• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.451-459
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• 2011

Fundamentally, there are 5 systems are needed for autonomous navigation of unmanned ground vehicle: Localization, environment perception, path planning, motion planning and vehicle control. Path planning and motion planning are accomplished based on result of the environment perception process. Thus, high reliability of localization and the environment perception will be a criterion that makes a judgment overall autonomous navigation. In this paper, via map matching using vehicle dynamic model and LIDAR sensors, replace high price localization system to new one, and have researched an algorithm that lead to robust autonomous navigation. Finally, all results are verified via actual unmanned ground vehicle tests.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.45 no.2
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• pp.256-264
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• 1996

In this paper, the decentralized suboptimal H$_{2}$ filtering problem is considered. An additional term is added to the centralized optimal H$_{2}$ filter so that the whole filter is decentralized. We derive a necessary and sufficient condition for existence of proposed decentralized filters By employing the solution procedure for the exact model matching problem, we obtain a set of decentralized H$_{2}$ filters, and choose a suboptimal filter from this set of decentralized H$_{2}$ filters.

• Journal of the Korea Institute of Military Science and Technology
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• v.5 no.1
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• pp.75-82
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• 2002

In this paper, the robust PID(Proportional-Integral-Derivative) controller was designed for speed control of BLDC motors using the frequency region model matching method. It was designed the robust PID controller satisfying disturbance attenuation and robust tracking performance using an H$\infty$ control method. The robust PID controller gains with the performances of the designed H$\infty$ controller are determined using the model matching method at frequency domain. Consequently, simulation results show that the proposed PID speed controller satisfies load torque disturbance attenuation and robust tracking performance, and this study has usefulness and applicability for the speed control system design of BLDC motors.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.10
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• pp.157-165
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• 1995

The new formulation of designing the two degree of freedom(TDF) robust controller is proposed using $H_{\infty}$optimization and model matching method. In this formulation the feedback controller and feedforward controller are designed in a single step using $H_{\infty}$optimization procedure. Roughly speaking, the feedback controller is designed to meet robust stability and disturbance rejection specifications, while the feedforward controller is used to improve the robust model matching properties of the closed loop system. The proposed formulation will be illustrated and evaluated on a seeker scan-loop. And the performances of TDF robust controller are compared with those of the $H_{\infty}$ controller designed using Loop Shaping Design Procedure proposed by McFarlane and Glover.lover.

• IEMEK Journal of Embedded Systems and Applications
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• v.16 no.5
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• pp.179-186
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• 2021

For stereo matching based on deep learning, the design of network structure is crucial to the calculation of matching cost, and the time-consuming problem of convolutional neural network in image processing also needs to be solved urgently. In this paper, a method of stereo matching using sparse loss volume in parallax dimension is proposed. A sparse 3D loss volume is constructed by using a wide step length translation of the right view feature map, which reduces the video memory and computing resources required by the 3D convolution module by several times. In order to improve the accuracy of the algorithm, the nonlinear up-sampling of the matching loss in the parallax dimension is carried out by using the method of multi-category output, and the training model is combined with two kinds of loss functions. Compared with the benchmark algorithm, the proposed algorithm not only improves the accuracy but also shortens the running time by about 30%.

• The KIPS Transactions:PartD
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• v.14D no.6
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• pp.665-674
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• 2007

Code reuse in software reuse has several limitations such as difficulties of understanding and retrieval of the reuse code written by other developers. To overcome these problems, it should be possible to reuse the analysis/design information than source code itself. Therefore, this paper present analogical matching techniques for the reuse of object models and patterns. And this paper have suggested the object model and the design patterns as reusable components and the representation techniques to store them. Namely, the contents of the paper are as follows. Analogical matching functions to retrieve analogous components from reusable libraries. And the representation of reusable components to be stored in the library in order to support the analogical matching.

