• International Journal of Aeronautical and Space Sciences
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• v.7 no.2
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• pp.137-144
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• 2006

The objective of this paper is to present trajectory guidance and control system with a dynamic inversion for a small unmanned aerial vehicle (UAV). The UAV model is expressed by fixed-mass rigid-body six-degree-of-freedom equations of motion, which include the detailed aerodynamic coefficients, the engine model and the actuator models that have lags and limits. A trajectory is generated from the given waypoints using cubic spline functions of a flight distance. The commanded values of an angle of attack, a sideslip angle, a bank angle and a thrust, are calculated from guidance forces to trace the flight trajectory. To adapt various waypoint locations, a proportional navigation is combined with the guidance system. By the decision logic, appropriate guidance law is selected. The flight control system to achieve the commands is designed using a dynamic inversion approach. For a dynamic inversion controller we use the two-timescale assumption that separates the fast dynamics, involving the angular rates of the aircraft, from the slow dynamics, which include angle of attack, sideslip angle, and bank angle. Some numerical simulations are conducted to see the performance of the proposed guidance and control system.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.7
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• pp.569-573
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• 2001

An approximate representation of discrete functions {f$_{i,j}\mid$｜i, j=-1, 0, 1, …, N+1}in two variables by a fuzzy system is described. We use the cubic B-splines as fuzzy sets for the input fuzzification and spike functions as the output fuzzy sets. The ordinal number of f$_{i,j}$ in the sorted list is taken to be the out put fuzzy set number in the (i, j) th entry of the fuzzy rule table. We show that the fuzzy system is an exact representation of the cubic spline function s(x, y)=$\sum_{N+1}^{{i,j}=-1}f_{i,j}B_i(x)B_j(y)$ and that the approximation error S(x, y)-f(x, y) is surprisingly O($h^2$) when f(x, y) is three times continuously differentiable. We prove that when f(x, y) is a gray scale image, then the fuzzy system is a smoothed representation of the image and the original image can be recovered exactly from its fuzzy system representation when it is a digitized image.e.

• Journal of the Korea Computer Graphics Society
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• v.18 no.4
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• pp.25-34
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• 2012

This paper presents a real-time GPU (graphics processing unit) ray casting scheme for rendering isosurfaces of BCC (body-centered cubic) volume datasets. A quartic spline field is built using the 7-direction box-spline filter accompanied with a quasi-interpolation prefilter. To obtain an interactive rendering speed on the graphics hardware, the shader code was optimized to avoid lookup table and conditional branches and to minimize data fetch overhead. Compared to previous implementations, our work outperforms the comparable one by more than 20% and the rendering quality is superior than others.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.3
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• pp.233-240
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• 2016

This paper describes a three-dimensional reference trajectory generation method for giving commands to an unmanned air vehicle (UAV). The trajectory is a set of consecutive curves with constant acceleration during each interval and passing through via-points at specified times or speeds. The functional inputs are three-dimensional positions and times (or speeds) at via-points, and velocities at both boundaries. Its output is the time series of position values satisfying the piecewise constant acceleration condition. To be specific, the shape of the trajectory, known as the path, is first represented by splines using third degree polynomials. A numeric algorithm is then suggested, which can overcome the demerits of cubic spline method and promptly generate a piecewise constant acceleration trajectory from the given path. To show the effectiveness of the present scheme, trajectory generation cases were treated, and their speed calculation errors were evaluated.

• Journal of computational fluids engineering
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• v.5 no.2
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• pp.38-46
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• 2000

It has been indicated that the rotor/stator interaction has distinct causes of unsteadiness, such as the viscous vortex shedding, wake/stator interaction and potential rotor/stator interaction. In this paper, the mechanism of unsteady potential interaction in one stage axial compressor is numerically investigated for blade row ratio 1:1 and 2:3 at design point and for blade row ratio 2:3 at off-design point in two-dimensional view point. The numerical technique used is the upwind scheme of Van-Leer's Flux Vector Splitting(FVS) and Cubic spline interpolation is applied on zonal interface. In this study the flow unsteadiness due to potential interaction are found to be larger in blade row ratio 2:3 than in 1:1. The total pressure rise in blade row ratio 2:3 is closer to the real value in design point than that in 1:1. The change of unsteady pressure amplitude according to the variation of stator exit pressure is very small.

