• International Journal of Control, Automation, and Systems
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• 제1권4호
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• pp.495-502
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• 2003

This paper focuses on the implementation of an efficient tracking method of a moving object using optimal representative blocks by way of a pan-tilt camera. The key idea is derived from the fact that when the image size of a moving object is shrunk in an image frame according to the distance between the mobile robot camera and the object in motion, the tracking performance of a moving object can be improved by reducing the size of representative blocks according to the object image size. Motion estimations using Edge Detection (ED) and Block-Matching Algorithm (BMA) are regularly employed to track objects by vision sensors. However, these methods often neglect the real-time vision data since these schemes suffer from heavy computational load. In this paper, a representative block able to significantly reduce the amount of data to be computed, is defined and optimized by changing the size of representative blocks according to the size of the object in the image frame in order to improve tracking performance. The proposed algorithm is verified experimentally by using a two degree-of- freedom active camera mounted on a mobile robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.678-681
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• 2004

In this paper, efficient tracking of a moving object using optimal representative blocks is implemented by a mobile robot with a pan-tilt camera. The key idea comes from the fact that when the image size of moving object is shrunk in an image frame according to the distance between the camera of mobile robot and the moving object, the tracking performance of a moving object can be improved by changing the size of representative blocks according to the object image size. Motion estimation using Edge Detection(ED) and Block-Matching Algorithm(BMA) is often used in the case of moving object tracking by vision sensors. However these methods often miss the real-time vision data since these schemes suffer from the heavy computational load. In this paper, the optimal representative block that can reduce a lot of data to be computed, is defined and optimized by changing the size of representative block according to the size of object in the image frame to improve the tracking performance. The proposed algorithm is verified experimentally by using a two degree-of-freedom active camera mounted on a mobile robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.41.3-41
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• 2002

Motion estimation using Full-Search(FS) and Block-Matching Algorithm(BMA) is often used in the case of moving object tracking by vision sensors. However these methods often miss the real-time vision data because these schemes suffer the heavy computational load. When the image size of moving object is changed in an image frame according to the distance between the camera of mobile robot and the moving object, the tracking performance of a moving object may decline with these methods because of the shortage of active handling. In this paper, the variable-representative block that can reduce a lot of data computations, is defined and optimized by changing the size of representative block accor...

• 한국의류산업학회지
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• 제9권4호
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• pp.418-424
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• 2007

The purpose of this study is to propose a standard of converting 3D shape of men in twenties to 2D patterns. This can be a basis for scientific and automatic pattern making for high quality custom clothes. Firstly, representative 3D body shape of men was modeled. Then the 3D model was divided into 3 shells, front, side and back. Among them, the front shell was divided into 4 blocks by bust line and princess line. Secondly, curves are generated on each block according to matrix combination by grid method. Then triangles were developed into 2D pieces by reflecting the 3D curve length. The grid was arranged to maintain outer curve length. Next, the area of developed pieces and block were calculated and difference ratio between the block area and the developed pieces' area is calculated. Also, area difference ratio by the number of triangles is calculated. The difference ratio was represented as graphs and optimal section is selected by the shape of graphs. The optimal matrix was set considering connection with other blocks. Curves of torso upper front shell were regenerated by the optimal matrix and developed into pieces. We validated it's suitability by comparing difference ratio between the block area and the developed pieces' area of optimal section. The results showed that there was no significant difference between block area and the pieces' area developed by optimal matrix. The optimal matrix for 2D developing could be characterized as two types according to block's shape characteristics, one is affected by triangle number, the other is affected by number of raws more than columns. Through this study, both the 2D pattern developing from 3D body shape and 3D modeling from 2D pattern is possible, so it's standardization also possible.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1419-1423
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• 2004

