• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.471-476
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• 2015

This paper presents a maximum velocity trajectory planning algorithm for differential mobile robots with wheel velocity constraint to cope with physical limits in the joint space for two-wheeled mobile robots (TMR). In previous research, the convolution operator was able to generate a central velocity that deals with the physical constraints of a mobile robot while considering the heading angles along a smooth curve in terms of time-dependent parameter. However, the velocity could not track the predefined path. An algorithm is proposed to compensate an error that occurs between the actual and driven distance by the velocity of the center of a TMR within a sampling time. The velocity commands in Cartesian space are also converted to actuator commands to drive two wheels. In the case that the actuator commands exceed the maximum velocity the trajectory is redeveloped with the compensated center velocity. The new center velocity is obtained according to the curvature of the path to provide a maximum allowable velocity meaning a time-optimal trajectory. The effectiveness of the algorithm is shown through numerical examples.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.6
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• pp.2925-2948
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• 2019

In order to improve the utilization of irrigation water resources of greenhouse tomatoes, a water-saving irrigation decision-making model based on genetic optimization T-S fuzzy neural network is proposed in this paper. The main work are as follows: Firstly, the traditional genetic algorithm is optimized by introducing the constraint operator and update operator of the Krill herd (KH) algorithm. Secondly, the weights and thresholds of T-S fuzzy neural network are optimized by using the improved genetic algorithm. Finally, on the basis of the real data set, the genetic optimization T-S fuzzy neural network is used to simulate and predict the irrigation volume for greenhouse tomatoes. The performance of the genetic algorithm improved T-S fuzzy neural network (GA-TSFNN), the traditional T-S fuzzy neural network algorithm (TSFNN), BP neural network algorithm(BPNN) and the genetic algorithm improved BP neural network algorithm (GA-BPNN) is compared by simulation. The simulation experiment results show that compared with the TSFNN, BPNN and the GA-BPNN, the error of the GA-TSFNN between the predicted value and the actual value of the irrigation volume is smaller, and the proposed method has a better prediction effect. This paper provides new ideas for the water-saving irrigation decision in greenhouse tomatoes.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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• v.21 no.1
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• pp.175-182
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• 2023

APro, a modularized process-based total system performance assessment framework, was developed at the Korea Atomic Energy Research Institute (KAERI) to simulate radionuclide transport considering coupled thermal-hydraulic-mechanical-chemical processes occurring in a geological disposal system. For reactive transport simulation considering geochemical reactions, COMSOL and PHREEQC are coupled with MATLAB in APro using an operator splitting scheme. Conventionally, coupling is performed within a MATLAB interface so that COMSOL stops the calculation to deliver the solution to PHREEQC and restarts to continue the simulation after receiving the solution from PHREEQC at every time step. This is inefficient when the solution is frequently interchanged because restarting the simulation in COMSOL requires an unnecessary setup process. To overcome this issue, a coupling scheme that calls PHREEQC inside COMSOL was developed. In this technique, PHREEQC is called through the "MATLAB function" feature, and PHREEQC results are updated using the COMSOL "Pointwise Constraint" feature. For the one-dimensional advection-reaction-dispersion problem, the proposed coupling technique was verified by comparison with the conventional coupling technique, and it improved the computation time for all test cases. Specifically, the more frequent the link between COMSOL and PHREEQC, the more pronounced was the performance improvement using the proposed technique.

• Proceedings of the IEEK Conference
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• 2005.11a
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• pp.427-430
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• 2005

In this paper, we propose a new post-processing method, based on the theory of the projection onto convex sets (POCS) to reduce the blocking artifacts in decoded images. We propose a new smoothness constraint set (SCS) and its projection operator in the wavelet transform (WT) domain to remove unnecessary high-frequency components caused by blocking artifacts. We also propose a new method to find and preserve the original high frequency components of the image edge. Experimental results show that the proposed method can not only achieve a significantly enhanced subjective quality, but also have the PSNR improvement in the output image.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.14 no.4
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• pp.201-210
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• 2010

We propose a new robust and accurate method for the numerical solution of medical image segmentation. The modified Allen-Cahn equation is used to model the boundaries of the image regions. Its numerical algorithm is based on operator splitting techniques. In the first step of the splitting scheme, we implicitly solve the heat equation with the variable diffusive coefficient and a source term. Then, in the second step, using a closed-form solution for the nonlinear equation, we get an analytic solution. We overcome the time step constraint associated with most numerical implementations of geometric active contours. We demonstrate performance of the proposed image segmentation algorithm on several artificial as well as real image examples.

• Journal of Computing Science and Engineering
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• v.4 no.4
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• pp.276-290
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• 2010

The join operator is fundamental in relational database systems. Evaluating join queries on large tables is challenging because records need to be efficiently matched based on a given key. In this work, we analyze join queries in SQL with large tables in which a foreign key may be null, invalid or valid, given a referential integrity constraint. We conduct an extensive join performance evaluation on three DBMSs. Specifically, we study join queries varying table sizes, row size and key probabilistic distribution, inserting null, invalid or valid foreign key values. We also benchmark three well-known query optimizations: view materialization, secondary index and join reordering. Our experiments show certain optimizations perform well across DBMSs, whereas other optimizations depend on the DBMS architecture.

• Journal of Biomedical Engineering Research
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• v.9 no.2
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• pp.153-158
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• 1988

A three-dimensional surface is reconstructed from contour information as identified on two-dimensional computed tomographic slices. Gradient operator with curvature constraint would be applied to extract the contour automatically, and backtracking is also adopted to reduce the tracking error. The surface between the consecutive slice is efficiently reconstructed using a triangular surface tiles. Hidden surface elimination, shading and parallel projection of the reconstructed surface are provied on the display screen.

• Proceedings of the KIEE Conference
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• summer
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• pp.737-739
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• 2004

The domestic power system established with Cost-Based-Pricing(CBP) from April 2001. The system is a uniform pricing system. System Operator(50) establishes a Price Setting Schedule by the prediction of consumption and the presented bid price(generation cost) of the generation utility. But the Price Setting Schedule doesn't take account of the constraint of the system. This cause a transmission congestion, constrained-on generation and constrained-off generation. This Paper search the way of the increasing efficiency of domestic power system through the redemption of congestion charge.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.150.1-150
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• 2001

This paper introduces a real time inspecting and monitoring system by using wireless communication and image processing technique. The communication system is developed by using 80c196kc microprocessor and it has data acquisition function for several kinds of sensors such as pluviometer, temperature, tension meter, elinometer and so on. The image processing method adopts Lalacian of Gaussian operator and least square method to extract line features for the captured images and uses a relaxation matching algorithm based in global structure constraint satisfaction to distinguish the matching error for those features. When the algorithm is processed, motion parameters of displacement area and its direction are computed. Once movement is recognized ...

• Journal of the Korean Operations Research and Management Science Society
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• v.37 no.4
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• pp.67-72
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• 2012

In this paper a new method of handling linear constraints for the genetic algorithm is suggested. The method is designed to maintain the feasibility of offsprings during the evolution process of the genetic algorithm. In the genetic algorithm, the chromosomes are coded as the vectors in the real vector space constrained by the linear constraints. A method of handling the linear constraints already exists in which all the constraints of equalities are eliminated so that only the constraints of inequalities are considered in the process of the genetic algorithm. In this paper a new method is presented in which all the constraints of inequalities are eliminated so that only the constraints of equalities are considered. Several genetic operators such as arithmetic crossover, simplex crossover, simple crossover and random vector mutation are designed so that the resulting offspring vectors maintain the feasibility subject to the linear constraints in the framework of the new handling method.