• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.2044-2047
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• 2003

In this paper, we propose efficient motion vector refinement algorithm for frame-rate reduction transcoding. The proposed algorithm is to set the search range for motion refinement based on the incoming motion vector. The algorithm calculates the importance of motion vector of the skipped frame and then selects two motion vector to set search range. Through this process, we determine the accuracy of incoming motion vector and set the search range lot refinement adaptively by means of the accuracy. In experiments, we show efficiency of our algorithm to reduce the search points for refinement.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1822-1825
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• 2003

A practical range estimator based on the robust Kalman filter is proposed to solve the range estimation problem for surface to air missile(SAM) homing guidance. Apart from the previous works based on the extended Kalman filter(EKF) with bearing only measurement, the proposed scheme makes use of line-of-sight(LOS) rate to ensure the fast convergency at long-range. In this reason, the robust Kalman filter is considered to deal with LOS rate measurement error. The recursive linear structure of proposed filter is easy to implement and make it possible to reduce computational burdens. Moreover, it shows good estimation performance without specific guidance law such as oscillation proportional navigation guidance(OPNG).

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.23-30
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• 2009

This paper addresses how to make a formation of multiple unmanned aerial vehicles (UAVs) using only the relative range information. Since the relative range can easily be measured by an on-board range sensor like the laser range finder, the proposed method does not require any expensive and heavy wireless communication system to share the navigation information of each vehicle. Based on the two-dimensional (2-D) nonlinear equations of motion, we propose a nonlinear formation controller using the typical input-output feedback linearization method. The performance of the proposed formation controller is verified by various numerical simulations.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.2331-2334
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• 2003

Generally, skin color information has been widely used at the face region extraction step of the face region recognition process. But many experimental results show that they are very sensitive to the given threshold range which is used to extract the face regions at the input image. In this paper, we propose a face region extraction algorithm based on an adaptive range decision for skin color. First we extract the pixels which are regarded as the candidate skin color pixels by using the given range for skin color extraction. Then, the ratio between the total pixels and the extracted pixels is calculated. According to the ratio, we adaptively decide the range of the skin color and extract face region. From the experiment results for the various images, the proposed algorithm shows more accurate results than the conventional algorithm.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.154-157
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• 2009

High dynamic range image can describe the real world scenes that have a wide range of luminance intensity. To display high dynamic range (HDR) image into conventional displayable devices such as monitors and printers, we proposed the logarithmic based global mapping algorithm that consider the features of image using mapping parameters. Based on characteristics of image, we first modify input luminance values for reproducing perceptually tuned images and then displayable output values are obtained directly. The experimental results show that the proposed algorithm achieves good subjective results while preserving details of image, furthermore proposed algorithm has fast simple and practical structure for implementation.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2013.10a
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• pp.815-824
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• 2013

Pneumatic exciters can be good replacements of electrodynamic, piezoelectric and hydraulic exciters owing to simple structure and large exciting force. One problem to be solved is a slow response caused by compressibility of air. Desirable frequency response characteristics of exciter are constant magnitude and zero degree phase, because users want no time delay between input signal and output force. For this reason, frequency range of pneumatic exciters is limited about 0~1 Hz. Therefore, expansion of frequency range is an important issue when designing the pneumatic exciter. In this paper, the pneumatic exciter which has same structure with active pneumatic isolator is dealt with. The dynamic characteristics are presented, and its limitation of expanding frequency range is shown based on analytical studies. Then the pneumatic exciter with dual-chamber is suggested to overcome this problem. Based on simulation study, a design method is presented.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.3
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• pp.265-272
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• 2019

For tracking a varying number of people using laser range finder, it is important to deal with appearance/disappearance of people due to various causes including occlusions. We propose a method for tracking people with automatic initialization by integrating observations from laser range finder. In our method, the problem of estimating 2D positions and orientations of multiple people's walking direction is formulated based on a mixture kalman filter. Proposal distributions of a kalman filter are constructed by using a mixture model that incorporates information from a laser range scanner. Our experimental results demonstrate the effectiveness and robustness of our method.

• Journal of Internet Computing and Services
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• v.15 no.2
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• pp.1-7
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• 2014

This paper presents an analytical method for finding the optimum transmission range in mobile ad hoc networks(MANETs). The results are particularly useful for the operation of military networks, as the transmission range affects the throughput, delay, and battery consumption. Plus, the proposed method allows the optimum transmission range to be determined in advance when deploying combatants with mobile terminals. And we analyze the battery life-time and the optimum transmission range under various propagation scenarios based on Hata propagation model. The proposed method obtains the optimum transmission range in a MANET based on the operational conditions.

• Journal of Mechanical Science and Technology
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• v.17 no.10
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• pp.1411-1422
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• 2003

The detection of free spaces between obstacles in a scene is a prerequisite for navigation of a mobile robot. Especially for stereo vision-based navigation, the problem of correspondence between two images is well known to be of crucial importance. This paper describes multi-range approach of area-based stereo matching for grid mapping and visual navigation in uncertain environment. Camera calibration parameters are optimized by evolutionary algorithm for successful stereo matching. To obtain reliable disparity information from both images, stereo images are to be decomposed into three pairs of images with different resolution based on measurement of disparities. The advantage of multi-range approach is that we can get more reliable disparity in each defined range because disparities from high resolution image are used for farther object a while disparities from low resolution images are used for close objects. The reliable disparity map is combined through post-processing for rejecting incorrect disparity information from each disparity map. The real distance from a disparity image is converted into an occupancy grid representation of a mobile robot. We have investigated the possibility of multi-range approach for the detection of obstacles and visual mapping through various experiments.

• Journal of Korean Institute of Industrial Engineers
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• v.23 no.1
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• pp.147-162
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• 1997

When designing workplaces or arranging controls on panel, devices and controls should be placed within the reach of operator's arm or foot to guarantee effective performances. Most of the existing research on the reach volume were based on measurements of a few subject's arm reach, and limited to Caucasian and Chinese populations. Furthermore, reach volume considering foot or trunk motion have not been investigated. Range of human joint motion and that of two degrees of freedom motion are needed to generate reach volume analytically using the sweeping algorithm. However, range of two degrees of freedom motion has not been measured up to now. Therefore, range of two degrees of freedom motion was measured in this research, where 47 college students were participated voluntarily as subjects. The results showed that the motion of one joint can be limited by the motion of another motion, that is to say, the shoulder flexion was decreased significantly when the shoulder was adducted or abducted. Second, new approximate algorithms generating reach volumes were suggested, in which range of two degrees of freedom motion was used as input data. Depending upon the body segment included such as trunk, arm and leg, three types of reach volume were provided, in which the human body was modeled as a multilink system based on the robot kinematics and the sweeping method was employed. Reach volume generated analytically in this study showed statistically reasonable results when compared with that obtained from direct measurement.