• Journal of the Institute of Electronics Engineers of Korea SC
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• v.42 no.5 s.305
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• pp.1-12
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• 2005

A Mobile manipulator - a serial connection of a mobile robot and a task robot - is a very useful system to achieve various tasks in dangerous environment. because it has the higher performance than a fixed base manipulator in regard to the size of it's operational workspace. Unfortunately the use of a mobile robot introduces non-holonomic constraints, and the combination of a mobile robot and a manipulator generally introduces kinematic redundancy. In this paper, first a method for estimating the position of object at the cartesian coordinate system acquired by using the geometrical relationship between the image captured by 2-DOF active camera mounted on mobile robot and real object is proposed. Second, we propose a method to determine a optimal path between current the position of mobile manipulator whose mobile robot is non-holonomic and the position of object estimated by image information through the global displacement of the system in a symbolic way, using homogenous matrices. Then, we compute the corresponding joint parameters to make the desired displacement coincide with the computed symbolic displacement and object is captured through the control of a manipulator. The effectiveness of proposed method is demonstrated by the simulation and real experiment using the mobile manipulator.

• Water for future
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• v.15 no.3
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• pp.37-47
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• 1982

In the past, the design flow of the urban storm drainage systems has been used largely on a basis of empirical and experience, and the rational formula one of empirical method has been widely used for our country, as well as world wide. But the empirical method has insufficient factor because minimal consideration is given to the relationship of the parameters in the equation to the processes being considered, and considerable use of experience and judgment in setting values to the coefficients in the equation is made. The postcomputer era of hydrology has brought an acceleration development of mathematical methods, thus mathematical models are methods which will greatly increase our understanding in hydrology. On this study, a simple mathematical model of urban presented by British Road Research Laboratory is tested on urban watersheds in Ju An Ju Gong Apartment. The basin is located in Kan Seog Dong, Inchon. The model produces a runoff hydrograph by applying rain all to only the directly connected impervious area of the basin. To apply this model the basin is divided into contributing areas or subbasins. With this information the time area for contributing is derived. The rainfall hyetograph to design storm for the basin flow has been obtained by determination of total rainfall and the temporal distribution of that rainfall determined on the basis of Huff's method form historical rainfall data of the basin. The inflows from several subbaisns are successively routed down the network of reaches from the upstream end to the outlet. A simple storage routing technique is used which involves the use of the Manning equation to compute the stage discharge curve for the cross-section in question. To apply the model to a basin, the pattern of impervious areas must be known in detail, as well as the slopes and sizes of all surface and subsurface drains.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.41 no.5
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• pp.61-70
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• 2004

The operation mode of neural network is divided into learning and recognition process. Learning is updating process of weight until neural network archives target result from input pattern. Recognition is arithmetic process of input pattern and weight. Traditional inner product process is focused to improve processing speed and hardware complexity. There is no hardware architecture to distinguish between loaming and recognition mode of neural network. In this paper we propose the new architecture of low power inner product processor for reconfigurable neural network. The proposed architecture is similar with bit-serial inner product processor on learning mode. It have several advantages which are fast processing base on bit-level, suitability of hardware implementation and pipeline architecture to compute data. And proposed architecture minimizes active units and reduces consumption power on recognition mode. Result of simulation shows that active units is depend on bit representation of weight, but we can reduce active units about 50 precent.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.7
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• pp.1371-1378
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• 2017

In this paper, we present an upsampling technique for depth map image using selective bilateral weights and a color weight using laplacian function. These techniques prevent color texture copy problem, which problem appears in existing upsamplers uses bilateral weight. First, we construct a high-resolution image using the bicubic interpolation technique. Next, we detect a color texture region using pixel value differences of depth and color image. If an interpolated pixel belongs to the color texture edge region, we calculate weighting values of spatial and depth in $3{\times}3$ neighboring pixels and compute the cost value to determine the boundary pixel value. Otherwise we use color weight instead of depth weight. Finally, the pixel value having minimum cost is determined as the pixel value of the high-resolution depth image. Simulation results show that the proposed algorithm achieves good performance in terns of PSNR comparison and subjective visual quality.

• The Transactions of the Korea Information Processing Society
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• v.7 no.9
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• pp.2797-2806
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• 2000

Recently, DDSs(Distributed Database Systems) have been implemented on V AN(V alue Added Network) as we know the amazing expansion of information network. DDS can yield significant cost and response time advantages over centralized systems for geographically distributed organizations. However, inappropriate design can result in high cost and poor response time to maintain the database at each site. In a DDS design, the main problem is how to select proper computer and how to allocate data fragment into a proper site. In this paper, we address DDS design problem of selecting the proper class of computers and the allocating data files on VAN. Also, the formulated model includes two objectives, the waited response time and the investment cost to include their relationship. Specially, the formulation of waited response time is based on M/M/1 queueing system to evaluate more precisely. GA(Genetic Algorithm), a kind of heuristic search method, is developed to search an optimal solution in the proposed design model and we show the simulation result to examine the algorithm performance.

