• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.491-495
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• 1993

In this paper, we present a methodology to model an indoor environment of a mobile robot using fuzzy numbers and to make a global map of the robot environment using graph theory. We describe any geometric primitive of robot environment as a parameter vector in parameter space and represent the ill-known values of the prameterized geometric primitive by means of fuzzy numbers restricted to appropriate membership functions. Also we describe the spatial relations between geometric prinitives using graph theory for local maps. For making the global map of the mobile robot environment, the correspondence problem between local maps is solved using a fuzzy similarity measure and a Bipartite graph matching technique.

• Journal of the Korean housing association
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• v.21 no.6
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• pp.43-52
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• 2010

It has applied the design method of face to face dimension, an MC (Modular Coordination) design method, at design steps of an apartment house for standardization of architecture. But It has been still using center line size. A construction limit isn't specific on these center line size, and dead space occurs with excessive gaps as size matching isn't performed well between structural sieve and parts. And above all, measurement before construction isn't to expect standardization, and to increase custom-made furniture. We investigate manufacture of a preferential domestic system kitchen and construction state, and we derive from a problem in viewpoints of standardization for this. And we utilized a reference plane, and we present construction document and design plan in order to solve these problems. And we analyze an effect got by application of the assembly basis aspect that we presented, and we can raise efficiency of standardization of housing and construction industry, and we light ultimately up.

• Publications of The Korean Astronomical Society
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• v.32 no.1
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• pp.309-311
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• 2017

Properties of ULIRGs (Ultra Luminous InfraRed Galaxies) are important to understand the cosmic star formation history. To investigate their properties up to z=0.3, we search for ULIRGs identified by using the AKARI/FIS Bright Source Catalogue and the WISE All-Sky catalog. By matching the AKARI $90{\mu}m$ catalogue with the WISE catalog, we selected 3,452 galaxies. Additionally, combined with the SDSS DR10 spectroscopic data, we selected 952 galaxies with spec-z. We then computed total infrared luminosities using SED fitting technique, and identified 31 ULIRGs, 561 LIRGs and 344 IRGs. For these galaxies, we found an indication that ULIRGs selected by AKARI change the SED shape with redshift (z = 0.1 - 0.3).

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.8
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• pp.2088-2100
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• 1994

Considerable attention has been given to controller designs that utilize the variable structure system theory in order to achieve robust tracking performance of robotic manipulators subjected to parameter variations and extraneous disturbances. However, the theory has not had wide spread acceptance in practical control engineering community due mainly to the worry of chattering which is inherently ever-existing in the variable structure system. This paper presents a novel type of fuzzy-sliding mode controller to alleviate the chattering problem. A sliding mode controller for robust robot control is firstly synthesized with an assumption that the imposed system uncertainties satisfy matching conditions so that certain deterministic performances can parameters and control rules are obtained from a relation between predetermined sliding surfaces and representative points in the error state space. A two degree-of-freedom robotic manipulator subjected to a variable payload and a torque disturbance is considered in order to demonstrate superior tracking performance accrued from the proposed methodology.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2006.05a
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• pp.1198-1206
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• 2006

프로그램 소스코드 표절 검사에 대한 기존 방법은 크게 지문(finger-print)법과 구조기반 검사법으로 나뉘며, 주로 단어의 유사성이나 발생빈도를 사용하거나 소스코드 구조상의 특징으로 두 소스간의 유사성을 비교한다. 본 연구에서는 프로그래밍 언어의 예약어 시퀀스를 사용하여 소스코드들 간의 유사성을 비교하고, 이 결과를 FCA(Formal Concept Analysis)를 통해 해석하고 시각화 하는 방법을 제시한다. 일반적인 VSM(Vector Space Model)과 같은 단일 단어 분석으로는 단어의 인접성을 구분할 수 없으므로 단어의 시퀀스 분석이 가능하도록 알고리즘을 구성하였으며 이러한 방식은 지문법의 단점인 소스코드의 부분적인 표절 탐지의 난점을 해결할 수 있고 함수의 호출 순서나 수행 순서에 상관없이 표절을 탐지할 수 있는 장점을 가진다. 마지막으로 유사도 측정결과는 FCA를 이용하여 격자(lattice)로 시각화됨으로써 이용자의 이해도를 높일 수 있다.

