• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.197-203
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• 2006

This paper addresses dynamic modeling and task-space trajectory following issues for nonholonomic mobile manipulators moving on a slope. An integrated dynamic modeling method is proposed considering nonholonomic constraints and interactive motions. An adaptive neural-fuzzy controller is presented for end-effector trajectory following, which does not rely on precise apriori knowledge of dynamic parameters and can suppress bounded external disturbances. Effectiveness of the proposed algorithm is verified through simulations.

• Proceedings of the Korean Information Science Society Conference
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• 2003.04c
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• pp.437-439
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• 2003

자연의 진화 과정을 모방한 유전자 알고리즘을 이미지 생성기 분야에 적응하여 무한히 다양한 이미지를 생성하는 것은 가능한 반면, 다음 세대에 생성될 이미지들의 예측은 난해하다. 이러한 배경 하에 본 논문에서는 대화식 프랙탈 이미지 생성기를 구현하여, Direct draw mode를 통해 프랙탈 이미지를 생성하기 위해 사용되는 아핀들을 사용자가 직접 변환함으로써 미세 조정이 가능하도록 한다.

• Proceedings of the KIPE Conference
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• 2011.07a
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• pp.425-426
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• 2011

최근 분산발전시스템에서 계통에 전압이상이 발생하더라도 일정시간 계통과 연결해야 하는 FRT 기능이 요구되고 있다. 그러나 인버터에 독립부하가 존재하는 경우, 계통의 이상전압 이 독립부하에 그대로 걸리게 되는 문제가 있다. 본 논문에서는 계통이상시에도 FRT 기능을 준수함과 동시에 독립부하에도 일정한 품질의 전압을 공급할 수 있는 전압보상 기법을 제안한다.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1997.10a
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• pp.131-134
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• 1997

기존의 유전자 알고리즘과는 달리 대화형 유전자 알고리즘은 평가치를 인간이 제시할 수있기 때문에 인간의 직관이나 감성을 효과적으로 표현할 수 있다는 장점이 있다. 대화형 유전자 알고리즘을 기반으로 내용 기반 영상 검색 시스템을 구축한 바 있는데, 이 시스템은 웨이블렛 변환을 통하여 기술된 영상을 내용에 기반하여 검색할 수 있도록 한다. 본 논문에서는 이러한 웨이블렛 변환으로 얻어진 계수가 유전자 알고리즘의 염색체 표현으로 효과적인지를 실험적으로 평가하고자 한다. 소규모의 영상 데이터베이스에 대하여 실험한 결과 체이블렛 변환으로 기술된 염색테들이 유전자 알고리즘의 교차 연산에 대하여 의미있는 후보를 찾아낸다는 사실을 확인할 수 있다.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.113.2-113
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• 2001

In this paper, we present a robot off-Line programming system with collision detection. The collision detection is a very important factor of robot oft-line programming system for collision avoidance, path planning, and so on. The System developed in this paper, basically using an algorithm for the minimum distance calculation between general polyhedra. The proposed system shows an exact and interactive result in static and dynamic environments.

• Proceedings of the Korea Institutes of Information Security and Cryptology Conference
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• 1992.11a
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• pp.165-179
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• 1992

영지식 대화증명은 인증자(prover)가 비밀정보를 노출시키지 않으면서, 검증자(verifier)와 대화를 통해서 이 비밀정보를 알고 있음을 검증자에게 증명하는 방법이다. 본 논문에서는 ElGamal 암호 알고리듬을 이용하여 메세지 전송과 개인 인중이 동시에 가능한 순방향 영지식 증명 프로토콜과 역방향 영지식 증명 프로토콜을 제안한다. 그리고 전송효율을 송신한 전비트와 정보비트와의 비로 정의하여 각각의 프로토콜의 전송효율을 계산한다.

• Speech Sciences
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• v.11 no.4
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• pp.53-66
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• 2004

The nonlinear speech enhancement method with interactive parallel-extended Kalman filter is applied to speech contaminated by additive white noise. To represent the nonlinear and nonstationary nature of speech. we assume that speech is the output of a nonlinear prediction HMM (NPHMM) combining both neural network and HMM. The NPHMM is a nonlinear autoregressive process whose time-varying parameters are controlled by a hidden Markov chain. The simulation results shows that the proposed method offers better performance gains relative to the previous results [6] with slightly increased complexity.

• IEIE Transactions on Smart Processing and Computing
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• v.1 no.3
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• pp.125-132
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• 2012

This paper proposes an automatic object segmentation and background composition method for video communication over consumer mobile phones. The object regions were extracted based on the motion and color variance of the first two frames. To combine the motion and variance information, the Euclidean distance between the motion boundary pixel and the neighboring color variance edge pixels was calculated, and the nearest edge pixel was labeled to the object boundary. The labeling results were refined using the morphology for a more accurate and natural-looking boundary. The grow-cut segmentation algorithm begins in the expanded label map, where the inner and outer boundary belongs to the foreground and background, respectively. The segmented object region and a new background image stored a priori in the mobile phone was then composed. In the background composition process, the background motion was measured using the optical-flow, and the final result was synthesized by accurately locating the object region according to the motion information. This study can be considered an extended, improved version of the existing background composition algorithm by considering motion information in a video. The proposed segmentation algorithm reduces the computational complexity significantly by choosing the minimum resolution at each segmentation step. The experimental results showed that the proposed algorithm can generate a fast, accurate and natural-looking background composition.

• Journal of Biosystems Engineering
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• v.33 no.3
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• pp.196-203
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• 2008

Hybrid robust image processing algorithm to extract visual features of melon during the cultivation was developed based on a wireless tele-operative interface. Features of a melon such as size and shape including position were crucial to successful task automation and future development of cultivation data base. An algorithm was developed based on the concept of hybrid decision-making which shares a task between the computer and the operator utilizing man-computer interactive interface. A hybrid decision-making system was composed of three modules such as wireless image transmission, task specification and identification, and man-computer interface modules. Computing burden and the instability of the image processing results caused by the variation of illumination and the complexity of the environment caused by the irregular stem and shapes of leaves and shades were overcome using the proposed algorithm. With utilizing operator's teaching via LCD touch screen of the display monitor, the complexity and instability of the melon identification process has been avoided. Hough transform was modified for the image obtained from the locally specified window to extract the geometric shape and position of the melon. It took less than 200 milliseconds processing time.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.55 no.5
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• pp.280-286
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• 2006

The paper proposes a new protection algorithm for reliable operation of grid-interfaced PV system, which can flexibly interact with conventional protective schemes of power utility grid not only to prevent damages to utility or public persons and utility apparatus caused by malfunction or failure in distribution network protection system, but also to protect a PV system itself from faults or abnormal conditions of the network. The proposed algorithm is based on reclosing characteristics of the distribution system. As a network fault occurs, the new scheme determines whether it is momentary or permanent and responds in a pre-programmed way to the fault. For permanent outage, the proposed algorithm shuts down inverter's operations but monitoring system voltage and frequency at the point of common coupling with grid. When it comes to the momentary outage, Inverter starts stand-by operation mode so that it can be automatically connected to the grid without start-up procedures as soon as the system voltage and frequency returns into the normal operation range. In order to investigate' and evaluate the PV system operation, simulation study based on PSCAD/EMTDC has been carried out to verify the performance of the proposed protection scheme.