• Journal of Advanced Marine Engineering and Technology
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• 제17권5호
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• pp.44-53
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• 1993

In this paper, we discuss on the control algorithm to make the wheeled inverse pendulum type mobile robot move in two dimensional plane. The robot considered in this paper has two independently driven wheels in same axel which suport and move it-self, and is assumed to have the fyro type sensor to know the inclination algle of the body and rotary encoders to know wheel's rotation angular velocity. The control algorithm is divided into three parts. The first part is for the posture and velocity control for forward-backward direction, the second is the steering control, and the last part is for the control of total system to track the given trajectory. We handle the running velocity control of the robot as part of the posture control to keep the balance because the posture relates deeply with the velocity and can be controlled by the velocities of the wheels. The control problem is analyzed as the tracking control, and the controller is realized with the state feedback and feed-forward of the reference velocity. Constructing the control system which contained one intergrator in forward path, we also realized the control system without observer for the estimation of the accumulated errors in the inclination angle of the body. To prevent the robot from being unstable state by sudden variation of the reference velocity when it starts and stops, or changes velocity, the reference velocity of which acceleration is slowly changing, is ordered to the robot. To control its steering, we give the different reference velocities for both wheels which are calculated from the desired angular velocity of the body. Finally, we presents the experimental results of the experimental robot Yamabico Kurara in which the proposed control algorithm had been implemented.

• 한국데이타베이스학회:학술대회논문집
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• 한국데이타베이스학회 1999년도 춘계공동학술대회: 지식경영과 지식공학
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• pp.353-359
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• 1999

We present a matrix-based inference algorithm suitable for electronic commerce applications. For this purpose, an Extended AND-OR Graph (EAOG) was developed with the intention that fast inference process is enabled within the electronic commerce situations. The proposed EAOG inference mechanism has the following three characteristics. 1. Real-time inference: The EAOG inference mechanism is suitable for the real-time inference because its computational mechanism is based on matrix computation. 2. Matrix operation: All the subjective knowledge is delineated in a matrix form. so that inference process can proceed based on the matrix operation which is computationally efficient. 3. Bi-directional inference: Traditional inference method of expert systems is based on either forward chaining or backward chaining which is mutually exclusive in terms of logical process and computational efficiency. However, the proposed EAOG inference mechanism is generically bi-directional without loss of both speed and efficiency. We have proved the validity of our approach with several propositions and an illustrative EC example.

• 한국정밀공학회지
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• 제17권4호
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• pp.142-147
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• 2000

An overhead crane system which transports an object by girder motion, trolley motion, and hoist motion becomes a nonlinear system because the length of a rope changes. To develope the position control algorithm for the nonlinear crane systems, we apply a nonlinear optimal control method which uses forward and backward difference methods and obtain optimal inputs. This method is suitable for the overhead crane system which is characterized by the differential equation of higher degree and swing motion. From the results of computer simulation, it is founded that the position of the overhead crane system is controlled, and the swing of the object is suppressed.

• 제어로봇시스템학회논문지
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• 제18권11호
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• pp.1051-1058
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• 2012

The unified lateral control algorithm for automatic valet parking for various types of vehicles is presented and its feasibility is shown experimentally via field tests for the given parking scenario. First, a trajectory generation algorithm for forward driving and backward multi-step parking maneuvers is developed. Then, with consideration of different types of vehicles and operating conditions, a kinematic vehicle model is used and validated using field test data. Using the nonlinear vehicle model, the lateral controller is designed based on dynamic surface control. Finally the proposed lateral control law is validated via hardware-in-the-loop simulations for different types of vehicles and experimentally using a test vehicle through field tests.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제14권3호
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• pp.209-215
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• 2014

Sequence tagging is the task of predicting frame-wise labels for a given input sequence and has important applications to diverse domains. Conventional methods such as maximum likelihood (ML) learning matches global features in empirical and model distributions, rather than local features, which directly translates into frame-wise prediction errors. Recent probabilistic sequence models such as conditional random fields (CRFs) have achieved great success in a variety of situations. In this paper, we introduce a novel discriminative CRF learning algorithm to minimize local feature mismatches. Unlike overall data fitting originating from global feature matching in ML learning, our approach reduces the total error over all frames in a sequence. We also provide an efficient gradient-based learning method via gradient forward-backward recursion, which requires the same computational complexity as ML learning. For several real-world sequence tagging problems, we empirically demonstrate that the proposed learning algorithm achieves significantly more accurate prediction performance than standard estimators.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2007년도 하계종합학술대회 논문집
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• pp.313-314
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• 2007

