• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.403-410
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• 2016

This paper proposes a robust image-based visual servoing scheme using a nonlinear observer for a monocular eye-in-hand manipulator. The proposed control method is divided into a range estimation phase and a target-tracking phase. In the range estimation phase, the range from the camera to the target is estimated under the non-moving target condition to solve the uncertainty of an interaction matrix. Then, in the target-tracking phase, the feature point uncertainty caused by the unknown motion of the target is estimated and feature point errors converge sufficiently near to zero through compensation for the feature point uncertainty.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.6C
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• pp.492-496
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• 2012

This paper presents a decoding technique for speech recognition using uncertainty information from feature compensation method to improve the speech recognition performance in the low SNR condition. Traditional feature compensation algorithms have difficulty in estimating clean feature parameters in adverse environment. Those algorithms focus on the point estimation of desired features. The point estimation of feature compensation method degrades speech recognition performance when incorrectly estimated features enter into the decoder of speech recognition. In this paper, we apply the uncertainty information from well-known feature compensation method, such as IMM, to the recognition engine. Applied technique shows better performance in the Aurora-2 DB.

• Current Optics and Photonics
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• v.8 no.3
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• pp.300-306
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• 2024

To solve the nozzle swing angle non-contact measurement problem, we present a nozzle pose estimation algorithm involving weighted measurement uncertainty based on rotation parameters. Firstly, the instantaneous axis of the rocket nozzle is constructed and used to model the pivot point and the nozzle coordinate system. Then, the rotation matrix and translation vector are parameterized by Cayley-Gibbs-Rodriguez parameters, and the novel object space collinearity error equation involving weighted measurement uncertainty of feature points is constructed. The nozzle pose is obtained at this step by the Gröbner basis method. Finally, the swing angle is calculated based on the conversion relationship between the nozzle static coordinate system and the nozzle dynamic coordinate system. Experimental results prove the high accuracy and robustness of the proposed method. In the space of 1.5 m × 1.5 m × 1.5 m, the maximum angle error of nozzle swing is 0.103°.

• Journal of Electrical Engineering and Technology
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• v.12 no.3
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• pp.1314-1319
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• 2017

A handheld sheet resistance meter that can easily and quickly measure the sheet resistance of indium tin oxide films was developed. The dual-configuration four-point probe method was adopted for this instrument, which measured sheet resistance in the range from $0.26{\Omega}/sq$. to $2.6k{\Omega}/sq$. with 0.3 % ~ 0.5 % uncertainty. The screen of the instrument displayed the sheet resistance when the probe was in contact with the sample surface and the value continued to be displayed during the probe contact. Even after separating the probe from the surface, the value was still displayed on the screen and could be read easily. A feature of the instrument was the use of the dual-configuration technique to reduce edge effects markedly compared with the single-configuration technique and its ease of operation without applying correction factors for sample size and thickness.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.260-270
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• 2023

We introduce a novel Visual Inertial Odometry (VIO) algorithm designed to improve the performance of thermal-inertial odometry. Thermal infrared image, though advantageous for feature extraction in low-light conditions, typically suffers from a high noise level and significant information loss during the 8-bit conversion. Our algorithm overcomes these limitations by approximating a 14-bit raw pixel histogram into a Gaussian mixture model. The conversion method effectively emphasizes image regions where texture for visual tracking is abundant while reduces unnecessary background information. We incorporate the robust learning-based feature extraction and matching methods, SuperPoint and SuperGlue, and zero velocity detection module to further reduce the uncertainty of visual odometry. Tested across various datasets, the proposed algorithm shows improved performance compared to other state-of-the-art VIO algorithms, paving the way for robust thermal-inertial odometry.

• The Journal of Engineering Geology
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• v.14 no.1
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• pp.29-46
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• 2004

