• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.4
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• pp.517-524
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• 2007

This paper presents a global localization method using circular correlation of an omni-directional image. The localization of a mobile robot, especially in indoor conditions, is a key component in the development of useful service robots. Though stereo vision is widely used for localization, its performance is limited due to computational complexity and its narrow view angle. To compensate for these shortcomings, we utilize a single omni-directional camera which can capture instantaneous $360^{\circ}$ panoramic images around a robot. Nodes around a robot are extracted by the correlation coefficients of CHL (Circular Horizontal Line) between the landmark and the current captured image. After finding possible near nodes, the robot moves to the nearest node based on the correlation values and the positions of these nodes. To accelerate computation, correlation values are calculated based on Fast Fourier Transforms. Experimental results and performance in a real home environment have shown the feasibility of the method.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.12
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• pp.1220-1230
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• 2006

In this paper, we propose a flew technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.

• Journal of IKEEE
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• v.16 no.4
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• pp.356-363
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• 2012

Information technology improves convenience, safety, and performance of automobiles. Recently, a lot of algorithms are studied to provide safety and environment information for driving, and traffic sign recognition is one of them. It can provide important information for safety driving. In this paper, we propose a method for traffic sign detection and identification concentrating on reducing the computation time. First, potential traffic signs are segmented by color threshold, and a polygon approximation algorithm is used to detect appropriate polygons. The potential signs are compared with the template signs in the database using SURF and ORB feature matching method.

• Journal of IKEEE
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• v.17 no.1
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• pp.36-43
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• 2013

This paper proposes a motion estimation algorithm with run-time adaptive workload control. It has optimized performance within limited hardware resources while guaranteeing hard realtime operation. It performs maximum searches within hard realtime constraints, since it determines search steps and workload adaptively. It reduces the hardware size to 1/4~1/400 of conventional algorithms, while its PSNR degradation is only 0.02~0.44 dB. It can be easily applied to most conventional fast algorithms, so it is useful to design realtime encoder chips.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.41 no.5
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• pp.17-23
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• 2004

In this paper, we proposed a mixed algerian to improve decimal division speed. In the binary number system, nonrestoring algorithm has a smaller number of operation than restoring algorithm. In decimal number system however, the number of operations differs with respect to quotient values. Since one digit ranges 0 to 9 in decimal, the proposed mixed algerian employs both nonrestoring and restoring algorithm considering current partial remainder values. The proposed algorithm chooses either restoring or nonrestoring algerian based on the remainder values. The proposed algorithm improves computation speed substantially over a single algorithm decreasing the number of operations.

• Earthquakes and Structures
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• v.8 no.4
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• pp.915-934
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• 2015

Within the context of Structural Health Monitoring (SHM), it is often the case that structural systems are described by uncertainty, both with respect to their parameters and the characteristics of the input loads. For the purposes of system identification, efficient modeling procedures are of the essence for a fast and reliable computation of structural response while taking these uncertainties into account. In this work, a reduced order metamodeling framework is introduced for the challenging case of nonlinear structural systems subjected to earthquake excitation. The introduced metamodeling method is based on Nonlinear AutoRegressive models with eXogenous input (NARX), able to describe nonlinear dynamics, which are moreover characterized by random parameters utilized for the description of the uncertainty propagation. These random parameters, which include characteristics of the input excitation, are expanded onto a suitably defined finite-dimensional Polynomial Chaos (PC) basis and thus the resulting representation is fully described through a small number of deterministic coefficients of projection. The effectiveness of the proposed PC-NARX method is illustrated through its implementation on the metamodeling of a five-storey shear frame model paradigm for response in the region of plasticity, i.e., outside the commonly addressed linear elastic region. The added contribution of the introduced scheme is the ability of the proposed methodology to incorporate uncertainty into the simulation. The results demonstrate the efficiency of the proposed methodology for accurate prediction and simulation of the numerical model dynamics with a vast reduction of the required computational toll.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.27 no.8A
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• pp.779-785
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• 2002

This paper presents a phase-based stereo matching algorithm in order to efficiently extract 3-dimensional objects from two 2D images. Conventional phase-based methods, especially using windowed Fourier phases, inherit good properties in the case of hierarchical approaches, because they basically use a multi-resolution phase map. On the contrary, their computational costs are very heavy. Therefore, a fast hierarchical approach, using multi-resolution phase-based strategy and reducing the redundancy of phase calculations, is proposed in this pare. In addition, a structural matching algorithm on the phase domain is adopted to improve the matching quality. In experimental results, it is shown that the computation loads are considerably reduced about 8 times and stable outputs are obtained.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.28 no.4C
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• pp.406-412
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• 2003

A fast multiple object motion detection method using periodogram has been proposed. Each frame is projected to vertical and horizontal directions, and then temporal FFT is applied. A line in two dimensional frequency domain indicates velocity. To estimate the velocity of an object, we intergrate along a line which passes through the origin in frequency domain. If a frame contains multiple moving objects, multiple peaks are detected corresponding to the velocity of each object. After pairing these peaks, we can determine the velocities of an object. In the proposal method we can easily pair horizontal and vertical velocity components efficiently with simple computation by combining projections in 45$^{\circ}$ and 135 $^{\circ}$ directions in addition to the vertical and horizontal direction.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.9 s.252
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• pp.1070-1077
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• 2006

In the present study, sizing and shape optimizations are performed based on the reduced system of large-scaled problem. In the analysis part to achieve efficiency and reliability of computation, two-level condensation scheme is applied. In the construction of reduced system of large scaled problems, it is much more efficient to use sub-domain method. Thus, in the present paper, two-level reduction method combined with sub-domain method is employed. Once the reduced system is constructed, it is straightforward to obtain design sensitivities from the analysis results of the reduced system We use semi-analytic method to obtain design sensitivities. Performance of the efficiency and reliability of the present reduction method in the structural optimization problem is demonstrated through the numerical examples. The present framework of reduction method should serve as a fast and reliable design tool in analysis and design of large-scaled dynamic problems.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.8
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• pp.951-957
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• 1999

The saddle node bifurcation (SNB) and the distance voltage instability are valuable information in power system planning and operation. This paper presents a new efficient, robust and unified strategy to compute the SNB by the combined use of the continuation power flow (CPF), Point of Collapse (PoC) method, and the method of a pair of multiple load flow solutions (PMLFS) with Lagrange interpolation utilizing only their advantages: the approximate nose curves and critical loading are determined fast by Lagrange-interpolating two stable and two unstable solutions obtained by using the robust CPF and PMLFS; the exact SNB is computed by the quadratically converging PoC method. The proposed method has been tested on Klos-Kerner 11-bus, New England 30-bus, IEEE 118-bus and KEPCO 791-bus systems. The method is found to be so efficient that computation time for determining the SNB of the KEPCO 791-bus system is 17.82 sec by a notebook PC with 300 MHz Pentium processor.