• KSII Transactions on Internet and Information Systems (TIIS)
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• v.15 no.2
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• pp.421-441
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• 2021

Fruit detection in orchards is one of the most crucial tasks for designing the visual system of an automated harvesting robot. It is the first and foremost tool employed for tasks such as sorting, grading, harvesting, disease control, and yield estimation, etc. Efficient visual systems are crucial for designing an automated robot. However, conventional fruit detection methods always a trade-off with accuracy, real-time response, and extensibility. Therefore, an improved method is proposed based on coarse-to-fine multitask cascaded convolutional networks (MTCNN) with three aspects to enable the practical application. First, the architecture of Fruit-MTCNN was improved to increase its power to discriminate between objects and their backgrounds. Then, with a few manual labels and operations, synthetic images and labels were generated to increase the diversity and the number of image samples. Further, through the online hard example mining (OHEM) strategy during training, the detector retrained hard examples. Finally, the improved detector was tested for its performance that proved superior in predicted accuracy and retaining good performances on portability with the low time cost. Based on performance, it was concluded that the detector could be applied practically in the actual orchard environment.

• Annual Conference on Human and Language Technology
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• 2018.10a
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• pp.532-536
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• 2018

심층인공신경망을 이용한 대화 모델링 연구가 활발하게 진행되고 있다. 본 논문에서는 대화에서 발화의 감정과 화행을 분류하기 위해 멀티태스크(multitask) 학습을 이용한 End-to-End 시스템을 제안한다. 우리는 감정과 화행을 동시에 분류하는 시스템을 개발하기 위해 멀티태스크 학습을 수행한다. 또한 불균형 범주 분류를 위해 계단식분류(cascaded classification) 구조를 사용하였다. 일상대화 데이터셋을 사용하여 실험을 수행하였고 macro average precision으로 성능을 측정하여 감정 분류 60.43%, 화행 분류 74.29%를 각각 달성하였다. 이는 baseline 모델 대비 각각 29.00%, 1.54% 향상된 성능이다. 본 논문에서는 제안하는 구조를 이용하여, 발화의 감정 및 화행 분류가 End-to-End 방식으로 모델링 가능함을 보였다. 그리고, 두 분류 문제를 하나의 구조로 적절히 학습하기 위한 방법과 분류 문제에서의 범주 불균형 문제를 해결하기 위한 분류 방법을 제시하였다.

• Journal of Electrical Engineering and Technology
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• v.11 no.6
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• pp.1674-1683
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• 2016

In this paper, a Finite Control Set Model Predictive Control (FCS-MPC) for a five level cascaded multilevel inverter (CMLI) with reduced switch topology is proposed. Five switches are used here instead of conventionally used eight switches. The main contribution of this paper is to make the MPC controller work for the reduced switch topology using only 19 voltage vectors in place of conventional 61 voltage vectors for a five level CMLI. This simplifies the execution of the MPC algorithm, paving a way for the significant reduction in the computational time. The controller makes use of the excellent ability of MPC to multitask, by adding one more objective which is to reduce the average switching frequency in addition to controlling the load current. This is especially important, since switching losses and therefore switching frequency is significant for high-power applications. The trade-off of this MPC is that the current is not as smooth as the 61 vector scheme, but well within the limits of IEEE standards. The results shown prove that this MPC works well in steady state and dynamic conditions too.