• Journal of Electrical Engineering and Technology
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• v.12 no.5
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• pp.2067-2078
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• 2017

In this paper, a new face tracking algorithm is proposed. The CamShift (Continuously adaptive mean SHIFT) algorithm shows unstable tracking when there exist objects with similar color to that of face in the background. This drawback of the CamShift is resolved by the proposed algorithm using Kinect's pixel-by-pixel depth information and the skin detection method to extract candidate skin regions in HSV color space. Additionally, even when the target face is disappeared, or occluded, the proposed algorithm makes it robust to this occlusion by the feature point matching. Through experimental results, it is shown that the proposed algorithm is superior in tracking performance to that of existing TLD (Tracking-Learning-Detection) algorithm, and offers faster processing speed. Also, it overcomes all the existing shortfalls of CamShift with almost comparable processing time.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.220-222
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• 2006

This paper presents intelligent digital redesign method of global approach for hybrid state space fuzzy-model-based controllers. For effectiveness and stabilization of continuous-time uncertain nonlinear systems under discrete-time controller, Takagi-Sugeno(TS) fuzzy model is used to represent the complex system. And global approach design problems viewed as a convex optimization problem that we minimize the error of the norm bounds between nonlinearly interpolated lineal operators to be matched. Also, by using the bilinear and inverse bilinear approximation method, we analyzed nonlinear system's uncertain parts more precisely. When a sampling period is sufficiently small, the conversion of a continuous-time structured uncertain nonlinear system to an equivalent discrete-time system have proper reason. Sufficiently conditions for the global state-matching of the digitally controlled system are formulated in terms of linear matrix inequalities (LMIs). Finally, a T-S fuzzy model for the chaotic Lorentz system is used as an example to guarantee the stability and effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.569-572
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• 1996

Explicit state-space formulate for an H$_{.inf}$ based two-degrees-of-freedom robust controller are derived in discrete-time. The controller provides robust stability against coprime factor uncertainty, and a degree of robust performance in the sense of making the closed-loop system match a prespecified reference model. It is shown that the controller consists of a plant observer, the chosen reference model, and a generalized state feedback law associated with the plant and model states. The controller structure is shown to be relatively simple and thus may reduce the computational load on the digital control processor.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.11
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• pp.907-912
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• 2005

In this paper, we consider the problem of designing sliding surfaces fur a class of dynamic systems with mismatched uncertainties in the state space model. In terms of LMIs, we give necessary and sufficient conditions fir the existence of a linear sliding surface such that the reduced order sliding mode dynamics is asymptotically stable and completely independent of uncertainties. We parameterize all such linear sliding surfaces by using the solution to the given LMI conditions. And, we consider the problem of designing linear sliding surfaces guaranteeing pole placement constraints or $H_2/H_infty$ performances. Finally, we give a design example in order to show the effectiveness of our method.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.4
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• pp.290-298
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• 2013

Geomagnetic is refracted by building's wall and pillar. Therefore refracted geomagnetic is able to be used as feature point. In a specific space, a mobile device that is equipped with magnetic sensor array measures 3-axis magnetic field for each point. Magnetic field map is acquired by collecting the every sample point in the magnetic field. The measured magnetic field must be calibrated, because each magnetic sensor has a distortion. For this reason, sensor distortion model and sensor calibration method are proposed in this paper. Magnetic field that is measured by mobile device matches magnetic field map. Result of the matching is used for position estimation. This paper implements hardware system for position estimation method using magnetic field map.