• 제어로봇시스템학회논문지
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• 제7권9호
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• pp.723-732
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• 2001

경로 추적의 성능을 향상시키기 위해서 이 논문에서는 광유도식 무인방송차(AGV)의 뉴로퍼지 컨트롤러를 제안한다. 2바퀴 각각 조향 기능이 있는 AGV의 전방과 후방에 센서들이 장작되어 있으며, 그 센서들의 정보를 이용하여 AGV의 경로를 유도하게 된다. 측정된 광센서가 연속적인 데이터가 아니기 때문에 광유도식 AGV 는 쉽게 경로를 이탈하게 되고 경로 추적 성능은 떨어지게 된다. 광센서의정보들은 on/off 신호에 의해 발생되므로 비연속적으로 얻어지게 되고, 동적 오착가 측정되어진다. 센서에 의해 정보를 얻은 후 동적 오차는 좌우측 바퀴의 각 속도를 이용한 데드 레코닝(Dead Reckoning) 방법에 의해 연속적으로 계산되어진다. 여기서, 추정 윤곽 오차는 측정 윤관오차를 윤곽오차의증북(Variation)의 합의로 정의된다. 뉴로퍼지 시스템은 퍼지 제어기와 신경회로망으로 이루어졌다. 추정 윤곽 오차를 줄이기 위해 역전파 (Back-Propagation) 학습에 의해 퍼지 맴버쉽 함수의 계수들은 적응적으로 조정된다. 제안된 기존의 퍼지 제어기와 비교분석된다. 성능 분석을 위해 제안된 제어 이론은 모의 실험에 의해 검증된다.

• International Journal of CAD/CAM
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• 제4권1호
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• pp.33-45
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• 2004

In this work, a rational procedure has been formulated for the selection of points approximating slice contours cut in LOM (Laminated Object manufacturing) with first order approximation. It is suggested that the number of points representing a slice contour can be 'minimised' or 'optmised' by equating the horizontal chordal deviation (HCD) to the user-defined surface form tolerance. It has been shown that such optimization leads to substantial reduction in slice height calculations and NC codes file size for cutting out the slices. Due to optimization, the number of contour points varies from layer to layer, so that points on successive layer contours have to be matched by four sided ruled surface patches and triangular patches. The technological problems associated with the cutting out of triangular patches have been addressed. A robust algorithm has been developed for the determination of slice height for optimum and arbitrary numbers of contour points with different strategies for error calculations. It has been shown that optimisation may even lead to detection and appropriate representation of elusive surface features. An index of optimisation has been defined and calculations of the same have been tabulated.

• 한국통신학회논문지
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• 제22권8호
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• pp.1691-1697
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• 1997

This paper presents a new motion compensated error coding method suitable for region based image coding system. Compared with block based conding, the region based coding improves subjective quality as it estimates and compensates 2D (or 3D) translantional, rotational, and scaling motion for each regions. although the region based coding has this advantage, its merit is reduced as bock-DCT (2D-DCT) is used to encode motion-compensated error. To overcome this problem, a new region adaptive motion compensated error coding technique which improver subjective and objective quality in the region boundary is proposed in this paper. In the proposed method, regions with large error are estimated using contour of the regions and contrast between the regions. The regions estiated as those with large error are coded by arbitrarily shaped image segment coding method. The mask information of the coded regions is not transmitted because it is estimated as the same algorithm in the encoder and the decoder. The proposed region adaptive motion conpensated error coding method improves about 0.5dB when it is compared with conventional block based method.

• 한국정밀공학회지
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• 제28권2호
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• pp.168-175
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• 2011

Contouring accuracy of CNC machine tools is very important for high-speed and high-precision machining. In particular, large contour error may occur during corner tracking. In order to reduce the corner contouring error, acceleration and deceleration control or tool-path planning methods have been suggested. However, they do not directly control the corner contouring error. In the meantime, network servo systems are widely used because of their easiness of building and cost effectiveness. Communication latency between the master controller and servo drives, however, may deteriorate contouring accuracy especially during corner tracking. This paper proposes a control strategy that can accurately calculate and directly control the corner contouring error. A prediction control is combined with the above control to cope with communication latency. The proposed control method is evaluated through computer simulation and experiments. The results show its validity and usefulness.

• The Journal of the Acoustical Society of Korea
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• 제15권3E호
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• pp.31-36
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• 1996

In this paper, a two-stage recognition approach based on error pattern hypotheses is proposed to reduce errors of a connected digit recognizer. In the approach, a conventional recognizer is first used to produce N-best candidate strings, and then error patterns are hypothesized by examining the candidate strings. For substitution error pattern hypotheses, error-pattern-dependent classifiers having more discriminative power than the first-stage classifier are used ; and for insertion and deletion errors, word duration and energy contour information are exploited are exploited to discriminated confusing pairs. Simulation results showed that the proposed approach achieves 15% decrease in word error rate for speaker-independent Korean connected digit recognition when a hidden Markov model-based recognizer is used for the first-stage classifier.