In this paper, we propose an algorithm for planning an optimal path to capture a moving object by a mobile robot in real-time. The direction and rotational angular velocity of the moving object are estimated using the Kalman filter, a state estimator. It is demonstrated that the moving object is tracked by using a 2-DOF active camera mounted on the mobile robot and then captured by a mobile manipulator. The optimal path to capture the moving object is dependent on the initial conditions of the mobile robot, and the real-time planning of the robot trajectory is definitely required for the successful capturing of the moving object. Therefore the algorithm that determines the optimal path to capture a moving object depending on the initial conditions of the mobile robot and the conditions of a moving object is proposed in this paper. For real-time implementation, the optimal representative blocks have been utilized for the experiments to show the effectiveness of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.186-190
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• 2003

In this paper, we propose an algorithm for planning an optimal path to capture a moving object by a mobile robot in real-time. The direction and rotational angular velocity of the moving object are estimated using the Kalman filter, a state estimator. It is demonstrated that the moving object is tracked by using a 2-DOF active camera mounted on the mobile robot and then captured by a mobile manipulator. The optimal path to capture the moving object is dependent on the initial conditions of the mobile robot, and the real-time planning of the robot trajectory is definitely required for the successful capturing of the moving object. Therefore the algorithm that determines the optimal path to capture a moving object depending on the initial conditions of the mobile robot and the conditions of a moving object is proposed in this paper. For real-time implementation, the optimal representative blocks have been utilized for the experiments to show the effectiveness of the proposed algorithm.

• 대한조선학회논문집
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• 제53권2호
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• pp.115-126
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• 2016

In the process of ship building, it is known that the maintenance of working period and saving cost are one of the important part during the logistics of blocks transportation. Precise operational planning inside the shipyard plays a big role for a smooth transportation of blocks. But many problems arise in the process of block transportation such as the inevitable road damage during the transportation of the blocks, unpredictable stockyard utilization of the road associated with a particular lot number, addition of unplanned blocks. Therefore, operational plan needs to be re-established frequently in real time for an efficient block management. In order to find the shortest path between lot numbers, there are several representative methods such as Floyd algorithm that has the characteristics of many-to-many mapping, Dijkstra algorithm that has the characteristic of one-to-many mapping, and the A* algorithm which has the one-to-one mapping, but many authors have published without the mutual comparisons of these algorithms. In this study, some appropriate comparison have been reviewed about the advantages and disadvantages of these algorithms in terms of precision and cost analysis of calculating the paths and planning system to operate the transporters. The flexible operating plan is proposed to handle a situation such as damaged path, changing process during block transportation. In addition, an operational algorithm of a vacant transporter is proposed to cover the shortest path in a minimum time considering the situation of transporter rotation for practical use.

• 제어로봇시스템학회논문지
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• 제18권11호
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• pp.1005-1010
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• 2012

We propose a novel approach to classify fingerprints using the extracted adaptive core block for improving classification performance of incomplete fingerprints in this paper. We compute representative directions from fingerprint images by the block unit and learn horizontal and vertical Markov models by deciding the center position of a fingerprint image based on the expert knowledge. The center block of a test image is the block has the highest probability after comparing the Markov model with $11{\times}11$ blocks. The proposed approach can effectively classify incomplete fingerprints using the optimal center block.

• 지능정보연구
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• 제26권1호
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• pp.23-45
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• 2020

