• Journal of Institute of Control, Robotics and Systems
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• v.15 no.10
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• pp.1047-1055
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• 2009

Since nuclear and chemical materials could damage people and disturb battlefield missions in a wide region, nuclear/chemical reconnaissance systems utilizing multiple mobile robots are highly desirable for rapid and safe reconnaissance. In this paper, we design a nuclear/chemical reconnaissance system including mobile robots. Also we propose time-efficient trajectory planning algorithms using grid coverage and contour finding methods for reconnaissance operation. For grid coverage, we performed in analysis on time consumption for various trajectory patterns generated by straight lines and arcs. We proposed BCF (Bounded Contour Finding) and BCFEP (Bounded Contour Finding with Ellipse Prediction) algorithms for contour finding. With these grid coverage and contour finding algorithms, we suggest trajectory planning algorithms for single, two or four mobile robots. Various simulations reveal that the proposed algorithms improve time-efficiency in nuclear/chemical reconnaissance missions in the given area. Also we conduct basic experiments using a commercial mobile robot and verify the time efficiency of the proposed contour finding algorithms.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.8
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• pp.658-666
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• 1989

In this paper, an efficient algorithm for estimation volume and surface area and a reconstruction algorithm for 3-dimensional graphics are presented.In order to improve computing efficiency, the graph theory is utilized and the algorithm to obtain proper contour points is developed by considering several tolerances. Search for the contour points is limited by the change of curvature of cross sectional contour to provide efficiency in searching the minimum cost path. In computer simulation of these algorithms, the results show that, for the tolerance values of 1.001 and 1.002, the execution time reduced to 66%-80% and the error for the measured value is less than 3%. The reconstructed 3-dimensional images from the cross sections can be analyzed in many directions using the graphic scheme.

• Korean Journal of Computational Design and Engineering
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• v.3 no.1
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• pp.15-21
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• 1998

Several adaptive and direct slicing methods have been developed to make the slice data for RP parts with better accuracy and speed. This research deals with a new adaptive slicing algorithm that shows drastic improvement in computing time for calculating the slices of a part. First, it uses less number of sampling points fur each slice in determining the thickness of the next slice. Secondly, the idea of contour map is utilized to determine the optimal sampling point on each slice. Thirdly, the calculation efficiency is further improved by introducing vertical character lines of the given part. The results in terms of accuracy and speed are compared with the existing methods.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.12
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• pp.1677-1685
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• 1988

In this paper, a new contour coding algorithm is investigated for use in region based image coding. Generally the contour data may be encoded by its chain codes or chain difference codes. But the data compression efficiency is low because of heavy burden for initial absolute coordinates of each chain. To alleviate this problem, the depth first search in graph traversal algorithm, is applied to the chain difference coding method. The proposed coding scheme is shown to be very efficient for contour images obtained by split-merge segmentation. Finally, we can reuce data about 60% in comparison with modified chain difference coding.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.6
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• pp.160-166
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• 2004

In this study, a new algorithm, named as Contour Offset Algorithm(COA) is developed to fabricate precise features or patterns in the range of several micrometers by nano replication printing(nRP) process. In the nRP process, a femto-second laser is scanned on a photosensitive monomer resin in order to induce polymerization of the liquid monomer according to a voxel matrix which is transformed from the bitmap format file. After polymerization, a droplet of ethanol is dropped to remove the unnecessary remaining liquid resin and then only the polymerized figures with nano-scaled precision are remaining on the glass plate. To obtain more precise replicated features, the contour lines in voxel matrix should be modified considering a voxel size. In this study, the efficiency of the proposed method is shown through two examples in view of accuracy.

• Journal of Broadcast Engineering
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• v.1 no.1
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• pp.35-43
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• 1996

In this paper, we present efficient six-connected contour coding algorithms which can uniquely reconstruct any contour image and efficiently compress the contour data. We first design chain difference codes using two onward direction states, based on the fact that the probability distribution of the direction vectors of horiwntal/vertical direction state is different from that of the direction vectors of diagonal direction state. In order to increase coding efficiency, we also design chain difference codes using five states which are classified according to current and previous onward direction vectors. In addition, we also remove the END codeword to reduce total codeword occurrency. Experimental results show that when using 2 states and 5 states without END codeword total entropy decreases by about 12% and 14% for real images and by about 10% and 26% for a synthetic image, respectively.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.11
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• pp.5605-5623
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• 2016

We propose a face recognition method that utilizes the LCP face descriptor. The proposed method applies a LoG mask to extract a face contour response, and employs the LCP algorithm to produce a binary pattern representation that ensures high recognition performance even under the changes in illumination, noise, and aging. The proposed LCP algorithm produces excellent noise reduction and efficiency in removing unnecessary information from the face by extracting a face contour response using the LoG mask, whose behavior is similar to the human eye. Majority of reported algorithms search for face contour response information. On the other hand, our proposed LCP algorithm produces results expressing major facial information by applying the threshold to the search area with only 8 bits. However, the LCP algorithm produces results that express major facial information with only 8-bits by applying a threshold value to the search area. Therefore, compared to previous approaches, the LCP algorithm maintains a consistent accuracy under varying circumstances, and produces a high face recognition rate with a relatively small feature vector. The test results indicate that the LCP algorithm produces a higher facial recognition rate than the rate of human visual's recognition capability, and outperforms the existing methods.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.1
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• pp.72-80
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• 1994

In this paper, a new variable block-size transform coding algorithm using information of segmentation is proposed. In general variable block-size transform coding algorithms, the information which is used to form variable blocks is thrown away, but in the proposed algorithm, the information of segmentation which is composed of texture and contour information is maintained for efficient coding. That is, the number of blocks can be reduced by contour information, a DC component of block can be predicted by texture information, and the region compensation, which reduces mean difference between regions, using texture and contour information can diminish the magnitude of AC components. The result is that the proposed algorithm has improved highly the coding efficiency of DC and AC components.

• Journal of Advanced Navigation Technology
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• v.27 no.2
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• pp.214-220
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• 2023

Because there exist a region in the rotational speed and torque map that the a particular combination of a motor and an ESC (Electronic Speed Control) can maintain its peak efficiency, identifying this region is important for designing an efficient system. Firstly the accuracy of the measurement device is verified using the published propeller measurement data. And then, the combined motor-ESC efficiencies of an individual propeller are measured at a wide range of rotational speeds. With measurements obtained from a large number of different propellers, efficiency contours are obtained. It is shown that there exist a significant difference between the measured combined efficiency and the motor efficiency computed using a simple model. In addition, with the same motor, the combined efficiency can have a meaningful variation depending on the model of the ESC. The efficiency contours derived from this study will be useful for the design and optimization of electric propulsion systems of an aircraft where propulsion efficiency is critical.

• Journal of Biomedical Engineering Research
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• v.28 no.4
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• pp.549-555
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• 2007

In order to study cortical properties in human, it is necessary to obtain an accurate and explicit representation of the cortical surface in individual subjects. Among many approaches, surface-based method that reconstructs a 3-D model from contour lines on cross-section images is widely used. In general, however, medical brain imaging has some problems such as the complexity of the images, non-linear gain artifacts and so on. Due these limitations, therefore, extracting anatomical structures from imaging data is very a complicated and time-consuming task. In this paper, we present an improved method for extracting contour lines of cortical surface from magnetic resonance images that simplifies procedures of a conventional method. The conventional method obtains contour lines through thinning and chain code process. On the other hand, the proposed method can extract contour lines from comparison between boundary data and labeling image without supplementary processes. The usefulness of the proposed method has been verified using brain image.