• 대한전자공학회논문지SP
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• 제47권6호
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• pp.19-27
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• 2010

본 논문은 B-스플라인 능동적 윤곽을 차 에지 영상에 적용하여 얼굴을 검출함에 있어, 검출 결과의 정확도를 제고하고 연산량을 감소시키는 방법을 제안한다. 제안 방법은 먼저, 차이 영상의 첨도(kurtosis)를 이용하여 사용자의 움직임량을 추정한다. 이때, 첨도 값에 따라 사용자의 움직임량이 작다고 판단된 경우에는 윤곽선 적합을 실시하지 않으며, 움직임량이 크다고 판단된 경우에만 윤곽선 적합을 실시한다. 그 후, 윤곽선 적합을 위하여 이진화된 차이 영상의 거리변환(distance transform)된 결과와 현재 영상의 에지(edge)를 사용하여 움직임과 관련된 차 에지 영상을 추출하고, 마지막으로 이렇게 추출된 차 에지 영상에 윤곽선 적합을 실시하여 얼굴의 위치를 검출하게 된다. 첨도를 이용하여 사용자의 움직임량을 추정하는 방법은 윤곽선 적합 결과를 안정화시켜주는 동시에 연산량을 절약시켜주며, 현재 영상의 에지와 이진화된 차이 영상의 거리변환을 사용한 움직임 에지 추정 방법은 윤곽선 처짐과 불연속적인 에지 추출의 문제점을 개선시켜준다. 실험을 통해, 제안한 방법이 기존의 윤곽선 처짐이나 에지 끊어짐에 의한 오류를 줄여 주는 동시에, 약 39%의 영상에 대한 윤곽선 적합을 생략시켜주어 연산량을 줄여 줄 수 있음을 확인하였다.

• 대한수학회논문집
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• 제12권3호
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• pp.797-812
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• 1997

For analytic functions we give an expression for the kernel $K_n$ of the remainder terms for the Gauss-Radau and the Gauss-Lobatto rules with end points of multiplicity r and prove the convergence of the kernel we obtained. The error bound are obtained for the type $$\mid$R_n(f)$\mid$ \leq \frac{1}{\pi}l(\Gamma) max_{z \in \Gamma} $\mid$K_n(z)$\mid$ max_{z \in \Gamma} $\mid$f(z)$\mid$$, where $l(\Gamma)$ denotes the length of contour $\Gamma$.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.466-471
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• 1996

This work is concerned with the development of digital contouring controller formulti-axial servosystems. Digital optimal contouring controller is proposed to coordinate each of the controllers of multiple feed drives and specifically improve the controuring performance. The optimal control formulation includes the contour error explicity in the performance index to be minimized. The contouring control is exercised for straight line and circular contours. Substantial improvement in contouring perfomance is obtained for a range of contouring conditions. Both steady state and transient error measures have been considered. The simulation study presented has estiblished the potential of the proposed controller to improve contourning perfomance.

• 방송공학회논문지
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• 제10권4호통권29호
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• pp.632-642
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• 2005

본 논문에서는 다각형 기반 윤곽선 근사화를 위한 새로운 정점 선택 방법을 제안한다. 제안 방법은 전체 윤곽선을 부분 윤곽선으로 분할하고, 분할된 각 부분 윤곽선을 가변적 정확도에 따라 적응적으로 근사화한다. 근사화 정확도는 각 부분 윤곽선의 상대적 중요도에 의해 결정된다. 이때 근사화 오차 영역에서 발생하는 밝기 왜곡을 고려하여 각 부분 윤곽선의 상대적 중요도를 결정함으로써, 같은 윤곽선 데이터 량으로 보다 높은 재생영상의 화질 향상을 이룰 수 있다. 이러한 개념을 바탕으로 영역간 대조와 최대허용오차($d_{max}$)와의 관계식을 유도하고, 이 식을 이용한 적응적 정점 선택 방법을 제안한다. 실험 결과, 제안된 방법이 영상 부호화의 측면에서 기존 기법보다 우수한 성능을 나타내었다.

• 대한기계학회논문집A
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• 제30권10호
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• pp.1209-1218
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• 2006

Precision servomechanisms are widely used in machine tool, semiconductor and flat panel display industries. It is important to improve contouring accuracy in high-precision servomechanisms. In order to improve the contouring accuracy, cross-coupled control systems have been proposed. However, it is very difficult to select the controller parameters because cross-coupled control systems are multivariable, nonlinear and time-varying systems. In this paper, in order to improve contouring accuracy of a biaxial servomechanism, a cross-coupled controller is adopted and an optimal tuning procedure based on an integrated design concept is proposed. Strict mathematical modeling and identification process of a servomechanism are performed. An optimal tuning problem is formulated as a nonlinear constrained optimization problem including the relevant controller parameters of the servomechanism. The objective of the optimal tuning procedure is to minimize both the contour error and the settling time while satisfying constraints such as the relative stability and maximum overshoot conditions, etc. The effectiveness of the proposed optimal tuning procedure is verified through experiments.