• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.6
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• pp.479-486
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• 2018

In order to ensure reliable navigation performance of a lunar exploration rover, navigation algorithms using additional sensors such as inertial measurement units and cameras are essential on lunar surface in the absence of a global navigation satellite system. Unprecedentedly, Visual Odometry (VO) using a stereo camera has been successfully implemented at the US Mars rovers. In this paper, we estimate the 6-DOF pose of the lunar exploration rover from gray images of a lunar-like terrains. The proposed algorithm estimates relative pose of consecutive images by sparse image alignment based semi-direct VO. In order to overcome vulnerability to non-linearity of direct VO, we add adaptive motion prior weights calculated from a linear function of the previous pose to the optimization cost function. The proposed algorithm is verified in lunar-like terrain dataset recorded by Toronto University reflecting the characteristics of the actual lunar environment.

• Journal of the Korea Convergence Society
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• v.8 no.7
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• pp.23-28
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• 2017

For manufacturing industry to achieve efficient manufacturing process, improving a company's productivity and reducing cost is a required task of the current manufacturing companies. For design of efficient manufacturing process and improvement of productivity, efficient manufacturing process method is studied through removal of unnecessary elements analyzing motions and using test-bed linkage system based on virtual reality. When building process line after verifying optimization through virtual process arrangement simulation in advance, it is available to save additional cost for process modification or supplement to result in practical effects of improving a company's manufacturing competition. Reducing design period, improving equipment, making automation, realizing ergonomics, and improving process through this study, it will be available to achieve improvement of productivity, enhancement of quality, cost reduction as well as employees' satisfaction for safety and health.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.41 no.10
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• pp.1155-1166
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• 2016

In this paper, we propose a new embedded video compression scheme which uses three-dimensional rate-distortion optimization based block coder. After the proposed scheme removes temporal redundancy by applying the motion compensated temporal filtering(MCTF) on input video frames, two dimensional discrete wavelet transform is applied on video frames to remove spatial redundancy. The three-dimensional wavelet coefficients generated in this way are sorted according to their expected rate-distortion slope and encoded by using the three-dimensional block partition coding method. The proposed scheme also uses both the effective color video coding method which maintains embedded features, and the efficient bit-rate control method. Experimental results demonstrate that the proposed scheme not only produces embedded bit-streams, but also outperforms existing video compression schemes.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.11
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• pp.395-402
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• 2016

This paper presents a design methodology for improving the energy efficiency by considering the inertial properties of serial manipulators. This method employed is to put the inertia matrix, which has a critical effect on the equation of motion, into the constraints of the optimization problem. Through the optimization process, we propose a design algorithm that can double-check whether the optimized parameters satisfy the required performance or not by using an auxiliary index associated with the inertia and energy. Using this design algorithm, we were able to improve the energy efficiency by minimizing the torque. We applied this method to a 3 degrees of freedom serial manipulator and simulated it.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.5
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• pp.819-827
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• 1997

In this paper, a new modeling of a fine actuator for an optical pick-up has been proposed and multiobjective optimization of the actuator has been performed. The fine actuator is constituted of the bobbin which is supported by wire suspension, the coils which wind around the bobbin, and the magnets which cause the magnetic flux. If current flows in the coils, magnetic force is so produced as to be balanced with spring force of wire, so the bobbin is pisitioned. In this model the transfer function from input voltage to output displacementof bobbin has been obtained so that we can describe this integrated system with electromagnetic and mechanical parts. Wire suspension is regarded as a continuous Euler beam, damper as distributed viscous damping, and bobbin as a rigid body which can move up- and down- ward motion only. According to the model, the high frequency dynamic characteristics of the fine actuator can be known and the effect of damping can be investigated while the conventional second order model cannot. In multiobjective optimization, two objective functions have been chosen to maximize the fundamental frequency and the sensitivity with respect to the input voltage of the actuator so that Pareto's optimal solutions have been obtained using .epsilon.-constraint method. These objective functions will satisfy the trends which will enhance the access speed and reduce the tracking error in the optical pick-up technology of next generation. In the result of optimization, we obtain the designs of the optical pick-up fine actuator which has high speed, high sensitivity and low resonant peak. Furthermore, we offer the relation between two object functions so that the designer can make easy choice.

