• IEMEK Journal of Embedded Systems and Applications
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• v.4 no.4
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• pp.180-189
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• 2009

Currently, most automobile companies are interested in research on intelligent autonomous vehicle. They are mainly focused on driver's intelligent assistant and driver replacement. In order to develop an autonomous vehicle, lateral and longitudinal control is necessary. This paper presents a lateral and longitudinal control system for autonomous vehicle that has only mono-vision camera. For lane detection, we present a new lane detection algorithm using clothoid parabolic road model. The proposed algorithm in compared with three other methods such as virtual line method, gradient method and hough transform method, in terms of lane detection ratio. For adaptive control, we apply a vanishing point estimation to fuzzy control. In order to improve handling and stability of the vehicle, the modeling errors between steering angle and predicted vanishing point are controlled to be minimized. So, we established a fuzzy rule of membership functions of inputs (vanishing point and differential vanishing point) and output (steering angle). For simulation, we developed 1/8 size robot (equipped with mono-vision system) of the actual vehicle and tested it in the athletics track of 400 meter. Through the test, we prove that our proposed method outperforms 98 % in terms of detection rate in normal condition. Compared with virtual line method, gradient method and hough transform method, our method also has good performance in the case of clear, fog and rain weather.

• JSTS:Journal of Semiconductor Technology and Science
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• v.16 no.1
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• pp.44-57
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• 2016

Rectification is used as a preprocessing to reduce the computation complexity of disparity estimation. However, rectification also requires a complex computation. To minimize the computing complexity, rectification using a lookup-table (R-LUT) has been introduced. However, since, the R-LUT consumes large amount of memory, rectification with compressed LUT (R-CLUT) has been introduced. However, the more we reduce the memory consumption, the more we need decoding overhead. Therefore, we need to attain an acceptable trade-off between the size of LUT and decoding overhead. In this paper, we present such a trade-off by adaptively combining simple coding methods, such as differential coding, modified run-length coding (MRLE), and Huffman coding. Differential coding is applied to transform coordinate data into a differential form in order to further improve the coding efficiency along with Huffman coding for better stability and MRLE for better performance. Our experimental results verified that our coding scheme yields high performance with maintaining robustness. Our method showed about ranging from 1 % to 16 % lower average inverse of compression ratio than the existing methods. Moreover, we maintained low latency with tolerable hardware overhead for real-time implementation.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.13 no.1
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• pp.37-49
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• 2000

This paper is for the first essential study on the development of unified finite element formulations for solving problems related to the dynamics/thermoelastics behavior of solids. In the first part of formulations, the finite element method is based on the introduction of a new quantity defined as heat displacement, which allows the heat conduction equations to be written in a form equivalent to the equation of motion, and the equations of coupled thermoelasticity to be written in a unified form. The equations obtained are used to express a variational formulation which, together with the concept of generalized coordinates, yields a set of differential equations with the time as an independent variable. Using the Laplace transform, the resulting finite element equations are described in the transform domain. In the second, the Laplace transform is applied to both the equation of heat conduction derived in the first part and the equations of motions and their corresponding boundary conditions, which is referred to the transformed equation. Selections of interpolation functions dependent on only the space variable and an application of the weighted residual method to the coupled equation result in the necessary finite element matrices in the transformed domain. Finally, to prove the validity of two approaches, a comparison with one finite element equation and the other is made term by term.

• Computational Structural Engineering
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• v.8 no.4
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• pp.129-136
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• 1995

This paper presents a boundary element method for obtaining approximate solutions of 2-dimensional consolidation problems based on the Biot's linear theory. Laplace transform is applied to differential equation system in order to eliminate the time dependency. The boundary integral equations in transformed space are formulated and the fundamental solutions are shown in a closed form. In order to convert the transformed solutions to the ones in real space, the Hosono's numerical Laplace transform inversion method is applied. As a numerical example, a half-space consolidation problem subjected to a strip local load is selected and the applicability of the method is demonstrated through the comparison with the exact solutions.

• Structural Engineering and Mechanics
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• v.53 no.4
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• pp.625-644
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• 2015

In this paper, a two-layer partial interaction composite beams model considering the higher order shear deformation of sub-elements is built. Then, the governing differential equations and boundary conditions for static analysis of linear elastic higher order composite beams are formulated by means of principle of minimum potential energy. Subsequently, analytical solutions for cantilever composite beams subjected to uniform load are presented by Laplace transform technique. As a comparison, FEM for this problem is also developed, and the results of the proposed FE program are in good agreement with the analytical ones which demonstrates the reliability of the presented exact and finite element methods. Finally, parametric studies are performed to investigate the influences of parameters including rigidity of shear connectors, ratio of shear modulus and slenderness ratio, on deflections of cantilever composite beams, internal forces and stresses. It is revealed that the interfacial slip has a major effect on the deflection, the distribution of internal forces and the stresses.