기업의 경쟁력 확보를 위해 판별 알고리즘을 활용한 의사결정 역량제고가 필요하다. 하지만 대부분 특정 문제영역에는 적합한 판별 알고리즘이 어떤 것인지에 대한 지식은 많지 않아 대부분 시행착오 형식으로 최적 알고리즘을 탐색한다. 즉, 데이터셋의 특성에 따라 어떠한 분류알고리즘을 채택하는 것이 적합한지를 판단하는 것은 전문성과 노력이 소요되는 과업이었다. 이는 메타특징(Meta-Feature)으로 불리는 데이터셋의 특성과 판별 알고리즘 성능과의 연관성에 대한 연구가 아직 충분히 이루어지지 않았기 때문이며, 더구나 다중 클래스(Multi-Class)의 특성을 반영하는 메타특징에 대한 연구 또한 거의 이루어진 바 없다. 이에 본 연구의 목적은 다중 클래스 데이터셋의 메타특징이 판별 알고리즘의 성능에 유의한 영향을 미치는지에 대한 실증 분석을 하는 것이다. 이를 위해 본 연구에서는 다중 클래스 데이터셋의 메타특징을 데이터셋의 구조와 데이터셋의 복잡도라는 두 요인으로 분류하고, 그 안에서 총 7가지 대표 메타특징을 선택하였다. 또한, 본 연구에서는 기존 연구에서 사용하던 IR(Imbalanced Ratio) 대신 시장집중도 측정 지표인 허핀달-허쉬만 지수(Herfindahl-Hirschman Index, HHI)를 메타특징에 포함하였으며, 역ReLU 실루엣 점수(Reverse ReLU Silhouette Score)도 새롭게 제안하였다. UCI Machine Learning Repository에서 제공하는 복수의 벤치마크 데이터셋으로 다양한 변환 데이터셋을 생성한 후에 대표적인 여러 판별 알고리즘에 적용하여 성능 비교 및 가설 검증을 수행하였다. 그 결과 대부분의 메타특징과 판별 성능 사이의 유의한 관련성이 확인되었으며, 일부 예외적인 부분에 대한 고찰을 하였다. 본 연구의 실험 결과는 향후 메타특징에 따른 분류알고리즘 추천 시스템에 활용할 것이다.

• 지능정보연구
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• 제25권4호
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• pp.141-154
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• 2019

인터넷 기술과 소셜 미디어의 빠른 성장으로 인하여, 구조화되지 않은 문서 표현도 다양한 응용 프로그램에 사용할 수 있게 마이닝 기술이 발전되었다. 그 중 감성분석은 제품이나 서비스에 내재된 사용자의 감성을 탐지할 수 있는 분석방법이기 때문에 지난 몇 년 동안 많은 관심을 받아왔다. 감성분석에서는 주로 텍스트 데이터를 이용하여 사람들의 감성을 사전 정의된 긍정 및 부정의 범주를 할당하여 분석하며, 이때 사전 정의된 레이블을 이용하기 때문에 다양한 방향으로 연구가 진행되고 있다. 초기의 감성분석 연구에서는 쇼핑몰 상품의 리뷰 중심으로 진행되었지만, 최근에는 블로그, 뉴스기사, 날씨 예보, 영화 리뷰, SNS, 주식시장의 동향 등 다양한 분야에 적용되고 있다. 많은 선행연구들이 진행되어 왔으나 대부분 전통적인 단일 기계학습기법에 의존한 감성분류를 시도하였기에 분류 정확도 면에서 한계점이 있었다. 본 연구에서는 전통적인 기계학습기법 대신 대용량 데이터의 처리에 우수한 성능을 보이는 딥러닝 기법과 딥러닝 중 CNN과 LSTM의 조합모델을 이용하여 감성분석의 분류 정확도를 개선하고자 한다. 본 연구에서는 대표적인 영화 리뷰 데이터셋인 IMDB의 리뷰 데이터 셋을 이용하여, 감성분석의 극성분석을 긍정 및 부정으로 범주를 분류하고, 딥러닝과 제안하는 조합모델을 활용하여 극성분석의 예측 정확도를 개선하는 것을 목적으로 한다. 이 과정에서 여러 매개 변수가 존재하기 때문에 그 수치와 정밀도의 관계에 대해 고찰하여 최적의 조합을 찾아 정확도 등 감성분석의 성능 개선을 시도한다. 연구 결과, 딥러닝 기반의 분류 모형이 좋은 분류성과를 보였으며, 특히 본 연구에서 제안하는 CNN-LSTM 조합모델의 성과가 가장 우수한 것으로 나타났다.