• The KIPS Transactions:PartB
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• v.18B no.1
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• pp.39-44
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• 2011

In this paper, we propose a method to improve the Firefly Algorithm(FA) introduced by Xin-She Yang, recently. We design and analyze the improved firefly algorithm based on the heuristic. We compare the FA with the Particle Swarm Optimization (PSO) which the problem domain is similar with the FA in terms of accuracy, algorithm convergence time, the motion of each particle. The compare experiments show that the accuracy of FA is not worse than PSO's, but the convergence time of FA is slower than PSO's. In this paper, we consider intuitive reasons of slow convergence time problem of FA, and propose the improved version of FA using a partial mutation heuristic based on the consideration. The experiments using benchmark functions show the accuracy and convergence time of the improved FA are better than them of PSO and original FA.

• Journal of the Semiconductor & Display Technology
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• v.23 no.3
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• pp.21-28
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• 2024

Unsupervised learning is a type of machine learning, and unlike supervised learning or reinforcement learning, a target value for input value is not given. Clustering is mainly used for such unsupervised learning. One of the representative methods of such clustering is K-means clustering. Since K-means clustering is a method of determining the number of clusters and continuing to find the central point of the data allocated to the cluster, there is a problem that the clustered group may not be the optimal cluster. In this study, particle swarm optimization algorithm, which determines the motion vector by adding various variables as well as the center point, is applied to K-means clustering. The improved K-means clustering makes it possible to move toward better outcome values even when the center of cluster no longer change. In the conventional clustering method, the center of the cluster moves to the center of the data belonging to the cluster, and clustering ends when the cluster does not change, so other characteristics other than the center value are excluded. Unlike the conventional clustering method, the improved clustering method uses a central value, an average value, and a random value as variables, and a particle swarm optimization algorithm that modifies the vector for each iteration is applied. As a result, improved clustering method derived a better result value than the existing clustering method in the group's fitness index, silhouette score.

• Journal of Korea Multimedia Society
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• v.15 no.4
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• pp.485-491
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• 2012

This paper proposes 'Coding Unit Tree' based on quadtree efficiently with motion vector to represent splitting information of a Coding Unit (CU) in HEVC. The new international video coding, High Efficiency Video Coding (HEVC), adopts various techniques and new unit concept: CU, Prediction Unit (PU), and Transform Unit (TU). The basic coding unit, CU is larger than macroblock of H.264/AVC and it splits to process image-based quadtree with a hierarchical structure. However, in case that there are complex motions in CU, the more signaling bits with motion information need to be transmitted. This structure provides a flexibility and a base for a optimization, but there are overhead about splitting information. This paper analyzes those signals and proposes a new algorithm which removes those redundancy. The proposed algorithm utilizes a type code, a dominant value, and residue values at a node in quadtree to remove the addition bits. Type code represents a structure of an image tree and the two values represent a node value. The results show that the proposed algorithm gains 13.6% bit-rate reduction over the HM-1.0.

• Journal of the Korea Convergence Society
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• v.9 no.6
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• pp.69-75
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• 2018

Efficiency of Process in manufacturing industry is a critical factor to connect directly to competitiveness of product. In particular, due to FTAs with various worlds around the world, the domestic and overseas manufacturing industries are facing intense competitions, and it requires elaborate task management system for shortening production time. This study aims at seeking how to raise efficiency of manufacturing process, using motion analysis solution. When improving the process of manufacturing after verifying optimization using motion analysis solution, it can save costs for additional process, modification, or supplement. It can also deduce practical effect to improve productivity of companies. It is expected that the study will contribute to improve wastes in the work field and task assignment efficiency, to shorten time replacing equipment, to measure standard time, and to standardize task system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.33 no.11C
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• pp.925-931
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• 2008

In video coding standard H.264/AVC, variable block size mode algorithm improves compression efficiency but has need of a large amount of computation for various block modes and mode decision. Meanwhile, decided inter block modes depend on the complexity of a block image, and then the more complex a macroblock is, the smaller its block size is. This paper proposes fast inter block mode decision algorithm. It limits valid block modes to the block modes with a great chance for decision using the image complexity and carries out motion estimation rate-distortion optimization with only the valid block modes. In addition to that, it applies fast motion estimation PDE to the valid block modes with only the $16{\times}16$ block mode. The reference software JM 9.5 was executed to estimate the proposed algorithm's performance. The simulation results showed that the proposed algorithm could save about 24.12% of the averaged motion estimation time while keeping the image quality and the bit rate to be -0.02dB and -0.12% on the average, respectively.