• International Journal of Contents
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• v.11 no.3
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• pp.47-53
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• 2015

Visual object tracking is a fundamental problem in the field of computer vision, as it needs a proper model to account for drastic appearance changes that are caused by shape, textural, and illumination variations. In this paper, we propose a feature-based visual-object-tracking method with a sparse representation. Generally, most appearance-based models use the gray-scale pixel values of the input image, but this might be insufficient for a description of the target object under a variety of conditions. To obtain the proper information regarding the target object, the following combination of features has been exploited as a corresponding representation: First, the features of the target templates are extracted by using the HOG (histogram of gradient) and LBPs (local binary patterns); secondly, a feature-based sparsity is attained by solving the minimization problems, whereby the target object is represented by the selection of the minimum reconstruction error. The strengths of both features are exploited to enhance the overall performance of the tracker; furthermore, the proposed method is integrated with the particle-filter framework and achieves a promising result in terms of challenging tracking videos.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.7
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• pp.1032-1040
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• 2012

This paper proposes controller of leader robot considering following robot with input constraints based on leader-following approach. In the previous formation control researches, it was assumed that leader and follower is same object. If leader robot drives as maximum speed that the initial position errors still remain even if following robot have same velocity as a leader. In the situation that velocity of following robot is lower than its leader robot, following robot cannot follow leader robot. Furthermore, the following robot will not be able to made formation with leader robot and keep proximity communication or sensing range. Therefore, multiple mobile robot system using leader-following method should be guaranteed range to get information each other. In this paper, Leader robot is driving to goal position using linear controller and following robot is following trajectory to be made from leader robot. We assume that following robot has input constraints to realize different performance between leader robot and following robot. We design controller of leader robot for desired goal position including the errors between formation and following robot. Thus, we propose leader robot controller considering input constraints of following robot. Finally, we were able to confirm the validity of the proposed method based on simulation results.

• Journal of Korean Institute of Industrial Engineers
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• v.23 no.4
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• pp.669-686
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• 1997

In this research, an object-oriented Petri net model for representing a flexible process plan is proposed, which is hierarchically multi-faceted for supporting planning, scheduling, and shop floor control functions. The multi-faceted process plan model consists of the following: a) an object model which represents on object-oriented data model, b) a static model which represents a process flow model with process alternatives, and c) a dynamic model which represents a process activity model with resources alternatives, of a flexible process plan. Petri nets allow the static and the dynamic process plan models to be represented in a unified formalism with an ease of model transformation. The multi-faceted process plan model suggested in this paper, is illustrated with a prismatic port in comprehensive detail.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.6
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• pp.954-962
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• 1990

Experties of recognizing an object despite of every possible occlusions among objects is difficult to be provided directly to a system. In this paper, we propose a method for inferring inherent shape-characteirstics of an object from training views provided. The method learns rules incrementally by alternating the rule induction process from limited number of training views and the rule verification process from the following taining views. The learned rules are represented using logical expressions to enhance the readability. Thr proposed method is tested by simulating occlusions on 2-dimensional objects to examine the learning process and to show improvement of recognition rate. Thr result shows that it can be applied to a practical system for 3-dimensional object recognition.

• Transactions of the Korean Society of Mechanical Engineers
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• v.12 no.1
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• pp.173-182
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• 1988

A program for drawing of penetrating lines was developed in personal computer. PROLOG, a language of Artificial Intelligence, was used and a data structure using relational data base was designed. An algorithm for finding the penetrating lines in the real space was developed. The program can be applied at any types of penetrating problems like curve-surface, surface-surface, curve-object, surface-object, object-object, etc. In developing the program, the following results were obtained. (1) Relational data base built in PROLOG and the function of backtracking are helpful in Computer Graphics. (2) In spite of increasing the number of edges, assigning direction to the edges makes it possible to represent the polygon meshes as the non ordered sets of directional half edges. (3) Topologicaly the penetrating lines of a polygon can be represented as the edge-pairs in the edge list of the polygon,

• Korean Journal of English Language and Linguistics
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• v.4 no.2
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• pp.195-227
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• 2004

