• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.472-475
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• 1997

The principle objective of this paper is to explain and demonstrate the advantage of the output-feedback controller proposed by Ailon in [61 by using simulation and experimental results. Namely, the goal of this study is to design and implement a real-time controller for set-point regulation of a one-link rigid robot manipulator with unknown parameters using only position measurement. For implementation a direct drive one-link rigid robot manipulator is constructed and a TMS320C40 DSP systems board is used in implementing real-time control algorithm.

• Journal of Korea Multimedia Society
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• v.8 no.1
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• pp.27-33
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• 2005

In this paper, an effective skeleton method is proposed in order to obtain an enhanced digital image of skeleton line. The binary image using the threshold values is applied in the preprocessing stage and then The proposed method is applied to obtain the improved image of skeleton line. We used the existing skeleton methods and SPTA(Shin's Parallel Thinning Algorithm) method for the comparison. The demerits of the existing skeleton methods have a result of noise branch, expansion and contraction. and then we are proposed a SPTA method.

• Journal of the Korean Mathematical Society
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• v.52 no.5
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• pp.1003-1021
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• 2015

A matrix completion problem has been exploited amply because of its abundant applications and the analysis of contractions enables us to have insight into structure and space of operators. In this article, we focus on a specific completion problem related to Hankel partial contractions. We provide concrete necessary and sufficient conditions for the existence of completion of Hankel partial contractions for both extremal and non-extremal types with lower dimensional matrices. Moreover, we give a negative answer for the conjecture presented in [8]. For our results, we use several tools such as the Nested Determinants Test (or Choleski's Algorithm), the Moore-Penrose inverse, the Schur product techniques, and a congruence of two positive semi-definite matrices; all these suggest an algorithmic approach to solve the contractive completion problem for general Hankel matrices of size $n{\times}n$ in both types.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.12 no.1
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• pp.36-41
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• 2012

We tested a single pendulum simulation and observed the influence of several situation space segmentation types in reinforcement learning processes in order to propose a new adaptive automation for situation space segmentation. Its segmentation is performed by the Contraction Algorithm and the Cell Division Approach. Also, its automation is performed by "entropy," which is defined on action values’ distributions. Simulation results were shown to demonstrate the influence and adaptability of the proposed method.

• Journal of applied mathematics & informatics
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• v.28 no.1_2
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• pp.13-30
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• 2010

Let C be a nonempty closed convex subset of a real Hilbert space H. Consider the following iterative algorithm given by $x_0\;{\in}\;C$ arbitrarily chosen, $x_{n+1}\;=\;{\alpha}_n{\gamma}f(W_nx_n)+{\beta}_nx_n+((1-{\beta}_n)I-{\alpha}_nA)W_nP_C(I-s_nB)x_n$, ${\forall}_n\;{\geq}\;0$, where $\gamma$ > 0, B : C $\rightarrow$ H is a $\beta$-inverse-strongly monotone mapping, f is a contraction of H into itself with a coefficient $\alpha$ (0 < $\alpha$ < 1), $P_C$ is a projection of H onto C, A is a strongly positive linear bounded operator on H and $W_n$ is the W-mapping generated by a finite family of nonexpansive mappings $T_1$, $T_2$, ${\ldots}$, $T_N$ and {$\lambda_{n,1}$}, {$\lambda_{n,2}$}, ${\ldots}$, {$\lambda_{n,N}$}. Nonexpansivity of each $T_i$ ensures the nonexpansivity of $W_n$. We prove that the sequence {$x_n$} generated by the above iterative algorithm converges strongly to a common fixed point $q\;{\in}\;F$ := $\bigcap^N_{i=1}F(T_i)\;\bigcap\;VI(C,\;B)$ which solves the variational inequality $\langle({\gamma}f\;-\;A)q,\;p\;-\;q{\rangle}\;{\leq}\;0$ for all $p\;{\in}\;F$. Using this result, we consider the problem of finding a common fixed point of a finite family of nonexpansive mappings and a strictly pseudocontractive mapping and the problem of finding a common element of the set of common fixed points of a finite family of nonexpansive mappings and the set of zeros of an inverse-strongly monotone mapping. The results obtained in this paper extend and improve the several recent results in this area.