It is important to identify geometries of fracture that act as a conduit of fluid flow for characterization of ground water flow in fractured rock. Fracture geometries control hydraulic conductivity and stream lines in a rock mass. However, we have difficulties to acquire whole geometric data of fractures in a field scale because of discontinuous distribution of outcrops and impossibility of continuous collecting of subsurface data. Therefore, it is needed to develop a method to describe whole feature of a target fracture geometry. This study suggests a new approach to develop a method to characterize on the whole feature of a target fracture geometry based on the Fourier transform. After sampling of specimens along a target fracture from borehole cores, effective frequencies among roughness components were selected by the Fourier transform on each specimen. Then, the selected effective frequencies were averaged on each frequency. Because the averaged spectrum includes all the frequency profiles of each specimen, it shows the representative components of the fracture roughness of the target fracture. The inverse Fourier transform is conducted to reconstruct an averaged whole roughness feature after low pass filtering. The reconstructed roughness feature also shows the representative roughness of the target subsurface fracture including the geometrical characteristics of each specimen. It also means that overall roughness feature by scaling up of a fracture. In order to identify the characteristics of permeability coefficients along the target fracture, fracture models were constructed based on the reconstructed roughness feature. The computation of permeability coefficient was performed by the homogenization analysis that can calculate accurate permeability coefficients with full consideration of fracture geometry. The results show a range between $10^{-4}{\;}and{\;}10^{-3}{\;}cm/sec$, indicating reasonable values of permeability coefficient along a large fracture. This approach will be effectively applied to the analysis of permeability characteristics along a large fracture as well as identification of the whole feature of a fracture in a field scale.

• Journal of Korea Water Resources Association
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• v.47 no.3
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• pp.285-295
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• 2014

We applied the ISPSO-GLUE method, which integrates the Isolated-Speciation-based Particle Swarm Optimization (ISPSO) with the Generalized Likelihood Uncertainty Estimation (GLUE) method, to the uncertainty analysis of the Topography Model (TOPMODEL) and compared its performance with that of the GLUE method. When we performed the same number of model runs for the both methods, we were able to identify the point where the performance of ISPSO-GLUE exceeded that of GLUE, after which ISPSOGLUE kept improving its performance steadily while GLUE did not. When we compared the 95% uncertainty bounds of the two methods, their general shapes and trends were very similar, but those of ISPSO-GLUE enclosed about 5.4 times more observed values than those of GLUE did. What it means is that ISPSOGLUE requires much less number of parameter samples to generate better performing uncertainty bounds. When compared to ISPSO-GLUE, GLUE overestimated uncertainty in the recession limb following the maximum peak streamflow. For this recession period, GLUE requires to find more behavioral models to reduce the uncertainty. ISPSO-GLUE can be a promising alternative to GLUE because the uncertainty bounds of the method were quantitatively superior to those of GLUE and, especially, computationally expensive hydrologic models are expected to greatly take advantage of the feature.

• Journal of Advanced Navigation Technology
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• v.10 no.2
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• pp.113-120
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• 2006

In this paper, a vision-based robust controller for tracking the desired trajectory a robot manipulator is proposed. The trajectory is generated to move the feature point into the desired position which the robot follows to reach to the desired position. To compensate the parametric uncertainties of the robot manipulator which contain in the control input, the robust controller is proposed. In addition, if there are uncertainties in the Jacobian, to compensate it, a vision-based robust controller which has control input is proposed as well in this paper. The stability of the closed-loop system is shown by Lyapunov method. The performance of the proposed method is demonstrated by simulations and experiments on a two degree of freedom 5-link robot manipulators.

• Journal of Korean Society on Water Environment
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• v.25 no.5
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• pp.641-650
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• 2009

The IPCC's standing on the anthropogenic warming is discussed in this article. The differences between the climate alarmist and skeptics have been addressed in terms of scientific and policy stand point of view. The political and economical significances of climate change have been discussed, too. Although atmospheric temperature and rainfall precipitation are two most important factors in the climate change, most of the recent attentions have drawn on mainly temperature and $CO_2$ issue. In spite of argues on the uncertainty in anthropogenic warming related to $CO_2$, the inevitable climate change should correspondingly change the humanity in near feature.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.4
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• pp.1562-1578
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• 2020

Vector data compression algorithm can meet requirements of different levels and scales by reducing the data amount of vector graphics, so as to reduce the transmission, processing time and storage overhead of data. In view of the fact that large threshold leading to comparatively large error in Douglas-Peucker vector data compression algorithm, which has difficulty in maintaining the uncertainty of shape features and threshold selection, a segmented Douglas-Peucker algorithm based on node importance is proposed. Firstly, the algorithm uses the vertical chord ratio as the main feature to detect and extract the critical points with large contribution to the shape of the curve, so as to ensure its basic shape. Then, combined with the radial distance constraint, it selects the maximum point as the critical point, and introduces the threshold related to the scale to merge and adjust the critical points, so as to realize local feature extraction between two critical points to meet the requirements in accuracy. Finally, through a large number of different vector data sets, the improved algorithm is analyzed and evaluated from qualitative and quantitative aspects. Experimental results indicate that the improved vector data compression algorithm is better than Douglas-Peucker algorithm in shape retention, compression error, results simplification and time efficiency.