• Investigative Magnetic Resonance Imaging
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• 제24권3호
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• pp.123-131
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• 2020

Purpose: Joint label fusion (JLF) is a popular multi-atlas-based segmentation algorithm, which compensates for dependent errors that may exist between atlases. However, in order to get good segmentation results, it is very important to set the several free parameters of the algorithm to optimal values. In this study, we first investigate the feasibility of a JLF algorithm for prostate segmentation in MR images, and then suggest the optimal set of parameters for the automatic prostate segmentation by validating the results of each parameter combination. Materials and Methods: We acquired T2-weighted prostate MR images from 20 normal heathy volunteers and did a series of cross validations for every set of parameters of JLF. In each case, the atlases were rigidly registered for the target image. Then, we calculated their voting weights for label fusion from each combination of JLF's parameters (r_pxy, r_pz, r_sxy, r_sz, β). We evaluated the segmentation performances by five validation metrics of the Prostate MR Image Segmentation challenge. Results: As the number of voxels participating in the voting weight calculation and the number of referenced atlases is increased, the overall segmentation performance is gradually improved. The JLF algorithm showed the best results for dice similarity coefficient, 0.8495 ± 0.0392; relative volume difference, 15.2353 ± 17.2350; absolute relative volume difference, 18.8710 ± 13.1546; 95% Hausdorff distance, 7.2366 ± 1.8502; and average boundary distance, 2.2107 ± 0.4972; in parameters of r_pxy = 10, r_pz = 1, r_sxy = 3, r_sz = 1, and β = 3. Conclusion: The evaluated results showed the feasibility of the JLF algorithm for automatic segmentation of prostate MRI. This empirical analysis of segmentation results by label fusion allows for the appropriate setting of parameters.

• Structural Engineering and Mechanics
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• 제56권4호
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• pp.667-694
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• 2015

The suspended dome system is a new structural form that has become popular in the construction of long-span roof structures. Suspended dome is a kind of new pre-stressed space grid structure that has complex mechanical characteristics. In this paper, an optimum topology design algorithm is performed using the enhanced colliding bodies optimization (ECBO) method. The length of the strut, the cable initial strain, the cross-sectional area of the cables and the cross-sectional size of steel elements are adopted as design variables and the minimum volume of each dome is taken as the objective function. The topology optimization on lamella dome is performed by considering the type of the joint connections to determine the optimum number of rings, the optimum number of joints in each ring, the optimum height of crown and tubular sections of these domes. A simple procedure is provided to determine the configuration of the dome. This procedure includes calculating the joint coordinates and steel elements and cables constructions. The design constraints are implemented according to the provision of LRFD-AISC (Load and Resistance Factor Design-American Institute of Steel Constitution). This paper explores the efficiency of lamella dome with pin-joint and rigid-joint connections and compares them to investigate the performance of these domes under wind (according to the ASCE 7-05), dead and snow loading conditions. Then, a suspended dome with pin-joint single-layer reticulated shell and a suspended dome with rigid-joint single-layer reticulated shell are discussed. Optimization is performed via ECBO algorithm to demonstrate the effectiveness and robustness of the ECBO in creating optimal design for suspended domes.

• 대한기계학회논문집A
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• 제24권6호
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• pp.1633-1642
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• 2000

Like many other mechanical dynamic systems, flexible manipulator systems experience stiction or sticking friction, which may cause input-dependent instabilities. Manipulator performance can be enha nced by identifying friction but it is hard and expensive to measure friction by direct and precise sensing of contact displacements and forces. This study addresses the problem of identifying flexible manipulator joint friction. A dynamic model of a two-link flexible manipulator based upon finite element and Lagrange's method is constructed. The dynamic model includes the effects of joint compliances and actuator dynamics. Friction is also incorporated in the dynamic model to account for stick-slip at the joints. Next, the friction parameters are to be determined. The identification problem is posed as an optimization problem to be solved using nonlinear programming methods. A genetic algorithm is used to increase the convergence rate and the chances of finding the global optimum. The identified friction parameters are experimentally verified and it is expected that the identification technique is applicable to a system parameter identification problem associated with a wide class of nonlinear systems.

• 한국강구조학회 논문집
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• 제11권1호통권38호
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• pp.1-11
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• 1999

본 논문에서는 강구조물의 제작 및 시공에서 용접이음부의 고품질을 확보하기 위하여 강구조물 용접이음부 외부결함의 자동검출에 관한 화상처리 알고리즘을 개발한다. 개발 알고리즘은 광학계의 적절한 배치에 의해 얻어지는 4매의 입력화상을 이용하여 기존의 기법에서 검출할 수 없었던 용접이음부 외부결함을 검출할 수 있음을 보인다. 용접 외부결함이 존재하는 시험편을 제작하고 실험을 통하여 개발 알고리즘의 유용성을 확인하였다. 또한 검출된 용접외부결함의 분류 결과를 육안검사 결과와 비교하였다.

