• Journal of Advanced Marine Engineering and Technology
• /
• v.17 no.5
• /
• pp.44-53
• /
• 1993

In this paper, we discuss on the control algorithm to make the wheeled inverse pendulum type mobile robot move in two dimensional plane. The robot considered in this paper has two independently driven wheels in same axel which suport and move it-self, and is assumed to have the fyro type sensor to know the inclination algle of the body and rotary encoders to know wheel's rotation angular velocity. The control algorithm is divided into three parts. The first part is for the posture and velocity control for forward-backward direction, the second is the steering control, and the last part is for the control of total system to track the given trajectory. We handle the running velocity control of the robot as part of the posture control to keep the balance because the posture relates deeply with the velocity and can be controlled by the velocities of the wheels. The control problem is analyzed as the tracking control, and the controller is realized with the state feedback and feed-forward of the reference velocity. Constructing the control system which contained one intergrator in forward path, we also realized the control system without observer for the estimation of the accumulated errors in the inclination angle of the body. To prevent the robot from being unstable state by sudden variation of the reference velocity when it starts and stops, or changes velocity, the reference velocity of which acceleration is slowly changing, is ordered to the robot. To control its steering, we give the different reference velocities for both wheels which are calculated from the desired angular velocity of the body. Finally, we presents the experimental results of the experimental robot Yamabico Kurara in which the proposed control algorithm had been implemented.

• Journal of the Korean Institute of Telematics and Electronics T
• /
• v.35T no.3
• /
• pp.120-127
• /
• 1998

In this paper, ultrasonic images of 25MHz bandwidth were acquired by applying peak value variation, time average and depth profile algorithm to acoustic microscopy and its performance was compared and analysed with each other. In the time average algorithm, total reflecting pulse wave from a spot on the coin was converted to digital data in time domain and average value of the converted 512 data was calculated in computer. Time average image was displayed by gray levels colour of acquired N x N matrix average data in the scanning area on the sample. This technique having smoothing effects in time domain make developed an ultrasonic image on a highly scattering area. In depth profile technique, time difference between the reference and the reflected signal was detected with minimum resolution performance of 2ns, thus we can acquired real 3 dimensional shape of the scanning area in accordance with relative magnitude. Through these experiments, peak value, time average and depth profile images were analysed and advantages of each algorithm were proposed.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.12 no.9
• /
• pp.1689-1695
• /
• 2008

The development of low-power wireless communication and low-cost multi-functional smart sensor has enabled the sensor network that can perceive the status information in remote distance. Sensor nodes are sending the collected data to the node in the base station through temporary communication path using the low-cost RF communication module. Sensor nodes get the energy supply from small batteries, however, they are installed in the locations that are not easy to replace batteries, in general, so it is necessary to minimize the average power consumption of the sensor nodes. It is known that the RF modules used for wireless communication are consuming 20-60% of the total power for sensor nodes. This study suggests the probability inference heuristic based non-periodic transmission to send the collected information to the base station node, when the calculated value by probability is bigger than an optional random value, adapting real-time to the variation characteristics of sensing datain order to improve the energy consumption used in the transmission of sensed data. In this transmission method suggested, transmitting is decided after evaluation of the data sensed by the probability inference heuristic algorithm and the directly sensed data, and the coefficient that is needed for its algorithm is decided through the reappearance rate of the algorithm verification data.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.13 no.1
• /
• pp.371-384
• /
• 2019

Motion perception has been tremendously improved in neuroscience and computer vision. The baseline motion perception model is mediated by the dorsal visual pathway involving the cortex areas the primary visual cortex (V1) and the middle temporal (V5 or MT) visual area. However, few works have been done on the extension of neural models to improve the efficacy and robustness of motion perception of real sequences. To overcome shortcomings in situations, such as varying illumination and large displacement, an adaptive V1-MT motion perception (Ad-V1MTMP) algorithm enriched to deal with real sequences is proposed and analyzed. First, the total variation semi-norm model based on Gabor functions (TV-Gabor) for structure-texture decomposition is performed to manage the illumination and color changes. And then, we study the impact of image local context, which is processed in extra-striate visual areas II (V2), on spatial motion integration by MT neurons, and propose a V1-V2 method to extract the image contrast information at a given location. Furthermore, we take feedback inputs from V2 into account during the polling stage. To use the algorithm on natural scenes, finally, multi-scale approach has been used to handle the frequency range, and adaptive pyramidal decomposition and decomposed spatio-temporal filters have been used to diminish computational cost. Theoretical analysis and experimental results suggest the new Ad-V1MTMP algorithm which mimics human primary motion pathway has universal, effective and robust performance.

