• International Journal of Aeronautical and Space Sciences
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• v.7 no.1
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• pp.13-26
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• 2006

When the stagnation temperature of a perfect gas increases, the specific heat for constant pressure and ratio of the specefic heats do not remain constant any more and start to vary with this temperature. The gas remains perfect: its state equation remains always valid, with exception that it will be named by calorically imperfect gas. The aim of this research is to develop the relations of the necessary thermodynamics and geometrical ratios. and to study the supersonic flow at high temperature. lower than the threshold of dissociation. The results are found by the resolution of nonlinear algebraic equations and integration of complex analytical functions where the exact calculation is impossible. The dichotomy method is used to solve the nonlinear equation. and the Simpson algorithm for the numerical integration of the found integrals. A condensation of the nodes is used. Since. the functions to be integrated have a high gradient at the extremity of the interval of integration. The comparison is made with the calorifcally perfect gas to determine the error made by this last. The application is made for the air in a supersonic nozzle.

• Journal of KIISE:Software and Applications
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• v.32 no.6
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• pp.523-531
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• 2005

Existing methods for color image segmentation using diffusion can't preserve contour information, or noises with high gradients become more salient as the number of times of the diffusion increases, resulting in over-segmentation when applied to watershed. This paper proposes a method for color image segmentation by applying morphological operations together with nonlinear diffusion For an input image, transformed into LUV color space, closing by reconstruction and nonlinear diffusion are applied to obtain a simplified image which preserves contour information with noises removed. With gradients computed from this simplified image, watershed algorithm is applied. Experiments show that color images are segmented very effectively without over-segmentation.

• The Journal of Korea Robotics Society
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• v.2 no.3
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• pp.275-281
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• 2007

This paper presents a motion planning strategy for legged robots using locomotion primitives in the complex 3D environments. First, we define configuration, motion primitives and locomotion primitives for legged robots. A hierarchical motion planning method based on a combination of 2.5 dimensional maps of the 3D workspace is proposed. A global navigation map is obtained using 2.5 dimensional maps such as an obstacle height map, a passage map, and a gradient map of obstacles to distinguish obstacles. A high-level path planner finds a global path from a 2D navigation map. A mid-level planner creates sub-goals that help the legged robot efficiently cope with various obstacles using only a small set of locomotion primitives that are useful for stable navigation of the robot. A local obstacle map that describes the edge or border of the obstacles is used to find the sub-goals along the global path. A low-level planner searches for a feasible sequence of locomotion primitives between sub-goals. We use heuristic algorithm in local motion planner. The proposed planning method is verified by both locomotion and soccer experiments on a small biped robot in a cluttered environment. Experiment results show an improvement in motion stability.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.3
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• pp.264-268
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• 2011

This paper presents a Takagi-Sugeno (T-S) type Fuzzy Logic Controller (FLC) with only 3 rules. The choice of parameters of FLC is very difficult job on design FLC. Therefore, the choice of appropriate linguistic variable is an important part of the design of fuzzy controller. However, since fuzzy controller is nonlinear, it is difficult to analyze mathematically the affection of the linguistic variable. So this choice is depend on the expert's experience and trial and error method. In this paper, we propose the method to choose the consequence linear equation's parameter of T-S type FLC. The parameters of consequence linear equations of FLC are tuned according to the system error that is the input of FLC. The full equation of T-S type FLC is presented and using this equation, the relation between output and parameters can represented. The parameters are tuned with gradient algorithm. The parameters are changed depending on output. The simulation results demonstrate the usefulness of this T-S type 3 rule fuzzy controller.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.9 no.3
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• pp.206-212
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• 2009

This paper presents an optimized integrated task planning and control approach for manipulating a nonholonomic robot by mobile manipulators. Then, we derive a kinematics model and a mobility of the mobile manipulator(M2) platform considering it as the combined system of the manipulator and the mobile robot. to improve task execution efficiency utilizing the redundancy, optimal trajectory of the mobile manipulator(M2) platform are maintained while it is moving to a new task point. A cost function for optimality can be defined as a combination of the square errors of the desired and actual configurations of the mobile robot and of the task robot. In the combination of the two square errors, a newly defined mobility of a mobile robot is utilized as a weighting index. With the aid of the gradient method, the cost function is minimized, so the path trajectory that the M2 platform generates is optimized. The simulation results of the 2 ink planar nonholonomic M2 platform are given to show the effectiveness of the proposed algorithm.