This paper concerns the issue related to the focus phenomena with a particular reference to the two alternating orders (continuous vs. discontinuous orders) in particle constructions in English. To explain the alternation of word order in particle constructions, I will argue that the choice of word order is closely related to the focus property of the object DPs. Following Drubig (2003), I will assume that focus-feature is taken to be a syntactic feature assigned freely to a lexical head in the process of the mapping into Lexical Array (LA) from the lexicon (LEX). I argue that the focus-marked object DP cannot move out of its focus domain and thus the continuous order is derived. In the case of non-focus-marked object DP, however, the object DP moves out of VP in order to receive an appropriate interpretation. As a result, the discontinuous order is derived.

• Journal of Biomedical Engineering Research
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• v.15 no.2
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• pp.201-208
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• 1994

Many three-dimensional object modeling and display methods for computer graphics and computer vision have been developed. Recently, with the help of medical imaging devices such as computerized tomography, magnetic resonance image, etc., some of those object modeling and display methods have been widely used for capturing the shape, structure and other properties of real objects in many medical applications. In this paper, we propose the reconstruction and display method of the three-dimensional object from a series of the cross sectonal image. It is implemented by using the automatic threshold selection method and the contour following algorithm. The combination of curvature and distance, we select feature points. Those feature points are the candidates for the tiling method. As a results, it is proven that this proposed method is very effective and useful in the comprehension of the object's structure. Without the technician's responce, it can be automated.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.1
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• pp.26-34
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• 1998

In this paper, a force control algorithm for edge following task is suggested. Through the contact state modeling between rigid part and end-effector of robot, contact force and contact angle that are essencial parameters to build the control strategies for following movement of end-effector are derived. From these two parameters, we discriminate the every contact state into 8 cases and calculate the new moving position and direction simply. For the experiment. RX90 robot from Staubli with robot language V$^{+}$ is applied and F/T sensor is attached to the wrist of robot with RCC. Finally, 3 edge following experiments including the following of corner point are executed with successful results.s.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2000.04a
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• pp.8-8
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• 2000

In this paper are presented main power and gasdynamic characteristics of C-l6VK hypersonic test cell of Research Test Center of CIAM. Gasdynamic adjustment of the C-l6VK test cell was carried out with the working section constructed on scheme of Ramjet/scramjet test in free stream. Gasdynamic adjustment was conducted stage by stage in tile following sequence. First, check and preparation of all technical systems and checking measuring system. Than determination of the characteristics of test cell on cold (without the heating of air at entrance) regime and determination of the characteristics of test cell on regimes with the heating of air. Finally determination of tile characteristics of test cell with the loading of the working part by object. On tile final stage of gasdynamic adjustment two experiments with tile axisymmetric Scramjet model loaded into the working part of test cell were conducted. The first experiment was conducted with the purpose of determination of flow parameters with the object leaded into the working part and verification of experiment cyclogram. The second experiment was conducted with injection of hydrogen into the combustion chamber of object, that is tile conditions on test cell simulated Scramjet flight Mach number M = 6. Such methodology of gasdynamic adjustment allows to determine influence of experimental object on flow parameters in the working part at different conditions of experiment (with the burning in combustion chamber of object and without the homing), and also to compare flow characteristics in the object duct.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.7
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• pp.599-604
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• 2013

Path planning of mobile robots has a purpose to design an optimal path from an initial position to a target point. Minimum driving time, minimum driving distance and minimum driving error might be considered in choosing the optimal path and are correlated to each other. In this paper, an efficient driving trajectory is planned in a real situation where a mobile robot follows a moving object. Position and distance of the moving object are obtained using a web camera, and the rotation angular and linear velocities are estimated using Kalman filters to predict the trajectory of the moving object. Finally, the mobile robot follows the moving object using a single curvature trajectory by estimating the trajectory of the moving object. Using the estimation by Kalman filters and the single curvature in the trajectory planning, the total tracking distance and time saved amounts to about 7%. The effectiveness of the proposed algorithm has been verified through real tracking experiments.