In this paper, we suggest robust object extraction algorithm taking advantage of efficient Belief Propagation method. It does not get a disparity information because of uniform region and occlusion region etc. on initial depth map that use forward direction disparity information although is object area. Therefore, We run parallel backward disparity information and brightness information for certain object extraction.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.171.5-171
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• 2001

Information that is acquired by adhered sensors on a body has been commonly used for the three-dimensional real-time motion capture algorithm. This paper describes realtime motion capture algorithm using computer vision. In a real-time image sequence, human body silhouette is extracted use a background subtraction between background image and the reference image. Then a human standing posture whether forward or backward is estimated by extraction of skin region in the silhoutte. After then, the principal axis is calculated in the torso and the face region is estimated on the principal axis. Feature points, which are essential condition to track the human gesture, are obtained ...

• Journal of information and communication convergence engineering
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• 제9권2호
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• pp.201-206
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• 2011

FRUC (Frame Rate Up-Conversion) technique needs an effective frame interpolation algorithm using motion information between adjacent neighboring frames. In order to have good visual qualities in the interpolated frames, it is necessary to develop an effective detection and interpolation algorithms for occluded regions. For this aim, this paper proposes an effective occluded region detection algorithm through the adaptive forward and backward motion searches and also by introducing the minimum value of normalized cross-correlation coefficient (NCCC). That is, the proposed scheme looks for the location with the minimum sum of absolute differences (SAD) and this value is compared to that of the location with the maximum value of NCCC based on the statistics of those relations. And, these results are compared with the size of motion vector and then the proposed algorithm decides whether the given block is the occluded region or not. Furthermore, once the occluded regions are classified, then this paper proposes an adaptive interpolation algorithm for occluded regions, which still exist in the merged frame, by using the neighboring pixel information and the available data in the occluded block. Computer simulations show that the proposed algorithm can effectively classify the occluded region, compared to the conventional SAD-based method and the performance of the proposed interpolation algorithm has better PSNR than the conventional algorithms.

• 한국지능시스템학회논문지
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• 제16권4호
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• pp.466-471
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• 2006

패턴 인식 문제에서 중요한 전처리 과정 중 하나는 특정을 선택하거나 추출하는 부분이다. 특정을 추출하는 방법으로는 PCA가 보통 사용되고 특정을 선택하는 방법으로는 SFS 나 SBS 등의 방법들이 자주 사용되고 있다. 본 논문은 진화 연산 방법으로써 비선형 최적화 문제에서 유용하게 사용되어 지고 있는 유전자 알고리즘을 특정 선택에 적용하는 유전자 알고리즘 특정 선택 (Genetic Algorithm Feature Selection: GAFS)방법을 개발하여 다른 특징 선택 알고리즘과의 비교를 통해 본 알고리즘의 성능을 관찰한다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2004년도 학술대회지
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• pp.477-481
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• 2004

High Quality CD, OAT audio requires that large amount of data. Currently, multi channel preference has been rapidly propagated among latest users. The MPEG(Moving Picture Expert Group) is provides data compression technology of sound and image system. The MPEG standard provides multi channel and 5.1 sounds, using the same audio algorithm as MPEG-l. And MPEG-2 audio is forward and backward compatible. The MDCT (Modified Discrete Cosine Transform) is a linear orthogonal lapped transform based on the idea of TDAC(Time Domain Aliasing Cancellation). In this paper, we proposed the micro-program type vector processor architecture a benefit in MDCT/IMDCT of MPEG-II AAC. And it's reduced operating coefficient by overlapped area to bind. To compare original algorithm with optimized algorithm that cosine coefficient reduced $0.5\%$multiply operating $0.098\%$ and add operating 80.58\%$. Algorithm test is used C-language then we designed hardware architecture of micro-programmed method that applied to optimized algorithm. This processor is 20MHz operation 5V.