• Journal of Korean Society for Geospatial Information Science
• /
• v.16 no.3
• /
• pp.35-41
• /
• 2008

Recently needs for the convergence of CAD and GIS data are increasing, and many studies on converting two systems to each other are being carried out. In this study, to revise and update the building data of digital map using CAD data for construction, the outline of building is abstracted from the CAD data and the outline is generalized to the same level of detail with the building data of digital map. Several line simplification algorithms to generalize the outline are adopted and compared, especially at the view of satisfaction to the drawing rule for digital map. Douglas-Peucker algorithm, Lang's algorithm, Reumann-Witkam algorithm, and Opheim algorithm are applied as the line simplification method. To evaluate the results of these algorithms, visual assessment and variation ratio of the number of points, total length of lines, the area of polygon, and satisfaction ratio to the drawing rule of digital map are analyzed. The result of Lang algorithm and Douglas-Peucker algorithm show superior satisfaction ratio. But general satisfaction ratio is 50~60% for all algorithm. Therefore there seems to be a limit to use these algorithms for the simplification method to update the building data in digital map and it is necessary to develop line simplification algorithm which satisfy the drawing rule well.

• Progress in Medical Physics
• /
• v.23 no.2
• /
• pp.106-113
• /
• 2012

The purpose of this study is to evaluate the variation of radiation dose distribution for liver tumor located in liver dome and for the interest organs(normal liver, kidney, stomach) with the pencil beam convolution (PBC) algorithm versus anisotropic Analyticalal algorithm (AAA) of the Varian Eclipse treatment planning system, The target volumes from 20 liver cancer patients were used to create treatment plans. Treatment plans for 10 patients were performed in Stereotactic Body Radiation Therapy (SBRT) plan and others were performed in 3 Dimensional Conformal Radiation Therapy (3DCRT) plan. dose calculation was recalculated by AAA algorithm after dose calculation was performed by PBC algorithm for 20 patients. Plans were optimized to 100% of the PTV by the Prescription Isodose in Dose Calculation with the PBC algorithm. Plans were recalculated with the AAA, retaining identical beam arrangements, monitor units, field weighting and collimator condition. In this study, Total PTV was to be statistically significant (SRS: p=0.018, 3DCRT: p=0.006) between PBC and AAA algorithm. and in the case of PTV, ITV in liver dome, plans for 3DCRT were to be statistically significant respectively (p=0.013, p=0.024). normal liver and kidney were to be statistically significant (p=0.009, p=0.037). For the predictive index of dose variation, CVF ratio was to be statistically significant for PTV in the liver dome versus PTV (SRS r=0.684, 3DCRT r=0.732, p<0.01) and CVF ratio for Tumor size was to be statistically significant (SRS r=-0.193, p=0.017, 3DCRT r=0.237, p=0.023).

• Journal of Biomedical Engineering Research
• /
• v.18 no.1
• /
• pp.25-36
• /
• 1997

To regulate cardiac output of the Total Artificial Heart(TAH) physiologically, the hemodynamic information must be toed back to the controller. So far, our group has developed an automatic cardiac output control algorithm using the motor current waveform, It is, however difficult to detect the preload level such as a filling status of ventricular inflow and the variation of atrial pressures within normal physiologic range(0-15 mmHg) by analyzing the motor current which simultaneously reflects the afterload effect. On the other hin4 the interventricular volume pressure(IVP) which is not influenced by arterload but by preload is a good information source for the estimation of preload states. In order to find the relationship between preload and IVP waveform, we set up the artificial heart system on the Donovan type mock circulatory system and measured the IVP waveform, right and left atrial pressures, inflow and outflow waveforms and the signals represented the information of moving actuator's position. We shows the feasibility of estimating the hemodynamic changes of inflow by using IVP waveform. fife found that the negative peak value of IVP waveform is linearly related to atrial pressures. And we also found that we could use the time to reach the negative peak in IVP waveform, the time to open outflow valve, the area enclosed IVP waveform as unfu parameters to estimate blood filling volume of diastole ventricle. The suggested method has advantages of avoiding thrombogenesis, bacterial niche formation and increasing longterm reliability of sensor by avoiding direct contact to blood.

