• Journal of Sensor Science and Technology
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• v.7 no.6
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• pp.418-425
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• 1998

Stereo cameras are the most widely used sensing systems for automated machines including robots to interact with their three-dimensional(3D) working environments. The position of a target point in the 3D world coordinates can be measured by the use of stereo cameras and the camera calibration is an important preliminary step for the task. Existing camera calibration techniques can be classified into two large categories - linear and nonlinear techniques. While linear techniques are simple but somewhat inaccurate, the nonlinear ones require a modeling process to compensate for the lens distortion and a rather complicated procedure to solve the nonlinear equations. In this paper, a method employing a neural network for the calibration problem is described for tackling the problems arisen when existing techniques are applied and the results are reported. Particularly, it is shown experimentally that by utilizing the function approximation capability of multi-layer neural networks trained by the back-propagation(BP) algorithm to learn the error pattern of a linear technique, the measurement accuracy can be simply and efficiently increased.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.47 no.2
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• pp.51-60
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• 2010

This paper proposes a new scheme to obtain enhanced 3D shape information rapidly for WLPSI(White Light Phase Shifting Interferometry). WLPSI is a convenient method to measure the height of the micro products. First we propose an effective method of limiting search interval for detecting the peak of the visibility function in order to obtain 3D shpae information rapidly. Second we propose an automatic base level decision method basad on image processing and a correction algorithm using the least square approximation method to overcome the global tilt problem of the conventional WLPSI algorithms. Third we propose an adaptive filtering method to remove the distortion known as bat-wing effect which appears near the step discontinuity. Experimental results show that the proposed overall technique is fast and provides more enhanced 3D shape information compared with the conventional WLPSI algorithms.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.5
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• pp.951-957
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• 2005

The bit error probability of UWB Time-Hopping(TH) multiple access communication systems combined with BPSK is calculated with a high accuracy including the multiple user interference(MUI). This paper finds that with some manipulations, the TH-BPSK UWB signal can be modified to the similar form of the DS-CDMA signal. The MUI in the system is explained by the characteristic function technique. Above two descriptions have been bases on the derivation of the exact BER expression of the system. We also propose the approximate expression for the BER, which has enough accuracy compared with the expression from the Gaussian approximation of the MUI. The comparison of the results from the proposed expressions with the simulation results gives the confirmation for the validity and accuracy of the proposed expressions.

• International Journal of Aeronautical and Space Sciences
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• v.11 no.1
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• pp.10-18
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• 2010

The purpose of this paper deals with direct multiple-shooting method (DMS) to resolve helicopter maneuver problems of helicopters. The maneuver problem is transformed into nonlinear problems and solved DMS technique. The DMS method is easy in handling constraints and it has large convergence radius compared to other strategies. When parameterized with piecewise constant controls, the problems become most effectively tractable because the search direction is easily estimated by solving the structured Karush-Kuhn-Tucker (KKT) system. However, generally the computation of function, gradients and Hessian matrices has considerably time-consuming for complex system such as helicopter. This study focused on the approximation of the KKT system using the matrix exponential and its integrals. The propose method is validated by solving optimal control problems for the linear system where the KKT system is exactly expressed with the matrix exponential and its integrals. The trajectory tracking problem of various maneuvers like bob up, sidestep near hovering flight speed and hurdle hop, slalom, transient turn, acceleration and deceleration are analyzed to investigate the effects of algorithmic details. The results show the matrix exponential approach to compute gradients and the Hessian matrix is most efficient among the implemented methods when combined with the mixed time integration method for the system dynamics. The analyses with the proposed method show good convergence and capability of tracking the prescribed trajectory. Therefore, it can be used to solve critical areas of helicopter flight dynamic problems.

• International Journal of Control, Automation, and Systems
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• v.2 no.4
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• pp.423-434
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• 2004

In this paper, we introduce a new topology of Self-Organizing Polynomial Neural Networks (SOPNN) based on genetically optimized Multi-Layer Perceptron (MLP) and discuss its comprehensive design methodology involving mechanisms of genetic optimization. Let us recall that the design of the 'conventional' SOPNN uses the extended Group Method of Data Handling (GMDH) technique to exploit polynomials as well as to consider a fixed number of input nodes at polynomial neurons (or nodes) located in each layer. However, this design process does not guarantee that the conventional SOPNN generated through learning results in optimal network architecture. The design procedure applied in the construction of each layer of the SOPNN deals with its structural optimization involving the selection of preferred nodes (or PNs) with specific local characteristics (such as the number of input variables, the order of the polynomials, and input variables) and addresses specific aspects of parametric optimization. An aggregate performance index with a weighting factor is proposed in order to achieve a sound balance between the approximation and generalization (predictive) abilities of the model. To evaluate the performance of the GA-based SOPNN, the model is experimented using pH neutralization process data as well as sewage treatment process data. A comparative analysis indicates that the proposed SOPNN is the model having higher accuracy as well as more superb predictive capability than other intelligent models presented previously.reviously.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.39
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• pp.12.1-12.5
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• 2017