• Journal of Advanced Navigation Technology
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• v.11 no.2
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• pp.209-216
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• 2007

In this paper, we embodied posture-stabilization and dynamic gait in a walking robot. 10 RC servo motors are used to operate joints. And the joints have enough moving ranges suitable in any walking pattern. Each joint trajectory is generated by cubic spline interpolation method and the stability of the trajectory is verified by using Zero Moment Point from the robot modeling. To avoid complex structure and expression, Zero Moment Point of the biped robot used angular acceleration is suggested. To measure the stability of the biped robot, Tilt sensor and gyro sensor are used. Finally, Personal Computer is used computer monitoring and data processing. Most of computation, such as 10 RC servo motor control, joint trajectory generating, ZMP compensation, sense measuring, etc, was used Digital Signal Processor.

• Economic and Environmental Geology
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• v.25 no.1
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• pp.73-77
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• 1992

This paper compares numerical quadrature techniques for computing an inverse Fourier transform integral in two-dimensional resistivity modeling. The quadrature techniques using exponential and cubic spline interpolations are examined for the case of a homogeneous earth model. In both methods the integral over the interval from 0 to ${\lambda}_{min}$, where ${\lambda}_{min}$, is the minimum sampling spatial wavenumber, is calculated by approximating Fourier transformed potentials to a logarithmic function. This scheme greatly reduces the inverse Fourier transform error associated with the logarithmic discontinuity at ${\lambda}=0$. Numrical results show that, if the sampling intervals are adequate, the cubic spline interpolation method is more accurate than the exponential interpolation method.

• Journal of Korean Academy of Oral and Maxillofacial Radiology
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• v.29 no.1
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• pp.65-85
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• 1999

Objectives: To determine the effect of interpolation functions when processing the digital periapical images. Material and Methods: The digital images were obtained by Digora and CDR system on the dry skull and human subject. 3 oral radiologists evaluated the 3 portions of each processed image using 7 interpolation methods, and ROC curves were obtained by trapezoidal methods. Results: The heighest Az value(0.96) was obtained with cubic spline method and the lowest Az value(0.03) was obtained with facet model method in Digora system. The heighest Az value (0.79) was obtained with gray segment expansion method and the lowest Az value(0.07) was obtained with facet model method in CDR system. There was significant difference of Az value in original image between Digora and CDR system at a=0.05 level. There were significant differences of Az values between Digora and CDR images with cubic spline method, facet model method, linear interpolation method and non-linear interpolation method at α=0.1 level.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.10a
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• pp.94-96
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• 2013

본 논문에서는 복부 초음파 영상에서 Ends_in Search Stretching 기법을 적용하여 명암 대비를 강조한 후, 이진화, 영역 레이블링 기법, 잡음 제거를 통해 근막을 추출하고, 근막 영역의 하단 경계선을 기준으로 Cubic Spline 보간법을 적용하여 복부 근육의 근막 하단 영역을 추출한다. 복부 초음파 영상에서 추출된 근막 하단 영역을 이용하여 근막 영역을 제거한 후, 거리 기반 퍼지 ART 알고리즘을 적용하여 충수 후보 영역을 추출한 다. 추출된 충수 후보 영역에 침식 연산과 영역 레이블링 기법을 적용하여 충수를 추출한다. 제안된 방법을 복부 초음파 영상을 대상으로 실험한 결과, 기존의 충수 추출 방법보다 객관적이고 효율적으로 충수와 소장의 명암도 차이를 구별할 수 있어 충수 영역이 이전의 방법 보다 비교적 정확히 추출되는 것을 영상의학과 관련 전문의를 통해 확인하였다.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.10C
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• pp.1402-1413
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• 2004

In non-rigid image registration, the Jacobian determinant of the estimated deformation should be positive everywhere since physical deformations are always invertible. We propose a constrained optimization technique at ensures the positiveness of Jacobian determinant for cubic B-spline based deformation. We derived sufficient conditions for positive Jacobian determinant by bounding the differences of consecutive coefficients. The parameter set that satisfies the conditions is convex; it is the intersection of simple half spaces. We solve the optimization problem using a gradient projection method with Dykstra's cyclic projection algorithm. Analytical results, simulations and experimental results with inhale/exhale CT images with comparison to other methods are presented.