposed control system is obtained using PUMA 560 robot system. Data obtained experimentally shows that the use of additional adaptive control system improves the contour following performance about 30% in RMS contact force errors upon that of the system controlled by the linear compensators only.

• Proceedings of the KSPS conference
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• 대한음성학회 1996년도 10월 학술대회지
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• pp.542-547
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• 1996

Prosodic characteristics of natural speech, especially intonation, in many cases represent specific feelings of the speaker at the time of the utterance, with relatively vast variations of speaking styles over the same text. We analyzed a collected speech corpus, recorded with ten Slovene speakers. Interpretation of observed intonation contours was done for the purpose of modelling the intonation contour in synthesis process. We devised a scheme for modeling the intonation contour for different types of intonation units based on the results of analyzing intonation contours. The intonation scheme uses a superpositional approach, which defines the intonation contour as the sum of global (intonation unit) and local (accented syllables or syntactic boundaries) components. Near-to-natural intonation contour was obtained by rules, using only the text of the utterance as input.

• Proceedings of the KSPS conference
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• 대한음성학회 2006년도 춘계 학술대회 발표논문집
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• pp.77-81
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• 2006

This paper presents a technique of imposing the prosodic features of a native speaker's utterance onto the same sentence uttered by a non-native speaker. Three acoustic aspects of the prosodic features were considered: the fundamental frequency (F0) contour, segmental durations, and the intensity contour. The fundamental frequency contour and the segmental durations of the native speaker's utterance were imposed on the non-native speaker's utterance by using the PSOLA (pitch-synchronous overlap and add) algorithm [1] implemented in Praat[2]. The intensity contour transfer was also done in Praat. The technique of transferring one or more of these prosodic features was elaborated and its implications in the area of language education were discussed.

• Proceedings of the IEEK Conference
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(3)
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• pp.231-234
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• 2002

This paper proposes a new approach to extract contour of moving object from compressed video stream. We segment the area of moving object by using motion vector and extract the motion object block from it. And then we describe the connectivity direction of outline moving block, detect the edge related to connectivity direction in the block and finally obtain the contour by connecting the edges. This can divide the moving object only with motion vector and detect the exact contour on the basis of the edge automatically. Also, we can reduce spending time using motion block and remove the noise with directional edge. The experimental results demonstrate the accurate and effective qualify of the proposed method.

• Journal of Korea Game Society
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• 제20권2호
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• pp.91-100
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• 2020

Life-and-death problem in Go is a fundamental problem to be overcome for implementing a computer Go. To solve it, an important consideration is to find out who surrounds or is surrounded between black and white players. To figure out the boundary between black and white groups, we applied an influence function and a contour tracing algorithm. We found that applying the Moore-neighbor tracing among various contour tracing algorithms can create boundaries, and also suggested the possibility of tremendously reducing the search space of a game tree.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.554-559
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• 1999

The purpose of this study is the machining of texture shapes by the contour fitting data. The hardware of the system comprises PC and scanning system, CO2 laser machine. There are four steps, (1) text image loading using scanning shapes or 2D image files, (2) generation of contour fitting data by the line and arc, cubic Bezier curve, (3) generation of NC code from the contouring fitting data, (4) machining by the DNC system. It is developed a software package, with which can conduct a micro CAM system of CNC laser machine in the PC without economical burden.