• Smart Structures and Systems
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• v.17 no.2
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• pp.231-256
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• 2016

This study concerns the derivation of optimum tuning formulas for a passive Tuned Mass Damper (TMD) device, for the case of benchmark ideal excitations acting on a single-degree-of-freedom (SDOF) damped primary structure. The free TMD parameters are tuned first through a non-linear gradient-based optimisation algorithm, for the case of harmonic or white noise excitations, acting either as force on the SDOF primary structure or as base acceleration. The achieved optimum TMD parameters are successively interpolated according to appropriate analytical fitting proposals, by non-linear least squares, in order to produce simple and effective TMD tuning formulas. In particular, two fitting models are presented. The main proposal is composed of a simple polynomial relationship, refined within the fitting process, and constitutes the optimum choice. A second model refers to proper modifications of literature formulas for the case of an undamped primary structure. The results in terms of final (interpolated) optimum TMD parameters and of device effectiveness in reducing the structural dynamic response are finally displayed and discussed in detail, showing the wide and ready-to-use validity of the proposed optimisation procedure and achieved tuning formulas. Several post-tuning trials have been carried out as well on SDOF and MDOF shear-type frame buildings, by confirming the effective benefit provided by the proposed optimum TMD.

• Computers and Concrete
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• v.19 no.2
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• pp.217-226
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• 2017

This paper summarizes the results of experimental research, and artificial intelligence methods focused on determination of compressive strength of lightweight cement mortar with silica fume and fly ash after sulfate attack. The artificial neural network and the support vector machine were selected as artificial intelligence methods. Lightweight cement mortar mixtures containing silica fume and fly ash were prepared in this study. After specimens were cured in $20{\pm}2^{\circ}C$ waters for 28 days, the specimens were cured in different sulfate concentrations (0%, 1% $MgSO_4^{-2}$, 2% $MgSO_4^{-2}$, and 4% $MgSO_4^{-2}$ for 28, 60, 90, 120, 150, 180, 210 and 365 days. At the end of these curing periods, the compressive strengths of lightweight cement mortars were tested. The input variables for the artificial neural network and the support vector machine were selected as the amount of cement, the amount of fly ash, the amount of silica fumes, the amount of aggregates, the sulfate percentage, and the curing time. The compressive strength of the lightweight cement mortar was the output variable. The model results were compared with the experimental results. The best prediction results were obtained from the artificial neural network model with the Powell-Beale conjugate gradient backpropagation training algorithm.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.45 no.5
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• pp.56-62
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• 2008

This paper proposes the use of decision tree classification for the measuring pattern recognition from industrial Computed Radiography(CR) images used in nondestructive evaluation(NDE) of steel-tubes. It appears that NDE problems are naturally desired to have machine learning techniques identify patterns and their classification. The attributes of decision tree are taken from NDE test procedure. Geometric features, such as radiative angle, gradient and distance, are estimated from the analysis of input image data. These factors are used to make it easy and accurate to classify an input object to one of the pre-specified classes on decision tree. This algerian is to simplify the characterization of NDE results and to facilitate the determination of features. The experimental results verify the usefulness of proposed algorithm.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.11 no.1
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• pp.81-86
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• 2011

Watermarking is one of the methods that insist on a copyright as it append digital signals in digital informations.(image, video, ets) In this paper, we proposed a digital watermarking algorithm which improved Gradient of DCT Coefficient. This method targets MPEG-2 TM5 system and watermarking process is to be performed during Quantization DCT. Watermark was inserted on Y components of each frames. The PSNR difference between the compressed images with and without watermarking was only 0..23dB. In each case that the resulting image was reusable the normalized correlation between the extracted watermark and the original one was above 0.99.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2004.03a
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• pp.825-830
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• 2004

A numerical analysis based on two-dimensional and three-dimensional incompressible Navier-Stokes equations has been carried out for double-circular-arc (DCA) compressor cascades. Two types of double-circular-arc cascades were used in this analysis. The appropriate turbulence model for compressor analysis was selected among the conventional turbulence models such as Baldwin-Lomax, k-$\varepsilon$ and k-$\varepsilon$ models. The results of current study were compared with available experimental data at various incidence angles. The 2-D and 3-D computational codes based on SIMPLE/PWIM algorithm for collocated grid and hybrid scheme for the convective terms were the main features of numerical tools. As commonly known, turbulence modeling is very important for the prediction of cascade flows, which are extremely complex with separation and reattachment by adverse pressure gradient. For selection of turbulence model, 2-D analysis was performed. And then, k-$\varepsilon$ turbulence model with wall function chosen as the reasonable turbulence model for 3-D calculation was used to increase the efficiency of computation times. A reasonable result of 3-D flow pattern passing through the double-circular-arc cascade was obtained.