• Journal of KIISE
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• v.43 no.3
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• pp.296-303
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• 2016

Mobile real-time systems with limited system resources and a limited power source need to fully utilize the system resources when the workload is heavy and reduce energy consumption when the workload is light. EDZL (Earliest Deadline until Zero Laxity), a multiprocessor real-time scheduling algorithm, can provide high system utilization, but little work has been done aimed at reducing its energy consumption. This paper tackles the problem of DVFS (Dynamic Voltage/Frequency Scaling) in EDZL scheduling. It proposes a technique to compute a uniform speed on full-chip DVFS platforms and individual speeds of tasks on per-core DVFS platforms. This technique, which is based on the EDZL schedulability test, is a simple but effective one for determining the speeds of tasks offline. We also show through simulation that the proposed technique is useful in reducing energy consumption.

• Journal of Korea Water Resources Association
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• v.38 no.12 s.161
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• pp.1029-1037
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• 2005

Urban Storm Sewer Optimal Design Model(USSOD) was developed to compute pipe capacity, pipe slope, crown elevation, excavation depth, risk and return cost in the condition of design discharge. Rational formula is adopted for design discharge and Manning's formula is used for pipe capacity. Discrete differential dynamic programming(DDDP) technique which is a kind of dynamic programming (DP) is used for optimization and first order second moment approximation method and uncertainty analysis is also for developing model. USSOD is applied to hypothetical drainage basin to test and verify. After testing the model, it is also applied to Ulsan drainage basin which was developed by Korea Land Cooperation(KOLAND). Comparing the design results of USSOD with those of KOLAND, discharge capacity 0.35 $m^3/sec$, the crown elevation is 0.77m higher and return cost is $9\%$ less than design results of KOLAND, which verify the improvement of USSOD. Layout design model using GIS and optimization including detention or retention effect are needed in the future study.

• Journal of Astronomy and Space Sciences
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• v.37 no.1
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• pp.69-75
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• 2020

We analyze the observations of temperature and ozone measured by the Microwave Limb Sounder (MLS) during the period of 2005-2016, to investigate the vertical structures of temperature and ozone in the stratosphere and mesosphere during stratospheric sudden warming (SSW). We compute the height profiles of the correlation coefficients between 55 height levels of MLS temperature anomalies and compare them with the results of Whole Atmosphere Community Climate Model simulations for three major SSWs. We also construct the temperature and ozone anomalies for the events to investigate the changes in the temperature and ozone distributions with height. There seems to always be a relatively weak but broad negative correlation between the temperature anomaly at 10 hPa and temperature anomalies over the entire mesosphere during the period before SSW events. However, this pattern gets stronger in the lower mesosphere but becomes a positive correlation in the upper mesosphere and lower thermosphere after the onset of SSW. We also found that the temperatures from the simulations show a similar trend to the observational results but with smaller variations and the transition height from negative to positive correlation in the mesosphere is much lower in the simulation than in the actual observations.

• Journal of Korea Multimedia Society
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• v.14 no.10
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• pp.1262-1274
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• 2011

A fast and stable deformation model is essential for realistic simulation of image morphing. In order to stabilize deformation, we used two internal thin plate mass-spring systems that compute the displacements of the x- and y-components of all nodes on the mesh. The deformation results are globally smoother and more stable due to the direction limitation of thin plate mass-spring systems. One-to-one deformation is one of the important issues in image morphing. We focus on fast removing overlaps in the process of deformation. To rapidly remove overlaps, the external forces are set automatically on four or eight neighboring nodes. The speed of removing overlaps is faster when external forces are set on four or eight neighbouring nodes than when on two neighbouring nodes.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• v.4B no.2
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• pp.86-91
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• 2004

PV power generation, which directly converts solar radiation into electricity, contains numerous significant advantages. It is inexhaustible and pollution-free, silent, contains no rotating parts, and has size-independent electricity conversion efficiency. The positive environmental effect of photovoltaics is that it replaces the more polluting methods of electricity generation or that it provides electricity where none was available before. This paper highlights a novel simple method to abstract the entire parameters of the solar cell. In development, design and operation of PV power generation systems, a technique for constructing V-I curves under different levels of solar irradiance and cell temperature conditions using basic characteristic values of the PV module is required. Everyone who has performed manual acquisition and analysis of solar cell I versus V data would agree that the job is tedious and time-consuming. A better alternative is to use an automated curve tracer to print out the I versus V curves and compute the four major parameters; $V_{oc}$, $I_{sc}$, FF, and . Generally, the V-I curve tracer indicates only the commonly used solar cell parameters. However, with the conventional V-I curve tracer it is almost impossible to abstract the more detailed parameters of the solar cell; A, $R_{s}$ and $R_{sh}$ , which satisfies the user, who aims at the analysis of the development of the PV power generation system, that being advanced simulation. In this paper, the proposed method provides us with satisfactory results to enable us to abstract the detailed parameters of the solar cell; A, $R_s$ and $R_{sh}$.>.