• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1038-1046
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• 2008

This paper presents a framework to generate human-like movements of a humanoid in real time using the movement primitive database of a human. The framework consists of two processes: 1) the offline motion imitation learning based on an Evolutionary Algorithm and 2) the online motion generation of a humanoid using the database updated bγ the motion imitation teaming. For the offline process, the initial database contains the kinetic characteristics of a human, since it is full of human's captured motions. The database then develops through the proposed framework of motion teaming based on an Evolutionary Algorithm, having the kinetic characteristics of a humanoid in aspect of minimal torque or joint jerk. The humanoid generates human-like movements far a given purpose in real time by linearly interpolating the primitive motions in the developed database. The movement of catching a ball was examined in simulation.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.3
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• pp.1121-1141
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• 2020

We propose a robust visual object tracking algorithm fusing a convolutional neural network tracker trained offline from a large number of video repositories and a color histogram based tracker to track objects for mixing immersive audio. Our algorithm addresses the problem of occlusion and large movements of the CNN based GOTURN generic object tracker. The key idea is the offline training of a binary classifier with the color histogram similarity values estimated via both trackers used in this method to opt appropriate tracker for target tracking and update both trackers with the predicted bounding box position of the target to continue tracking. Furthermore, a histogram similarity constraint is applied before updating the trackers to maximize the tracking accuracy. Finally, we compute the depth(z) of the target object by one of the prominent unsupervised monocular depth estimation algorithms to ensure the necessary 3D position of the tracked object to mix the immersive audio into that object. Our proposed algorithm demonstrates about 2% improved accuracy over the outperforming GOTURN algorithm in the existing VOT2014 tracking benchmark. Additionally, our tracker also works well to track multiple objects utilizing the concept of single object tracker but no demonstrations on any MOT benchmark.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.1
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• pp.131-142
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• 1996

Most industrial robots cannot be off-line programmed to carry out a task accurately, unless their kinematic model is suitably corrected through a calibration procedure. However, normal calibration is an expensive and time-consumming precedure due to the highly accurate measurement equipment required and due to the significant amount of data that must be collected. This paper presents a simple and economic procedure to improve the efficiency of robot calibration especially for arc welding application. To simplify the measurement process, an automotic data measurement algorithm as well as a simple measurement device are developed. Also, a calibration algorithm which can automatically identify the independent model parameters to be estimated is presented. To demonstrated the simplicity and the effectiveness of the procedure, experimental studies and computer simulations are performed and their results are discussed.

• Journal of Communications and Networks
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• v.16 no.1
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• pp.36-44
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• 2014

Exploiting the energy-delay tradeoff for energy saving is critical for developing green wireless communication systems. In this paper, we investigate the delay-constrained energy-efficient packet transmission. We aim to minimize the energy consumption of multiple randomly arrived packets in an additive white Gaussian noise channel subject to individual packet delay constraints, by taking into account the practical on-off circuit power consumption at the transmitter. First, we consider the offline case, by assuming that the full packet arrival information is known a priori at the transmitter, and formulate the energy minimization problem as a non-convex optimization problem. By exploiting the specific problem structure, we propose an efficient scheduling algorithm to obtain the globally optimal solution. It is shown that the optimal solution consists of two types of scheduling intervals, namely "selected-off" and "always-on" intervals, which correspond to bits-per-joule energy efficiency maximization and "lazy scheduling" rate allocation, respectively. Next, we consider the practical online case where only causal packet arrival information is available. Inspired by the optimal offline solution, we propose a new online scheme. It is shown by simulations that the proposed online scheme has a comparable performance with the optimal offline one and outperforms the design without considering on-off circuit power as well as the other heuristically designed online schemes.