Background: Rehabilitation of normal function and form is essential in cleft lip repair. In 2005, Dr. David M. Fisher introduced an innovative method, named "an anatomical subunit approximation technique" in unilateral cleft lip repair. According to this method, circumferential incision along the columella on cleft side of the medial flap is continued to the planned top of the Cupid's bow in straight manner, which runs parallel to the unaffected philtral ridge. Usually, small inlet incision is needed to lengthen the medial flap. On lateral flap, small triangle just above the cutaneous roll is used to prevent unesthetic shortening of upper lip. This allows better continuity of the Cupid's bow and ideal distribution of tension. Case presentation: As a modification to original method, orbicularis oris muscle overlapping suture is applied to make the elevated philtral ridge. Concomitant primary rhinoplasty also results in good esthetic outcome with symmetric nostrils and correction of alar web. As satisfactory results were obtained in three incomplete and one complete unilateral cleft lip patients, indicating Fisher's method can be useful in cleft lip surgery with functional and esthetic outcome. Conclusions: Clinically applied Fisher's method in unilateral cleft lip patients proved the effectiveness in improving the esthetic results with good symmetry. This method also applied with primary rhinoplasty.

• Journal of the Korean Geophysical Society
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• v.3 no.3
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• pp.161-174
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• 2000

Bayesian inversion is a stable approach to infer the subsurface structure with the limited data from geophysical explorations. In geophysical inverse process, due to the finite and discrete characteristics of field data and modeling process, some uncertainties are inherent and therefore probabilistic approach to the geophysical inversion is required. Bayesian framework provides theoretical base for the confidency and uncertainty analysis for the inference. However, most of the Bayesian inversion require the integration process of high dimension, so massive calculations like a Monte Carlo integration is demanded to solve it. This method, though, seemed suitable to apply to the geophysical problems which have the characteristics of highly non-linearity, we are faced to meet the promptness and convenience in field process. In this study, by the Gaussian approximation for the observed data and a priori information, fast Bayesian inversion scheme is developed and applied to the model problem with electric well logging and dipole-dipole resistivity data. Each covariance matrices are induced by geostatistical method and optimization technique resulted in maximum a posteriori information. Especially a priori information is evaluated by the cross-validation technique. And the uncertainty analysis was performed to interpret the resistivity structure by simulation of a posteriori covariance matrix.

• The Journal of the Acoustical Society of Korea
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• v.33 no.2
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• pp.118-125
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• 2014

An approximation of speed of sound in the measurement plane is essential for the inverse estimation of temperature. To this end, an inverse problem relating the measured retarded time data in between set of sensors and actuators array located on the wall is formulated. The involved transfer matrix and its coefficient vectors approximate speed of sound of the measurement plane by using the radial basis function with finite number of interpolation points deployed inside the target field. Then, the temperature field can be reconstructed by using spatial interpolation technique, which can achieve high spatial resolution with proper number of interpolation points. A large number of retarded time data of acoustic paths in between sensors and arrays are needed to obtain accurate reconstruction result. However, the shortage of interpolation points due to practical limitations can cause the decrease of spatial resolution and deterioration of the reconstruction result. In this works, a regeneration for obtaining the additional retarded time data for an arbitrary acoustic path is suggested to overcome the shortage of interpolation points. By applying the regeneration technique, many interpolation points can be deployed inside the field by increasing the number of retarded time data. As a simulation example, two rectangular duct sections having arbitrary temperature distribution are reconstructed by two different data set: measured data only, combination of measured and regenerated data. The result shows a decrease in reconstruction error by 15 % by combining the original and regenerated retarded time data.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.13 no.2
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• pp.73-84
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• 1993

In this research, configuration design optimization of plane truss structure has been tested by using decomposition technique. In the first level, the problem of transferring the nonlinear programming problem to linear programming problem has been effectively solved and the number of the structural analysis necessary for doing the sensitivity analysis can be decreased by developing stress constraint into member stress approximation according to the design space approach which has been proved to be efficient to the sensitivity analysis. And the weight function has been adopted as cost function in order to minimize structures. For the design constraint, allowable stress, buckling stress, displacement constraint under multi-condition and upper and lower constraints of the design variable are considered. In the second level, the nodal point coordinates of the truss structure are used as coordinating variable and the objective function has been taken as the weight function. By treating the nodal point coordinates as design variable, unconstrained optimal design problems are easy to solve. The decomposition method which optimize the section areas in the first level and optimize configuration variables in the second level was applied to the plane truss structures. The numerical comparisons with results which are obtained from numerical test for several truss structures with various shapes and any design criteria show that convergence rate is very fast regardless of constraint types and configuration of truss structures. And the optimal configuration of the truss structures obtained in this study is almost the identical one from other results. The total weight couldbe decreased by 5.4% - 15.4% when optimal configuration was accomplished, though there is some difference.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.9
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• pp.663-670
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• 2020

A study on mechanical property characterization and modeling technique was carried out to approximate the behaviour of structures with 2.5D C/SiC material. Several tensile tests were performed to analyze the behaviour characteristics of the 2.5D C/SiC material and elastic property was characterized by applying a mathematical homogenization and a modified rule of mixture. SiC matrix representing the elasto-plastic behavior approximates as a bilinear function. Then the equivalent yield strength and equivalent plastic stiffness were calculated by minimizing errors in experiment and approximation. RVE(Representative Volume Element)was defined from the fiber and matrix configuration of 2.5D C/SiC and a process of calculating the effective stiffness matrix by applying the modified rule of mixture to RVE was implemented in the ABAQUS User-defined subroutine. Finite element analysis was performed by applying the mechanical properties of fiber and matrix calculated based on the proposed process, and the results were in good agreement with the experimental results.