• International Journal of Control, Automation, and Systems
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• v.4 no.5
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• pp.645-652
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• 2006

In this paper a new type of filter, called the $H_2/H_{\infty}$ FIR filter, is proposed for discrete-time state space signal models. The proposed filter requires linearity, unbiased property, FIR structure, and independence of the initial state information in addition to the performance criteria in both $H_2$ and $H_{infty}$ sense. It is shown that $H_2,\;H_{\infty}$, and $H_2/H_{\infty}$ FIR filter design problems can be converted into convex programming problems via linear matrix inequalities (LMIs) with a linear equality constraint. Simulation studies illustrate that the proposed FIR filter is more robust against temporary uncertainties and has faster convergence than the conventional IIR filters.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.10
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• pp.921-927
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• 2013

This paper presents a user interface for vision based indirect teaching of a robotic manipulator with Kinect and IMU (Inertial Measurement Unit) sensors. The user interface system is designed to control the manipulator more easily in joint space, Cartesian space and tool frame. We use the skeleton data of the user from Kinect and Wrist-mounted IMU sensors to calculate the user's joint angles and wrist movement for robot control. The interface system proposed in this paper allows the user to teach the manipulator without a pre-programming process. This will improve the teaching time of the robot and eventually enable increased productivity. Simulation and experimental results are presented to verify the performance of the robot control and interface system.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2015.07a
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• pp.142-145
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• 2015

YUV 파일을 RGB 형태의 color space 로 변환하는 과정은 엄청난 연산으로 많은 시간이 소요된다. 이런 문제를 다양한 방법을 이용하여 속도 감소율을 확인할 것이다. 처음으로 기본 소스코드의 소요시간을 기준으로 삼기 위하여 최적화와 병렬프로그래밍을 사용하지 않고 프로그램을 설계하였다. 최적화와 병렬프로그래밍 단계를 진행하였을 때 C언어로 구현 된 최적화되기 전과 최종적으로 CUDA 기반의 병렬프로그래밍을 사용한 함수를 비교해보았을 때 속도의 증가율이 575%로 엄청난 속도의 차이를 확인할 수 있다. 이와 같은 기술을 영상을 다루는 모든 분야에서 처리속도가 증가함에 따라 효과적인 작업을 기대해 볼 수 있다.

• Industrial Engineering and Management Systems
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• v.9 no.2
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• pp.178-194
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• 2010

To improve the ship operation in automated container terminals, it is important to schedule different types of handling equipment to operate synchronously. For example, a vehicle with container receiving and lifting capabilities is used to transport containers from a storage yard to a vessel and vice versa, while a triple quay crane (QC) can handle up to three 40-ft containers simultaneously. This paper discusses the manner in which vehicles should be assigned to containers to support such multi-lifts of QCs by using information about the locations and times of deliveries. A mixed-integer programming model is introduced to optimally assign delivery tasks to vehicles. This model considers the constraint imposed by the limited buffer space under each QC. A procedure for converting buffer-space constraints into time window constraints and a heuristic algorithmfor overcoming the excessive computational time required for solving the mathematical model are suggested. A numerical experiment is conducted to compare the objective values and computational times of the heuristic algorithm with those of the optimizing method to evaluate the performance of the heuristic algorithm.

• International Journal of High-Rise Buildings
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• v.8 no.1
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• pp.37-47
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• 2019

Facing the challenges of urban form and space quality in a high-density environment, the paper puts forward the development trend of three-dimensional and multi-functional design for an urban high-rise complex, and analyzes the design methods of establishing an urban landmark, including multi-functional composition, three-dimensional space integration, three-dimensional traffic organization and energy flow programming. Meanwhile, combined with the specific design case of Yiwu World Trade Center, the practical experience of designing a high-rise complex in China's medium-sized cities is analyzed.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.5
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• pp.427-436
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• 2010

This paper deals with a task assignment problem of multiple UAVs performing multiple tasks on multiple targets. The task assignment problem of multiple UAVs is a kind of combinatorial optimization problems such as traveling salesman problem or vehicle routing problem, and it has NP-hard computational complexity. Therefore, computation time increases as the size of considered problem increases. To solve the problem efficiently, approximation methods or heuristic methods are widely used. In this study, the problem is formulated as a mixed integer linear program, and is solved by a mixed integer linear programming and a genetic algorithm, respectively. Numerical simulations for the environment of the multiple targets, multiple tasks, and obstacles were performed to analyze the optimality and efficiency of each method.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.4
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• pp.765-772
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• 2011

In this paper, a simulation-based method is presented to dispose direction finders in three dimensional space for locating targets using the directional data. A direction finder(DF) is a military weapon that is used to find locations of targets that emit radio frequencies by operating two or more DFs simultaneously. If one or more DFs are operated in the air, the accuracy of location estimation can be enhanced by disposing them in a better configuration. By extending the line method, which is a well-known algorithm for 2-D location estimation, into 3-D space, the problem of 3-D location estimation is defined as an nonlinear programming form and solved analytically. Then the optimal disposition of DFs is considered with the presented method in which methods of simulation and search technique are combined. With the suggested algorithm for 3-D disposition of DFs, regions in which targets exist can be effectively covered so that the operation effect of DF be increased.

• Journal of Navigation and Port Research
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• v.30 no.6 s.112
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• pp.457-464
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• 2006

Remarshalling operation is one of the operations considered important in an automated container terminal to perform quickly loading operations and delivery operations. It arranges the containers scattered at a verticla yard block in order to reduce the transfer time and the rehandling time of ATC(Automated Transfer Crane)s. This paper deals with the remarshalling planning problem minimizing the weighted operation time. This problem can be decomposed into 2 subproblems, storage space assignment problem and operation sequencing problem Storage space assignment problem decides to where containers are transported in terms of transportation time cost.. With results of a previous subproblem, operation sequence problem determines the ATC operation sequence, which minimizes the dead-heading of ATC This study formulates each subproblem with mixed integer program and dynamic program. To illustrate the proposed model, we propose an instance to explain the process of remarshalling planning.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.30 no.7
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• pp.1-10
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• 2002

Multidisciplinary Design Optimization (MDO) is a new design approach, which aims to reduce the design cycle and the development cost, while improving the performance of the product. In order to develop a framework software where the multidisciplinary design is possible, several methods about the analysis codes integration, the analysis and optimization process management, and the software architecture, are proposed in this study. Centralized DataBase Management System (DBMS) is adopted. Both the Dynamic Link Library(DLL) and the File Interface are suggested and implemented as analysis codes integration methods. To efficiently manage the optimization process and the data flow, the Graphic Programming approach is introduced. The proposed integration methods are verified by two test case examples: Simple house design example and the aircraft wing design problem using three dimensional Panel Code.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.9
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• pp.848-857
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• 2011

Vision-based collision avoidance system for air traffic management requires a excellent multiple target detection algorithm under low signal-to-noise ratio (SNR) levels. The track-before-detect (TBD) approaches have significant applications such as detection of small and dim targets from an image sequence. In this paper, two detection algorithms with the TBD approaches are proposed to satisfy the multiple target detection requirements. The first algorithm, based on a dynamic programming approach, is designed to classify multiple targets by using a k-means clustering algorithm. In the second approach, a hidden Markov model (HMM) is slightly modified for detecting multiple targets sequentially. Both of the proposed approaches are used in numerical simulations with variations in target appearance properties to provide satisfactory performance as multiple target detection methods.