• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.1031-1032
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• 2008

To process the dynamic images in real time, there could be many constraints on the hardware. Kalman Filter has been used to estimate motion information and use the information in predicting the appearance of targets in succeeding frames. This paper suggests algorithm about lane recognition using Kalman Filter which is one of operations research technique.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.118-123
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• 1989

This work deals with fast-to-compute global control laws for time-optimal motion of strongly nonlinear dynamic systems like resolute robots. the theory of cell-to-cell mappings for dynamical systems offer the possibility of doing the vast majority of the control law computation offline in case of time optimization with constrained inputs. These cells result from a coarse discretization of likely swaths of state space into a set of nonuniform, contiguous volumes of relatively simple shapes. Once the cells have been designed, the bang-bang schedules for the inputs are determined for all likely starting cells and terminating cells. the resulting control law is an open-loop optimal control law with feedback monitoring and correction.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.168-173
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• 1991

A neural optimization network is proposed to control the redundant robot manipulators in an environment with the obstacle. The weightings of the network are adjusted by considering both the joint dexterity and the capability of collision avoidance of joint differential motion. The fuzzy rules are proposed to determine the capability of collision avoidance of each joint. To show the validities of the proposed method, computer simulation results are illustrated for the redundant robot of the planner type with three degrees of freedom.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.951-952
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• 2009

• 한국정보디스플레이학회:학술대회논문집
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• 2002.08a
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• pp.449-451
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• 2002

We reported the algorithm of driving scheme that enhances moving picture property by improving gray-to-gray response time. Here, we report result of simulation for estimation of driving voltage to reduce response time, and experimental result. We investigated optimization of algorithm so that minimum size of LUT can support to reducing the gray-to-gray response time within 1 frame period, and with single algorithm it is possible to apply the algorithm to various kinds of LC material. So in our system there is no external EEPROM.

• Proceedings of the KIEE Conference
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• summer
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• pp.932-934
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• 2004

BLDC Motor is used in robots requiring a precisive motion recently. This paper presents the optimal design reducing the rotor inertia in order to improve the driving characteristic of BLDC motor driving robots, The optimal design was performed by using a parallel Genetic Algorithm which is superior at searching objective functions for the comflicated models having several optimal points. Therefore, objective function for optimization is rotor inertia and efficiency.

• Proceedings of the Korean Information Science Society Conference
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• 2004.04b
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• pp.850-852
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• 2004

고급 언어 (high-level language)로 프로그램을 쓰고 그것이 맞다고 증명 했을때, 프로그램과 증명을 동시에 "컴파일"해주는 방법을 찾으려고 한다. 이러한 방법은 "증명 보내기"(Proof Carrying Code)라는 제안을 실용화할 때 요긴하게 사용할 수 있는 기술이다. 지면관계상 "반복문에서 명령어 끄집어내기"(Loop Invariant Code Motion)라는 최적화 과정에 맞게 Hoare 증명을 변환하는 방법에 대해서만 알아보겠다.

• Journal of KIISE:Software and Applications
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• v.32 no.3
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• pp.215-226
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• 2005

Loop invariant code motion (LICM) optimization includes relatively heavy code analyses, thus being not readily applicable to Java Just-In-Time (JIT) compilation where the JIT compilation time is part of the whole running time. 'Classical' LICM optimization first analyzes the code and constructs both the def-use chains and the use-def chains. which are then used for performing code motions. This paper proposes a light-weight LICM algorithm, which requires only the def-use chains of loop invariant code (without use-def chains) by exploiting the fact that the Java virtual machine is based on a stack machine, hence generating code with simpler patterns. We also propose two techniques that allow more code motions than classical LICM techniques. First, unlike previous JIT techniques that uses LICM only in single-path loops for simplicity, we apply LICM to multi-path loops (natural loops) safely for partially redundant code. Secondly, we move loop-invariant, partially-redundant null pointer check code via predication support in Itanium. The proposed techniques were implemented in a JIT compiler for Itanium processor on ORP (Open Runtime Platform) Java virtual machine of Intel. On SPECjvrn98 benchmarks, the proposed technique increases the JIT compilation overhead by the geometric mean of 1.3％, yet it improves the total running time by the geometric mean of 2.2％.

• Journal of the Korea Society of Computer and Information
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• v.14 no.6
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• pp.41-49
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• 2009

In this paper, the multi-camera calibration algorithm for optical motion capture system is proposed. This algorithm performs 1st camera calibration using DLT(Direct linear transformation} method and 3-axis calibration frame with 7 optical markers. And 2nd calibration is performed by waving with a wand of known length(so called wand dance} throughout desired calibration volume. In the 1st camera calibration, it is obtained not only camera parameter but also radial lens distortion parameters. These parameters are used initial solution for optimization in the 2nd camera calibration. In the 2nd camera calibration, the optimization is performed. The objective function is to minimize the difference of distance between real markers and reconstructed markers. For verification of the proposed algorithm, re-projection errors are calculated and the distance among markers in the 3-axis frame and in the wand calculated. And then it compares the proposed algorithm with commercial motion capture system. In the 3D reconstruction error of 3-axis frame, average error presents 1.7042mm(commercial system) and 0.8765mm(proposed algorithm). Average error reduces to 51.4 percent in commercial system. In the distance between markers in the wand, the average error shows 1.8897mm in the commercial system and 2.0183mm in the proposed algorithm.

• Journal of the Society of Naval Architects of Korea
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• v.55 no.4
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• pp.297-305
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• 2018

In a shipyard, block lifting is an important process in the production of ships and offshore structures. Block lifting is a sensitive process because lifting blocks have to be erected with exact positions and orientations. If we use a numerical method for the process, it is important to find tensions of wires and positions of equalizers to maintain the initial equilibrium position of the block. At this time, equations of motion of the block should be solved to calculate the initial equilibrium position of the block. Because the solving technique changes according to the number of equalizers, a suitable equation for the corresponding problem is required. In this study, three types of equations are proposed to find the initial equilibrium position of the block according to the number of equalizers. The Newton-Raphson's method is used to solve nonlinear simultaneous equations and the optimization method is used to determine the appropriate solution to the undetermined problem. To evaluate the applicability of the proposed methods, the dynamic simulations are performed using the tensions calculated from the proposed methods, and the results are discussed. The results show that the proposed methods can be effectively used to determine initial equilibrium position of the block for the block lifting.