• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.12
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• pp.55-62
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• 1998

Matching two images is an essential step for many computer vision applications. A new approach to the scale and rotation invariant scene matching, using linear features, is presented. Scene or model images are described by a set of linear features approximating edge information, which can be obtained by the conventional edge detection, thinning, and piecewise linear approximation. A set of candidate parameters are hypothesized by mapping the angular difference and a new distance measure to the Hough space and by detecting maximally consistent points. These hypotheses are verified by a fast linear feature matching algorithm composed of a single-step relaxation and a Hough technique. The proposed method is shown to be much faster than the conventional one where the relaxation process is repeated until convergence, while providing matching performance robust to the random alteration of the linear features, without a priori information on the geometrical transformation parameters.

• Journal of Digital Contents Society
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• v.15 no.6
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• pp.675-682
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• 2014

Prostate is only an organ of men. To diagnose the disease of the prostate, generally transrectal ultrasound(TRUS) images are used. Detecting its boundary is a challenging and difficult task due to weak prostate boundaries, speckle noise and the short range of gray levels. In this paper a method for automatic prostate segmentation in TRUS images using Support Vector Machine(SVM) is presented. This method involves preprocessing, extracting Gabor feature, training, and prostate segmentation. The speckle reduction for preprocessing step has been achieved by using stick filter and top-hat transform has been implemented for smoothing. Gabor filter bank for extraction of rotation-invariant texture features has been implemented. SVM for training step has been used to get each feature of prostate and nonprostate. Finally, the boundary of prostate is extracted. A number of experiments are conducted to validate this method and results shows that the proposed algorithm extracted the prostate boundary with less than 10% relative to boundary provided manually by doctors.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.16-19
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• 1996

In this paper, a sliding mode control scheme that guarantees the smoothness of the control signal and the exponential error convergence is proposed for robot manipulators. The proposed method inserts a low pass filter (LPF) in front of the plant, and the virtual controller is designed for the virtual plant - the combination of the LPF and the robot manipulator. The virtual control signal contains high frequency components because of a switching function. The real control signal, however, always shows a smooth curve since it is an output of the LPF. In addition to the smoothness of the control signal is always assured, the overall system is in the sliding mode at all times, that is, its performance is always invariant under the existence of parameter uncertainties and external disturbances. The closed-loop system is shown to be globally exponentially stable.

• Proceedings of the KIEE Conference
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• 1990.11a
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• pp.421-424
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• 1990

An iterative learning control scheme for exact-tracking control and parameter estimation of uncertain robotic systems is presented. In the learning control structure, tracking and feedforward input converge globally and asymptotically as iteration increases. Since convergence of parameter errors depends only on the persistent exciting condition of system trajectories along the iteration independently of length of trajectories, it may be achieved with only system trajectories of small duration. In addition, these learning control schemes are expected to be effectively applicable to time-varying parametric systems as well as time-invariant systems, for the parameter estimation is performed at each fixed time along the iteration. Finally, no usage of acceleration signal and no in version of estimated inertia matrix in the parameter estimator makes these learning control schemes more feasible.

• Bulletin of the Korean Mathematical Society
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• v.54 no.6
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• pp.2043-2051
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• 2017

Consider a sequence of compactly supported Hamiltonian diffeomorphisms ${\phi}_k$ of an exact symplectic manifold, all of which are "graphical" in the sense that their graphs are identified by a Darboux-Weinstein chart with the image of a one-form. We show by an elementary argument that if the ${\phi}_k$ $C^0$-converge to the identity, then their Calabi invariants converge to zero. This generalizes a result of Oh, in which the ambient manifold was the two-disk and an additional assumption was made on the Hamiltonians generating the ${\phi}_k$. We discuss connections to the open problem of whether the Calabi homomorphism extends to the Hamiltonian homeomorphism group. The proof is based on a relationship between the Calabi invariant of a $C^0$-small Hamiltonian diffeomorphism and the generalized phase function of its graph.

• Journal of information and communication convergence engineering
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• v.9 no.2
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• pp.207-211
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• 2011

This paper presents a method for facial feature representation and recognition from the Covariance Matrices of the Gabor-filtered images. Gabor filters are a very powerful tool for processing images that respond to different local orientations and wave numbers around points of interest, especially on the local features on the face. This is a very unique attribute needed to extract special features around the facial components like eyebrows, eyes, mouth and nose. The Covariance matrices computed on Gabor filtered faces are adopted as the feature representation for face recognition. Geodesic distance measure is used as a matching measure and is preferred for its global consistency over other methods. Geodesic measure takes into consideration the position of the data points in addition to the geometric structure of given face images. The proposed method is invariant and robust under rotation, pose, or boundary distortion. Tests run on random images and also on publicly available JAFFE and FRAV3D face recognition databases provide impressively high percentage of recognition.

• Journal of Integrative Natural Science
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• v.12 no.4
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• pp.122-126
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• 2019

In this paper, we propose a simple and efficient retrieval technique using the feature value of the corner region, which is one of the shape information attributes of images. The proposed algorithm extracts the edges and corner points of the image and rearranges the feature values of the corner regions doubly, and then measures the similarity with the image in the database using the correlation of these feature values as the feature vector. The proposed algorithm is confirmed to be more robust to rotation and size change than the conventional image retrieval method using the corner point.

• International journal of advanced smart convergence
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• v.9 no.3
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• pp.85-96
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• 2020

It is important to extract salient object image and to solve the invariance problem for image recognition. In this paper we propose a new hybrid algorithm for invariance and improved classification performance in image recognition, whose algorithm is combined by FT(Frequency-tuned Salient Region Detection) algorithm, Guided filter, Zernike moments, and a simple artificial neural network (Multi-layer Perceptron). The conventional FT algorithm is used to extract initial salient object image, the guided filtering to preserve edge details, Zernike moments to solve invariance problem, and a classification to recognize the extracted image. For guided filtering, guided filter is used, and Multi-layer Perceptron which is a simple artificial neural networks is introduced for classification. Experimental results show that this algorithm can achieve a superior performance in the process of extracting salient object image and invariant moment feature. And the results show that the algorithm can also classifies the extracted object image with improved recognition rate.

• Journal of Ocean Engineering and Technology
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• v.3 no.2
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• pp.559-559
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• 1989

This paper deals with the robust controller design of robot manipulator to track a desired trajectory in spite of the presence of unmodelled dynamics in cause of nonlinearity and parameter uncertainty. The approach follwed in this paper is based on model reference adaptive control technique and convergence on hyperstability theory but it does away with the assumption that process is characterized by a linear model remaining time invariant during adaptation process. The performance of controller is demonstrated by computed simulation about position and speed control of six link manipulator in case of disturbance and payload variation.

• Journal of Ocean Engineering and Technology
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• v.3 no.2
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• pp.59-69
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• 1989

This paper deals with the robust controller design of robot manipulator to track a desired trajectory in spite of the presence of unmodelled dynamics in cause of nonlinearity and parameter uncertainty. The approach follwed in this paper is based on model reference adaptive control technique and convergence on hyperstability theory but it does away with the assumption that process is characterized by a linear model remaining time invariant during adaptation process. The performance of controller is demonstrated by computed simulation about position and speed control of six link manipulator in case of disturbance and payload variation.