• Journal of Industrial Technology
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• v.14
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• pp.19-28
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• 1994

We can get a tridiagonal block Toeplitz linear system by the finite difference approximation of 2-D Poisson equation. To exploit the nice property of this linear equation, we transform the equation into a Lyapunov equation and apply DST (discrete sine transform) to get diagonal matrix based Lyapunov equation. DST can be performed using FFT, which enables high-speed computaion. All the computations are performed on an SIMD parallel computer, the MasPar MP-2 with 4,096 processing elements. In this paper, parallel algorithm, mapping method of the algorithm onto the MP-2, and timing results are presented.

• Korean Chemical Engineering Research
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• v.57 no.5
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• pp.652-665
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• 2019

Analytical solutions of the reactant concentration inside porous spherical catalytic particles were obtained from unsteady reaction-diffusion equation by applying eigenfunction expansion method. Various surface concentrations as exponentially decaying or oscillating function were considered as boundary conditions to solve the unsteady partial differential equation as a function of radial distance and time. Dirac delta function was also used for the instantaneous injection of the reactant as the surface boundary condition to calculate average reactant concentration inside the particles as a function of time by Laplace transform. Besides spherical morphology, other geometries of particles, such as cylinder or slab, were considered to obtain the solution of the reaction-diffusion equation, and the results were compared with the solution in spherical coordinate. The concentration inside the particles based on calculation was compared with the bulk concentration of the reactant molecules measured by photocatalytic decomposition as a function of time.

• Steel and Composite Structures
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• v.47 no.5
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• pp.569-585
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• 2023

This paper proposes an efficient approach for the structural topology optimization of bi-directional functionally graded structures by incorporating popular radial basis functions (RBFs) into an implicit level set (ILS) method. Compared to traditional element density-based methods, a level set (LS) description of material boundaries produces a smoother boundary description of the design. The paper develops RBF implicit modeling with multiquadric (MQ) splines, thin-plate spline (TPS), exponential spline (ES), and Gaussians (GS) to define the ILS function with high accuracy and smoothness. The optimization problem is formulated by considering RBF-based nodal densities as design variables and minimizing the compliance objective function. A LS-RBF optimization method is proposed to transform a Hamilton-Jacobi partial differential equation (PDE) into a system of coupled non-linear ordinary differential equations (ODEs) over the entire design domain using a collocation formulation of the method of lines design variables. The paper presents detailed mathematical expressions for BiDFG beams topology optimization with two different material models: continuum functionally graded (CFG) and mechanical functionally graded (MFG). Several numerical examples are presented to verify the method's efficiency, reliability, and success in accuracy, convergence speed, and insensitivity to initial designs in the topology optimization of two-dimensional (2D) structures. Overall, the paper presents a novel and efficient approach to topology optimization that can handle bi-directional functionally graded structures with complex geometries.

• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.2
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• pp.92-98
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• 2017

Generally, image contains geometrical and radiometric errors. Census transform can solve the stereo mismatching problem caused by the radiometric distortion. Since the general census transform compares center of window pixel value with neighbor pixel value, it is hard to obtain an accurate matching result when the difference of pixel value is not large. To solve that problem, we propose a census transform method that applies different 4-step weight for each pixel value difference by applying an assistance window inside the window kernel. If the current pixel value is larger than the average of assistance window pixel value, a high weight value is given. Otherwise, a low weight value is assigned to perform a differential census transform. After generating an initial disparity map using a weighted census transform and input images, the gradient information is additionally used to model a cost function for generating a final disparity map. In order to find an optimal cost value, we use guided filtering. Since the filtering is performed using the input image and the disparity image, the object boundary region can be preserved. From the experimental results, we confirm that the performance of the proposed stereo matching method is improved compare to the conventional method.

• Structural Engineering and Mechanics
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• v.75 no.3
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• pp.357-367
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• 2020

The objective of this article is investigation of dynamic response of thick multilayer functionally graded (FG) beam under generalized dynamic forces. The plane stress problem is exploited to describe the constitutive equation of thick FG beam to get realistic and accurate response. Applied dynamic forces are assumed to be sinusoidal harmonic, sinusoidal pulse or triangle in time domain and point load. Equations of motion of deep FG beam are derived based on the Hamilton principle from kinematic relations and constitutive equations of plane stress problem. The numerical finite element procedure is adopted to discretize the space domain of structure and transform partial differential equations of motion to ordinary differential equations in time domain. Numerical time integration method is used to solve the system of equations in time domain and find the time responses. Numerical parametric studies are performed to illustrate effects of force type, graduation parameter, geometrical and stacking sequence of layers on the time response of deep multilayer FG beams.