• International Journal of Control, Automation, and Systems
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• v.5 no.6
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• pp.663-673
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• 2007

This paper presents a new moving obstacle detection method using an optical flow in mobile robot with an omnidirectional camera. Because an omnidirectional camera consists of a nonlinear mirror and CCD camera, the optical flow pattern in omnidirectional image is different from the pattern in perspective camera. The geometry characteristic of an omnidirectional camera has influence on the optical flow in omnidirectional image. When a mobile robot with an omnidirectional camera moves, the optical flow is not only theoretically calculated in omnidirectional image, but also investigated in omnidirectional and panoramic images. In this paper, the panoramic image is generalized from an omnidirectional image using the geometry of an omnidirectional camera. In particular, Focus of expansion (FOE) and focus of contraction (FOC) vectors are defined from the estimated optical flow in omnidirectional and panoramic images. FOE and FOC vectors are used as reference vectors for the relative evaluation of optical flow. The moving obstacle is turned out through the relative evaluation of optical flows. The proposed algorithm is tested in four motions of a mobile robot including straight forward, left turn, right turn and rotation. The effectiveness of the proposed method is shown by the experimental results.

• Journal of ILASS-Korea
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• v.1 no.1
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• pp.76-84
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• 1996

The nozzle geometry and up-stream inject ion condition affect the characteristics of flow inside the nozzle. such as turbulence and cavitation bubbles. Flow details in fuel nozzle orifice with sudden contraction of cross sectional area have been investigated both experimentally and numerically. The measurements of velocities of internal flow in a scaled-up nozzle with different length to diameter rat io(L/d) were made by laser Doppler velocimetry in order to clarify the effect of internal flow on the characteristics of fuel spray. Mean and fluctuating velocities and discharge coefficients were obtained at various Reynolds numbers. The turbulent intensity and turbulence kinetic energy in a sharp inlet nozzle were higher than that in a round inlet nozzle. Calculations were also performed for the same nozzles as scaled-up experimental nozzles using the SIMPLE algorithm. External spray behavior under different nozzle geometry and up-stream flow conditions using Doppler technique and visualization technique were also observed.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.9 no.5
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• pp.135-143
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• 2000

The vision system is easy to use the exclusive use as a independent computer system but it is not much popularization by reason of expensive and difficult to adapt to the various fields, because it is easy to the existed computer system, the price is cheap and also it can use to the various measurement purpose which user wanted and programed. The measurement method of the vehicle axle casing nut welding part is that measure the value of the welding part to adapt the actual operation program from using the ratio between the actual length of the standard specimen and the length of image, to measure the ratio between the actual product and the camera image. A defect is found by the assembled visual inspection system. The inspection algorithm which estimates the quality of welded product is developed and also, the software program which processes the automatic test function of the inspection system. We make the foundation of the inspection automatic system and we will help to apply other welding machine.

• Journal of Korea Society of Digital Industry and Information Management
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• v.13 no.4
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• pp.91-98
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• 2017

Previous works for detecting arrhythmia have mostly used nonlinear method such as artificial neural network, fuzzy theory, support vector machine to increase classification accuracy. Most methods require higher computational cost and larger processing time. Therefore it is necessary to design efficient algorithm that classifies PVC(premature ventricular contraction) and decreases computational cost by accurately detecting minimal feature point based on only R peak through optimal R wave. We propose an optimal R wave detection and PVC classification method through extracting minimal feature point in IoT environment. For this purpose, we detected R wave through optimal threshold value and extracted RR interval and R peak pattern from noise-free ECG signal through the preprocessing method. Also, we classified PVC in realtime through RR interval and R peak pattern. The performance of R wave detection and PVC classification is evaluated by using record of MIT-BIH arrhythmia database. The achieved scores indicate the average of 99.758% in R wave detection and the rate of 93.94% in PVC classification.

• Journal of the Korea Computer Industry Society
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• v.2 no.10
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• pp.1291-1300
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• 2001

This article come to study the visualization representation technique of eye brain of person, basing on the ground of the dynamic graphics which is able to change the real time, manipulating the image as graphic factors of the multi-data. And the important thought in such realization is as follows ; corresponding the character points of human face and the parameter control value which obtains basing on the existing image recognition algorithm to the multi-dimensional data, synthesizing the image, it is to create the virtual image from the emotional expression according to the changing contraction expression. The proposed DyFIG system is realized that it as the completing module and we suggest the module of human face graphics which is able to express the emotional expression by manipulating and experimenting, resulting in realizing the emotional data expression description and technology.