• Structural Engineering and Mechanics
• /
• v.56 no.5
• /
• pp.813-833
• /
• 2015

Spherical reticulated shells are widely applied in structural engineering due to their good bearing capability and attractive appearance. Parametric modeling of spherical reticulated shells is the basis of internal analysis and optimization design. In the present study, generation methods of nodes and the corresponding connection methods of rod elements are proposed. Modeling programs are compiled by adopting the ANSYS Parametric Design Language (APDL). A shape optimization method based on the two-stage algorithm is presented, and the corresponding optimization program is compiled in FORTRAN environment. Shape optimization is carried out based on the objective function of the minimum total steel consumption and the restriction condition of strength, stiffness, slenderness ratio, stability. The shape optimization of four typical Schwedler spherical reticulated shells is calculated with the span of 30 m~80 m and rise to span ratio of 1/7~1/2. Compared with the shape optimization results, the variation rules of total steel consumption along with the span and rise to span ratio are discussed. The results show that: (1) The left and right rod-Schwedler spherical reticulated shell is the most optimized and should be preferentially adopted in structural engineering. (2) The left diagonal rod-Schwedler spherical reticulated shell is second only to left and right rod regarding the mechanical behavior and optimized results. It can be applied to medium and small-span structures. (3) Double slash rod-Schwedler spherical reticulated shell is advantageous in mechanical behavior but with the largest total weight. Thus, this type can be used in large-span structures as far as possible. (4) The mechanical performance of no latitudinal rod-Schwedler spherical reticulated shell is the worst and with the second largest weight. Thus, this spherical reticulated shell should not be adopted generally in engineering.

• Genomics & Informatics
• /
• v.6 no.4
• /
• pp.231-234
• /
• 2008

Precise and reliable identification of CNV is still important to fully understand the effect of CNV on genetic diversity and background of complex diseases. SNP marker has been used frequently to detect CNVs, but the analysis of SNP chip data for identifying CNV has not been well established. We compared various normalization methods for CNV analysis and suggest optimal normalization procedure for reliable CNV call. Four normal Koreans and NA10851 HapMap male samples were genotyped using Affymetrix Genome-Wide Human SNP array 5.0. We evaluated the effect of median and quantile normalization to find the optimal normalization for CNV detection based on SNP array data. We also explored the effect of Robust Multichip Average (RMA) background correction for each normalization process. In total, the following 4 combinations of normalization were tried: 1) Median normalization without RMA background correction, 2) Quantile normalization without RMA background correction, 3) Median normalization with RMA background correction, and 4) Quantile normalization with RMA background correction. CNV was called using SW-ARRAY algorithm. We applied 4 different combinations of normalization and compared the effect using intensity ratio profile, box plot, and MA plot. When we applied median and quantile normalizations without RMA background correction, both methods showed similar normalization effect and the final CNV calls were also similar in terms of number and size. In both median and quantile normalizations, RMA backgroundcorrection resulted in widening the range of intensity ratio distribution, which may suggest that RMA background correction may help to detect more CNVs compared to no correction.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.10 no.1
• /
• pp.16-26
• /
• 2011

Variable speed limit(VSL) is one of the highway ITS techniques designed to prevent accidents and traffic slow down by reducing congestion or speed variation between vehicles and lanes prior to arrive at the accident location by limiting speed. In Korea, while people have recognized the need for variable speed limit beginning with Seoul's urban expressway and installed facilities in order to provide guide for speed limit per lane and lane use, there has not been enough development of algorithm for internal administration as well as research on the basic principles behind administering variable speed limit. This study is for modeling and evaluating the VSL strategies based on the traffic flow theory. Supply-Demand method of the Cell Transmission Model is applied to demonstrate the traffic features and shockwaves to upstream of the bottleneck with/without VSL. We verified the explanation of Cell Transmission Model for the numerical example. and as the result, it is found that VSL strategies can reduce the total travel time in the congested section and variation of the speed. It means VSL is useful to improve the traffic condition and the safety on highway