• Journal of Institute of Control, Robotics and Systems
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• v.21 no.12
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• pp.1089-1099
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• 2015

This paper proposes vision-based collision risk estimation method for an unmanned surface vehicle. A robust image-processing algorithm is suggested to detect target obstacles from the vision sensor. Vision-based Target Motion Analysis (TMA) was performed to transform visual information to target motion information. In vision-based TMA, a camera model and optical flow are adopted. Collision risk was calculated by using a fuzzy estimator that uses target motion information and vision information as input variables. To validate the suggested collision risk estimation method, an unmanned surface vehicle experiment was performed.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.190-198
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• 2002

In switched reluctance motor(SRM) drive, it is necessary to synchronize the stator phase excitation with the rotor position. Therefore the rotor position information is an essential. Usually optical encoders or resolvers are used to provide the rotor position information. These sensors are expensive and are not suitable for high speed operation. In general, the accuracy of the switching angles is dependent upon the resolution of the encoder and the sampling period of the microprocessor. But the region of high speed, switching angles are fluctuated back and forth from the preset values, witch are cause by the sampling period of the microprocessor. Therefore, the low cost linear encoder suitable for the practical and stable SRM drive is proposed and the control algorithm to provide the switching signals using the simple digital logic circuit is also presented in this paper It is verified from the experiments that the proposed encoder and logic controller can be a powerful candidate for the practical low cost SRM drive.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.2
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• pp.124-132
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• 2001

Autonomous of welding process in shipyard is ultimately necessary., since welding site is spatially enclosed by floors and girders, and therefore welding operators are exposed to hostile working conditions. To solve this problem, a welding robot that can navigate autonomously within the enclosure needs to be developed. To achieve the welding ra나, the robotic welding systems needs a sensor system for the recognition of the working environments and the weld seam tracking, and a specially designed environment recognition strategy. In this paper, a three-dimensional laser vision system is developed based on the optical triangulation technology in order to provide robots with work environmental map. At the same time a strategy for environment recognition for welding mobile robot is proposed in order to recognize the work environment efficiently. The design of the sensor system, the algorithm for sensing the structured environment, and the recognition strategy and tactics for sensing the work environment are described and dis-cussed in detail.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.1
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• pp.62-68
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• 2012

In this paper, a detection method of a pedestrian safety road marking was proposed. The proposed algorithm uses laser range and reflectivity of a range finder (LRF). For a detection of crosswalk marking and stop line, the DFT (Discrete Fourier Transform) of reflectivity and cross-correlation method between the reference replica and the measured reflectivity are used. A speed bump is detected through measuring an altitude difference of two LRFs which have the different tilted angle. Furthermore, we proposed a velocity constrained a detection method of a speed bump. Finally, the proposed methods are tested in on-line, on the pavement of a road. The considered road markings are wholly detected. The localization errors of both road markings are smaller than 0.4 meter.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.9
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• pp.830-836
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• 2012

According to increasing the importance of underwater environments, the needs of UUV are growing. This paper represents the mechanism and algorithm of UUV docking system with 21-inch torpedo tubes for military submarines as a docking station. To improve the reliability of the docking, torpedo tubes launch a wired ROV and next the ROV combined with UUV is retrieved. For estimating the relative position between the ROV and UUV, in this paper, combining RF sensors and vision system is proposed. The RSSI method of RF sensors is used to estimate the distance and the optical image is combined for the directional information.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1094-1098
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• 2013

AVI (Automatic Vision Inspection) systems automatically detect defect features and measure their sizes via camera vision. Defect detection is not an easy process because of noises from various sources and optical distortion. In this paper the acquired images from a TFT panel are enhanced with the adoption of an HVS (Human Visual System). A human visual system is more sensitive on the defect area than the illumination components because it has greater sensitivity to variations of intensity. In this paper we modified an MTF (Modulation Transfer Function) in the Wavelet domain and utilized the characteristics of an HVS. The proposed algorithm flattens the inner illumination components while preserving the defect information intact.

• Proceedings of the KIEE Conference
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• 2000.07b
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• pp.984-987
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• 2000

In switched reluctance motor(SRM) drive, it is necessary to synchronize the stator phase excitation with the rotor position. Therefore the rotor position information is an essential. Usually optical encoders or resolvers are used to provide the rotor position information. These sensors are expensive and are not suitable for high speed operation. In the paper, the low cost linear encoder suitable for the practical and stable SRM drive is proposed and the control algorithm to provide the switching signals using the simple digital logic circuit is also presented in this paper. It is verified from the experiments that the proposed encoder and logic controller can be a powerful candidate for the practical low cost SRM drive.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.11
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• pp.935-940
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• 2002

For robot navigation and visual reconstruction, structure from motion (SFM) is an active issue in computer vision community and its properties arc also becoming well understood. In this paper, when using stereo image sequence and direct method as a tool for SFM, we present a new method for overcoming bas-relief ambiguity. We first show that the direct methods, based on optical flow constraint equation, are also intrinsically exposed to such ambiguity although they introduce robust methods. Therefore, regarding the motion and depth estimation by the robust and direct method as approximated ones. we suggest a method that refines both stereo displacement and motion displacement with sub-pixel accuracy, which is the central process f3r improving its ambiguity. Experiments with real image sequences have been executed and we show that the proposed algorithm has improved the estimation accuracy.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.6
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• pp.537-641
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• 2007

In this paper, motion analysis algorithm is presented for home surveillance of the aged who lives alone. For the first step, we acquire images from a camera. To enhance the image, we use median filtering and binarize it to reduce processing time. And then morphological operations are performed to remove small blobs and small holes. At the forth step, blobs are analysed to extracts tor foreground region. Then, motions are predicted from these images by using optical tlow technique, and the predicted motion data are refined by comparing our cardboard models so as to judge behavior pattern.

• Journal of the Korean Operations Research and Management Science Society
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• v.22 no.2
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• pp.13-29
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• 1997

This paper considers a new routing problem, successive max-min connection ratio problem (SMCRP), arised in circuit telecommunication networks such as SONET and WDM optical transport network. An optimization model for SMCRP is established based on link-flow formulation. It's first optimization process is an integral version of maximum concurrent flow problem. Integer condition does not give the same connection-ratio of each node-pair at an optimal solution any more. It is also an integral multi-commodity flow problem with fairness restriction. In order to guarantee fairness to every node-pair the minimum of connection ratios to demand is maximized. NP- hardness of SMCRP is proved and a heuristic algorithm with polynomial-time bound is developed for the problem. Augmenting path and rerouting flow are used for the algorithm. The heuristic algorithm is implemented and tested for networks of different sizes. The results are compared with those given by GAMS/OSL, a popular commercial solver for integer programming problem.n among ferrite-pearlite matrix, the increase in spheroidal ratio with increasing fatigue limitation, 90% had the highest, 14.3% increasing more then 70%, distribution range of fatigue.
ife was small in same stress level. (2) $\sqrt{area}_{max}$ of graphite can be used to predict fatigue limit of Ductile Cast Iron. The Statistical distribution of extreme values of $\sqrt{area}_{max}$ may be used as a guideline for the control of inclusion size in the steelmaking.