• Journal of Information Processing Systems
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• v.18 no.1
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• pp.75-88
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• 2022

With the development of the sharing economy, existing recommender services are changing from user-item recommendations to user-user recommendations. The most important consideration is that all users should have the best possible satisfaction. To achieve this outcome, the matching service adds information between users and items necessary for the existing recommender service and information between users, so higher-level data mining is required. To this end, this paper proposes a user-to-user matching service (UTU-MS) employing the prediction of mutual satisfaction based on learning. Users were divided into consumers and suppliers, and the properties considered for recommendations were set by filtering and weighting. Based on this process, we implemented a convolutional neural network (CNN)-deep neural network (DNN)-based model that can predict each supplier's satisfaction from the consumer perspective and each consumer's satisfaction from the supplier perspective. After deriving the final mutual satisfaction using the predicted satisfaction, a top recommendation list is recommended to all users. The proposed model was applied to match guests with hosts using Airbnb data, which is a representative sharing economy platform. The proposed model is meaningful in that it has been optimized for the sharing economy and recommendations that reflect user-specific priorities.

• Journal of Soil and Groundwater Environment
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• v.20 no.3
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• pp.51-64
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• 2015

In the present study, we develop two history matching techniques based on Markov chain Monte Carlo method where radial basis function and Gaussian distribution generated by unconditional geostatistical simulation are employed as the random walk transition kernels. The Bayesian inverse methods for aquifer characterization as the developed models can be effectively applied to the condition even when the targeted information such as hydraulic conductivity is absent and there are transient hydraulic head records due to imposed stress at observation wells. The model which uses unconditional simulation as random walk transition kernel has advantage in that spatial statistics can be directly associated with the predictions. The model using radial basis function network shares the same advantages as the model with unconditional simulation, yet the radial basis function network based the model does not require external geostatistical techniques. Also, by employing radial basis function as transition kernel, multi-scale nested structures can be rigorously addressed. In the validations of the developed models, the overall predictabilities of both models are sound by showing high correlation coefficient between the reference and the predicted. In terms of the model performance, the model with radial basis function network has higher error reduction rate and computational efficiency than with unconditional geostatistical simulation.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.47-51
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• 2005

Using satellite images, an optimal solution to water motion has been presented in this study. Since temperature patterns are suitable tracers in water motion, Sea Surface Temperature (SST) images of Caspian Sea taken by MODIS sensor on board Terra satellite have been used in this study. Two daily SST images with 24 hours time interval are used as input data. Computation of templates correspondence between pairs of images is crucial within motion algorithms using non-rigid body objects. Image matching methods have been applied to estimate water body motion within the two SST images. The least squares matching technique, as a flexible technique for most data matching problems, offers an optimal spatial solution for the motion estimation. The algorithm allows for simultaneous local radiometric correction and local geometrical image orientation estimation. Actually, the correspondence between the two image templates is modeled both geometrically and radiometrically. Geometric component of the model includes six geometric transformation parameters and radiometric component of the model includes two radiometric transformation parameters. Using the algorithm, the parameters are automatically corrected, optimized and assessed iteratively by the least squares algorithm. The method used in this study, has presented more efficient and robust solution compared to the traditional motion estimation schemes.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11a
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• pp.155-160
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• 2001

Actual engineering structure is frequently very complex, and parts of structure are designed independently by different engineers. Also each structure contains so many degree of freedom. For these reason, methods have been developed which permits the structure to be divided into components or substructures, with analysis being done on a small substructure in order to obtain a full structural system. In such case, because of different mesh size among finite element model (FEM) or different matching points among FEM models and experimentally obtained models, their interfacing points may be non-matching. Solving this non-matching problem is useful to other application such as structural dynamic modification or model updating. In this work, virtual node concept is introduced. Lagrange multipliers are used to enforce the interface compatibility constraint, and interface displacement is approximated by polynomial presentation. The governing equation of whole structure is derived using hybrid variational principle. The eigenvalue of whole structure are calculated using the determinant search method. The number of degree of freedom in the eigenvalue problem can be drastically reduced to just the number of interface degree of freedom. Some numerical simulation is performed to show usefulness of synthesis method.