• Journal of Positioning, Navigation, and Timing
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• v.2 no.1
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• pp.81-89
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• 2013

Many of the current visual odometry algorithms suffer from some extreme limitations such as requiring a high amount of computation time, complex algorithms, and not working in urban environments. In this paper, we present an approach that can solve all the above problems using a single camera. Using a planar motion assumption and Ackermann's principle of motion, we construct the vehicle's motion model as a circular planar motion (2DOF). Then, we adopt a 1-point method to improve the Ransac algorithm and the relative motion estimation. In the Ransac algorithm, we use a 1-point method to generate the hypothesis and then adopt the Levenberg-Marquardt method to minimize the geometric error function and verify inliers. In motion estimation, we combine the 1-point method with a simple least-square minimization solution to handle cases in which only a few feature points are present. The 1-point method is the key to speed up our visual odometry application to real-time systems. Finally, a Bundle Adjustment algorithm is adopted to refine the pose estimation. The results on real datasets in urban dynamic environments demonstrate the effectiveness of our proposed algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.4
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• pp.329-339
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• 2003

A neural network based adaptive controller design method is proposed for reconfigurable flight control systems in the presence of variations in aerodynamic coefficients or control effectiveness decrease caused by control surface damage. The neural network based adaptive nonlinear controller is developed by making use of the backstepping technique for command following of the angle of attack, sideslip angle, and bank angle. On-line teaming neural networks are implemented to guarantee reconfigurability and robustness to the uncertainties caused by aerodynamic coefficients variations. The main feature of the proposed controller is that the adaptive controller is designed with assumption that not any of the nonlinear functions of the system is known accurately, whereas most of the previous works assume that only some of the nonlinear functions are unknown. Neural networks loam through the weight update rules that are derived from the Lyapunov control theory. The closed-loop stability of the error states is also investigated according to the Lyapunov theory. A nonlinear dynamic model of an F-16 aircraft is used to demonstrate the effectiveness of the proposed control law.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.41 no.3
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• pp.175-182
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• 2004

There is a growing interest in speaker verification, which verifies someone by his/her voices. There are many speaker vitrification algorithms such as HMM and DTW. However, it is impossible to apply these algorithms to memory limited applications because of large number of feature vectors to register or verify users. In this paper we introduces a speaker verification system using SVM, which needs a little memory usage and computation time. Also we proposed hardware architecture for SVM. Experiments were conducted with Korean database which consists of four-digit strings. Although the error rate of SVM is slightly higher than that of HMM, SVM required much less computation time and small model size.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.8
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• pp.3865-3883
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• 2016

Infrastructure as a Service (IaaS) encapsulates computer hardware into a large amount of virtual and manageable instances mainly in the form of virtual machine (VM), and provides rental service for users. Currently, VM anomaly incidents occasionally occur, which leads to performance issues and even downtime. This paper aims at detecting anomalous VMs based on performance metrics data of VMs. Due to the dynamic nature and increasing scale of IaaS, detecting anomalous VMs from voluminous correlated and non-Gaussian monitored performance data is a challenging task. This paper designs an anomaly detection framework to solve this challenge. First, it collects 53 performance metrics to reflect the running state of each VM. The collected performance metrics are testified not to follow the Gaussian distribution. Then, it employs independent components analysis (ICA) instead of principal component analysis (PCA) to extract independent components from collected non-Gaussian performance metric data. For anomaly detection, it employs multi-class Bayesian classification to determine the current state of each VM. To evaluate the performance of the designed detection framework, four types of anomalies are separately or jointly injected into randomly selected VMs in a campus-wide testbed. The experimental results show that ICA-based detection mechanism outperforms PCA-based and LDA-based detection mechanisms in terms of sensitivity and specificity.

• Wind and Structures
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• v.26 no.3
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• pp.115-128
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• 2018

Appropriate modeling of a tornado-like vortex is a prerequisite when studying the near-ground wind characteristics of a tornado and tornado-induced wind loads on structures. Both Ward- and ISU-type tornado simulators employ guide vanes to induce angular momentum to converge flow in order to generate tornado-like vortices. But in the Ward-type simulator, the guide vanes are mounted near the ground while in the ISU-type they are located at a high position to allow vertical circulation of flow that creates a rotating downdraft to generate a tornado-like vortex. In this study, numerical simulations were performed to reproduce tornado-like vortices using both Ward-type and ISU-type tornado simulators, from which the effects of rotating downdraft on the vortex characteristics were clarified. Particular attention was devoted to the wander of tornado-like vortices, and their dependences on swirl ratio and fetch length were investigated. The present study showed that the dynamic vortex structure depends significantly on the vortex-generating mechanism, although the time-averaged structure remains similar. This feature should be taken into consideration when tornado-like-vortex simulators are utilized to investigate tornado-induced wind forces on structures.