• 한국정밀공학회지
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• 제23권4호
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• pp.75-82
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• 2006

In this paper, we propose an optimal trajectory for biped robots to move up-and-down stairs using a genetic algorithm and a computed-torque control for biped robots to be dynamically stable. First, a Real-Coded Genetic Algorithm (RCGA) which of operators are composed of reproduction, crossover and mutation is used to minimize the total energy. Constraints are divided into equalities and inequalities: Equality constraints consist of a position condition at the start and end of a step period and repeatability conditions related to each joint angle and angular velocity. Inequality constraints include collision avoidance conditions of a swing leg at the face and edge of a stair, knee joint conditions with respect to the avoidance of the kinematic singularity, and the zero moment point condition with respect to the stability into the going direction. In order to approximate a gait, each joint angle trajectory is defined as a 4-th order polynomial of which coefficients are chromosomes. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot that consists of seven links in the sagittal plane. The trajectory is more efficient than that generated by the modified GCIPM. And various trajectories generated by the proposed GA method are analyzed in a viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.

• 제어로봇시스템학회논문지
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• 제19권6호
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• pp.540-546
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• 2013

This paper presents a trajectory planning algorithm for TMR (Two-wheeled Mobile Robots). The trajectory is developed in joint space and considers the physical limits of a TMR. First, we present a process for generating a smooth curve through a Bezier curve. The trajectory for the center of the TMR following the Bezier curve is developed through a convolution operator taking into consideration its physical limits. The trajectory along the Bezier curve is regenerated using time-dependent parameters which correspond to the distance driven by the velocity of the center of the TMR in a sampling time. The velocity commands in the Cartesian space are converted to actuator commands for two wheels. In case that the actuator commands exceed the maximum velocity, the trajectory is redeveloped with compensated center velocity. We also suggest a smooth trajectory planning algorithm in joint space for the two segmented paths. Finally, the effectiveness of the algorithm is shown through numerical examples and application to a simulator.

• Journal of Mechanical Science and Technology
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• 제18권12호
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• pp.2209-2215
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• 2004

In the present research work, an automated machine vision system and a new algorithm to interpret the inspection data has been developed. In the past, the control of tolerance of front-chassis-module was done manually. In the present work a machine vision system and required algorithm was developed to carryout dimensional evaluation automatically. The present system is used to verify whether the automobile front-chassis-module is within the tolerance limit or not. The directional ability parameters related with front-chassis-module such as camber, caster, toe and king-pin angle are also determined using the present algorithm. The above mentioned parameters are evaluated by the pose of interlinks in the assembly of an automobile front-chassis-module. The location of ball-joint center is important factor to determine these parameters. A method to determine the location of ball-joint center using geometric features is also suggested in this paper. In the present work a 3-D best fitting method is used for determining the relationship between nominal design coordinate system and the corresponding feature coordinate system.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제7권8호
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• pp.1955-1971
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• 2013

This paper studies relay selection and power allocation for amplify-and-forward (AF) based two-way relay networks (TWRN) with asymmetric traffic requirements (ATR). A joint relay selection and power allocation algorithm is proposed to decrease the outage probability of TWRN with ATR. In this algorithm, two sources exchange information with the help of the relay during two time slots. We first calculate the optimal power allocation parameters based on instantaneous channel state information (CSI), and then derive a tight lower bound of outage probability. Furthermore, we propose a simplified relay selection criterion, which can be easily calculated as harmonic mean of instantaneous channel gains, according to the outage probability expressions. Simulation results verified the theoretical analyses we presented. It is shown that the outage probability of our algorithm improves 3-4dB comparing with that of other existing algorithms, and the lower bound is tight comparing with actual value for the entire signal-to-noise ratio (SNR) region.

• 한국통신학회논문지
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• 제27권1A호
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• pp.51-57
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• 2002

본 논문에서는 이산 푸리에 변환(discrete Fourier transforma: DFT) 알고리듬의 분해 능력 향상을 위한 간단한 보간 기법을 제안한다. 제안된 보간 기법은 DFT의 크기(DFT를 위한 시간 축에서 이산 샘플의 개수)를 증가시키지 않고도 DFT 알고리듬의 주파수 및 위상 분해 능력을 현저히 향상시킬 수 있게 된다. 제안된 보간 기법의 핵심은 크기 및 위상 스펙트럼에서 내분점을 이용하는 것이다. 이 기법은 위성 통신 시스템과 같은 버스트 모드 디지털 전송을 하는 시스템에서 주파수 및 위상 오프셋을 동시에 미세 추정하는 곳에 사용될 수 있다. 실험 결과에 의하면 제안된 보간 기법을 사용하는 동시 추정기는 추정 성능에 있어서 현저한 개선을 얻게 됨을 확인할 수 있다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제9권10호
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• pp.3831-3851
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• 2015

This paper is concerned with the problem of joint resource allocation and user-pairing in virtual MIMO SC-FDMA systems to improve service quality of experience (QoE). No-reference logarithmic model is introduced to quantify service experience for each user and the objective is to maximize sum of all user's mean of score (MOS). We firstly formulate the optimal problem into an S-dimensional (S-D) assignment problem. Then, to solve this problem, the modified Lagrangian relaxation algorithm is deduced to obtain the suboptimal result of joint user-paring and subchannel allocation. The merits of this solution are as follows. First, the gap between its results and the global optimal one can be quantified and controlled by balancing the complexity and accuracy, which merit the other suboptimal algorithms do not have. Secondly, it has the polynomial computational complexity and the worst case complexity is O(3LN³), where L is the maximum iteration time and N is the number of subchannels. Simulations also prove that our proposed algorithm can effectively improve quality of experience and the gap between our proposed and the optimal algorithms can be controlled below 8%.