• Korean Journal of Computational Design and Engineering
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• v.15 no.6
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• pp.460-466
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• 2010

These days, it is getting important to have more chances to visit natural environment for the wellbeing life. The advancement of digital technologies allows us to get useful information regardless of time and location. In this paper, we investigate a way of improving user experience in the natural green environment using the digital technologies. This paper proposes a system called Green-UX-Story which supports users to create and share their story through the online and offline green experience. The system consists of two main systems: the "Story-Field" and the "Story-Tree". The Story-Field consists of a certain number of the Story-Trees allocated to a certain green site. In the Story-Field, users can see the Story-Trees that are owned by other users and share their stories. The Story-Tree contains the user-story in each branch and green information that are captured by the user on the web. The Story-Tree is generated using the L-system algorithm as the user adds stories. The main purpose of the system is to enable users to write their green stories from the both online and offline experiences. This paper describes the system configuration and the user scenario of the Green-UX-story.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.667-668
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• 2008

This paper demonstrates that the recurrent neural networks can be used successfully for the identification of finite automata (FAs). A new type of recurrent neural network (RNN) is proposed and the offline training algorithm, regulated Levenberg-Marquadt (LM) algorithm, for the network is developed. Simulation result shows that the identification and the extraction of FAs are practically achievable.

• Proceedings of the KIPE Conference
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• 2010.07a
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• pp.51-52
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• 2010

In order to simplify the offline identification of induction motor parameters, a method based on optimization using a Tabu Search algorithm is proposed. The Tabu Search algorithm is used to minimize the error between the actual data and an estimated model. The robustness of the method is shown by identifying parameters of the induction motor in three different cases. The simulation results show that the method successfully estimates the motor parameters.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.7
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• pp.3286-3300
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• 2016

High Efficiency Video Coding (HEVC) Standard, as the latest coding standard, introduces satisfying compression structures with respect to its predecessor Advanced Video Coding (H.264/AVC). The new coding standard can offer improved encoding performance compared with H.264/AVC. However, it also leads to enormous computational complexity that makes it considerably difficult to be implemented in real time application. In this paper, based on machine learning, a fast partitioning method is proposed, which can search for the best splitting structures for Intra-Prediction. In view of the video texture characteristics, we choose the entropy of Gray-Scale Difference Statistics (GDS) and the minimum of Sum of Absolute Transformed Difference (SATD) as two important features, which can make a balance between the computation complexity and classification performance. According to the selected features, adaptive decision trees can be built for the Coding Units (CU) with different size by offline training. Furthermore, by this way, the partition of CUs can be resolved as a binary classification problem. Experimental results have shown that the proposed algorithm can save over 34% encoding time on average, with a negligible Bjontegaard Delta (BD)-rate increase.

• Journal of Korea Multimedia Society
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• v.14 no.5
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• pp.642-649
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• 2011

Among the various aspects of offline handwritten character patterns, it is the great variety of writing styles and variations that renders the task of computer recognition very hard. The immense variety of character shape has been recognized but rarely studied during the past decades of numerous research efforts. This paper tries to address the problem of measuring image distortions and handwritten character patterns with respect to reference patterns. This work is based on mass-spring mesh model with the introduction of simulated electric charge as a source of the external force that can aid decoding the shape distortion. Given an input image and a reference image, the charge is defined, and then the relaxation procedure goes to find the optimum configuration of shape or patterns of least potential. The relaxation process is based on the fourth order Runge-Kutta algorithm, well-known for numerical integration. The proposed method of modeling is rigorous mathematically and leads to interesting results. Additional feature of the method is the global affine transformation that helps analyzing distortion and finding a good match by removing a large scale linear disparity between two images.

• International Journal of Internet, Broadcasting and Communication
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• v.14 no.2
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• pp.109-118
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• 2022

Workers' anomalous trajectories allow us to detect emergency situations in the workplace, such as accidents of workers, security threats, and fire. In this work, we develop a scheme to detect abnormal trajectories of workers using the edit distance on real sequence (EDR) and density method. Our anomaly detection scheme consists of two phases: offline phase and online phase. In the offline phase, we design a method to determine the algorithm parameters: distance threshold and density threshold using accumulated trajectories. In the online phase, an input trajectory is detected as normal or abnormal. To achieve this objective, neighbor density of the input trajectory is calculated using the distance threshold. Then, the input trajectory is marked as an anomaly if its density is less than the density threshold. We also evaluate performance of the proposed scheme based on the MIT Badge dataset in this work. The experimental results show that over 80 % of anomalous trajectories are detected with a precision of about 70 %, and F1-score achieves 74.68 %.