• Smart Structures and Systems
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• v.16 no.5
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• pp.937-960
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• 2015

Tuned mass dampers (TMDs) have been a prevalent vibration control device for suppressing excessive vibration because of environmental loadings in contemporary tall buildings since the mid-1970s. A TMD must be tuned to the natural frequency of the primary structure to be effective. In practice, a TMD may be assembled in situ, simultaneously with the building construction. In such a situation, the respective dynamic properties of the TMD device and building cannot be identified to determine the tuning status of the TMD. For this purpose, a methodology was developed to obtain the parameters of the TMD and primary building on the basis of the eigenparameters of any two complex modes of the combined building-TMD system. The theory was derived in state-space to characterize the nonclassical damping feature of the system, and combined with a system identification technique to obtain the system eigenparameters using the acceleration measurements. The proposed procedure was first demonstrated using a numerical verification and then applied to real, experimental data of a large-scale building-TMD system. The results showed that the procedure is capable of identifying the respective parameters of the TMD and primary structure and is applicable in real implementations by using only the acceleration response measurements of the TMD and its located floor.

• Proceedings of the Korean Vacuum Society Conference
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• 2015.08a
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• pp.63.2-63.2
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• 2015

Controlling and sensing spin states of magnetic molecules such as metallo-porphyrins at the single molecule level is essential for spintronic molecular device applications. Axial coordinations of diatomic molecules to metallo-porphyrins also play key roles in dynamic processes of biological functions such as blood pressure control and immune response. However, probing such reactions at the single molecule level to understand their physical mechanisms has been rarely performed. Here we present on our single molecule association and dissociation experiments between diatomic and metallo-porphyrin molecules on Au(111) describing its adsorption structures, spin states, and dissociation mechanisms. We observed bright ring shapes in NO adsorbed metallo-porphyrin compelxes and explained them by considering tilted binding and precession motion of NO. Before NO exposure, Co-porphryin showed a clear zero-bias peak in scanning tunneling spectroscopy, a signature of Kondo effect in STS, whereas after NO exposures it formed a molecular complex, NO-Co-porphyrin, that did not show any zero-bias feature implying that the Kondo effect was switched off by binding of NO. Under tunneling junctions of scanning tunneling microscope, both positive and negative energy pulses. From the observed power law relations between dissociation rate and tunneling current, we argue that the dissociations were inelastically induced with molecular orbital resonances. Our study shows that single molecule association and dissociation can be used to probe spin states and reaction mechanisms in a variety of axial coordination between small molecules and metallo-porphyrins.

• Journal of KIISE:Software and Applications
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• v.30 no.5_6
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• pp.579-586
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• 2003

Agents are well fitted to e-commerce applicable area because they pursuit an autonomy and interact with dynamic environment. In this paper we propose an e-commerce agents using reinforcement learning. We modify a reinforcement teaming algorithm for agents to have an intelligent feature and to make a transaction as practical business body in behalf of a person. To show the validity of this approach, we classify agents into buying agents and soiling agents, give characters of level according to the degree of learning and communication. Finally we implement an e-commerce framework and show the result. In this paper we show a design of e-commerce agents which is based on the proposed learning algorithm and present that the agents have enough possibility of doing a transaction in practical e-commerce.

• Transactions of the Korean Society of Automotive Engineers
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• v.8 no.4
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• pp.110-120
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• 2000

In order to improve the vibration characteristics of mid sized passenger car automatic transmission at idle experimental and theoretical studies have been carried out. Idle shake in "D" range occurs by various reasons such as characteristics of body bending resonance between subsystems and engine mounts etc. Using full vehicle finite element analyses and modal tests we introduce the way to reduce the idle shake in the early design stage. It shows that the exciting forces are the 2nd order torque and force of engine. A powertrain system modes in "D" range are entirely effected by the additional boundary conditions of drive line. As a result the frequencies of subsystems are arranged to be lined up at the idle frequency range in order to avoid the resonances with subsystems To reduce the idle shake mounts of radiator are tuned to act as a dynamic damper to 1st bending frequency of the body. In addition a hydraulic mount which is optimized by Phase Shift Method is applied to the rear engine mount.e rear engine mount.

• Proceedings of the KSME Conference
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• 2001.06c
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• pp.464-469
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• 2001

This work provides the biomechanical evaluations of a manual wheelchair with a bi-directional driving system. The new propulsion strategy can be accomplished by employing a special gear system that converts the oscillatory motion of a handrim into the unidirectional output motion of a wheel. A main feature of the forward. backward propulsion is to supply continuous driving torque without break. Motion. analysis has been performed through 2-dimensional image processing for measuring the kinematic properties of the upper arm and fore arm. Then, the inverse dynamics analysis has been done for obtaining the joint torques, the handrim forces and input/output powers. Results show that the output power by the forward. reverse propulsion is almost twice as much as that by conventional propulsion. Also, the new propulsion is expected to reduce the fatigues and injuries at arm joints by employing more muscle groups for movement. In conclusion, the forward. reverse propulsion can greatly improve the performances of manual wheelchairs by providing better mobility as well as by guaranteeing several advantages from a biomechanical viewpoint. Future development of a manual wheelchair optimized for the bi-directional propulsion will further improve the propulsion performances.