• KSII Transactions on Internet and Information Systems (TIIS)
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• v.16 no.8
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• pp.2529-2551
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• 2022

Visual servoing (VS) based on the Kalman filter (KF) algorithm, as in the case of KF-based image-based visual servoing (IBVS) systems, suffers from three problems in uncalibrated environments: the perturbation noises of the robot system, error of noise statistics, and slow convergence. To solve these three problems, we use an IBVS based on KF, African vultures optimization algorithm enhanced extreme learning machine (AVOA-ELM), and fuzzy logic (FL) in this paper. Firstly, KF online estimation of the Jacobian matrix. We propose an AVOA-ELM error compensation model to compensate for the sub-optimal estimation of the KF to solve the problems of disturbance noises and noise statistics error. Next, an FL controller is designed for gain adaptation. This approach addresses the problem of the slow convergence of the IBVS system with the KF. Then, we propose a visual servoing scheme combining FL and KF-AVOA-ELM (FL-KF-AVOA-ELM). Finally, we verify the algorithm on the 6-DOF robotic manipulator PUMA 560. Compared with the existing methods, our algorithm can solve the three problems mentioned above without camera parameters, robot kinematics model, and target depth information. We also compared the proposed method with other KF-based IBVS methods under different disturbance noise environments. And the proposed method achieves the best results under the three evaluation metrics.

• Corrosion Science and Technology
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• v.22 no.1
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• pp.21-29
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• 2023

In this paper, a SiC nano electroless nickel plating layer with excellent corrosion resistance was fabricated using the Taguchi method. The electroless plated low carbon steel was subjected to tests to examine the influence of corrosive media, microhardness, and corrosion rate on the corrosion resistance of this alloy. Three different corrosive media (HCl, Na₂SO₄, and NaCl) at various temperatures (80, 90, and 100 ℃) were used, and at three different times (40, 80, and 120 min.) with a speed of stirring equal to 500 rpm. The results of microhardness were found from 134.276 HV to 278.578 HV at various conditions, while the corrosion rate results were obtained from 0.89643 mpy to 7.12571 mpy at different circumstances. Corrosion, and mechanical characteristics were explained using Taguchi design. Taguchi technique was used to account for all possible combinations of elements in order to conduct a complete study. Models that link the response and procedure parameters were developed using the results of these tests, and the analysis of variance was utilized to validate these models (ANOVA). For maximum efficiency, a function called "desirability" was applied to all responses at once.

• Journal of Korean Port Research
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• v.11 no.2
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• pp.145-156
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• 1997

The purpose in this study is development of model for the Container Terminals of Pusan Port, First of all, Quantitive and Qualititve factors are characterized which effects on Physical Distribution System in Container Terminals. The System Dynamics method is used to develope the model by using these factor. This model is able to present the timinig of investment in Container Terminals of Pusan Port. Six models are showed by change of parameters in System Dynamics, in this paper. In the model, Five feedback loop were found. Loop 1 : Number of Liners$\rightarrow$Number of Congested ships$\rightarrow$Port's Charges$\rightarrow$Export & Import Cargo Volumes$\rightarrow$Number of Liners$\rightarrow$The will to investment of government$\rightarrow$Length of berth→Number of Liners. Negative loop was acquired. Loop 2 : Port's Charge$\rightarrow$Economic of Port$\rightarrow$The will to Private management$\rightarrow$Efficiency for Port's Operation$\rightarrow$Port's Charges. Positive loop was acquired. Loop 3 : Number of Congested ships$\rightarrow$Planning for future development$\rightarrow$Information Service$\rightarrow$Support service for port's user$\rightarrow$Number of Congested ships. Negative loop was acquired. Loop 4 : Number of Congested ships$\rightarrow$Planning for future development$\rightarrow$Extent of stacking area$\rightarrow$Number of handling equipmint$\rightarrow$Number of Congested ships. Negative loop was acquired. Loop 5 : Export & Import Cargo Volumes$\rightarrow$Number of Liners$\rightarrow$Econmic of Port$\rightarrow$Support service for port's user$\rightarrow$Export & Import Cargo Volumes. Positive loop was acquired. System's level variables were selected as followings ; Number of Liners, Number of Congested ships, Export & Import Carge Volumes, Length of berth, and Port's Charges. As result of simmulation of model, fluctuation of respective year was found in level variables. This fluctuation can be used properly to present timing of investment.

• Transactions on Electrical and Electronic Materials
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• v.1 no.4
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• pp.11-15
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• 2000

This paper presents a process optimization of antireflection (AR) coating on crystalline Si solar cells. Theoretical and experimental investigations were performed on a double-layer AR(DLAR) coating of MgFe$_2$/GeO$_2$. We investigated GeO$_2$ films as an AR layer because they have a proper refractive index of 2.46 and demonstrate the same lattice constant as Si substrate. RF sputter grown GeO$_2$ film showed deposition temperature strong dependence. The GeO$_2$ at 400$\^{C}$ exhibited a strong (111) preferred orientation and the lowest surface roughness of 6.87 $\AA$. Refractive index of MgFe$_2$film was measured as 1.386 for the most of growth temperature. An optimized DLAR coating showed a reflectance as low as 2.04% in the wavelengths ranged from 0.4 ㎛ to 1.1 ㎛. Solar cells with a structure of MgFe$_2$/GeO$_2$/Ag/N$\^$+//p-type Si/P$\^$+//Al were investigated with the without DLAR coatings. We achieved the efficiency of solar cells greater than 15% with 3.12% improvement with DLAR coatings. Further details about MgFe$_2$,GeO$_2$ films, and cell fabrication parameters are presented in this paper.

• Journal of the Korea Computer Graphics Society
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• v.29 no.1
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• pp.13-22
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• 2023

In this paper, we present a method for estimating full 3D shapes from given 2D silhouette images of human bodies. Because the silhouette only consists of the partial information on the true shape, it is an ill-posed problem. To address the problem, we use the statistical human shape space obtained from the existing large 3D human shape database. The method consists of three steps. First, we extract the boundary pixels and their appropriate normal vectors from the input silhouette images. Then, we initialize the correspondences of each pixel to the vertex of the statistically-deformable 3D human model. Finally, we numerically optimize the parameters of the statistical model to fit best to the given silhouettes. The viability and the robustness of the method is demonstrated with various experiments.

• Current Optics and Photonics
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• v.7 no.1
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• pp.1-14
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• 2023

Wavefront-coding imaging can achieve high-quality imaging along with a wide range of defocus. In this paper, the anti-laser detection and damage performance of wavefront-coding imaging systems using different asymmetric phase masks are studied, through modeling and simulation. Based on FresnelKirchhoff diffraction theory, the laser-propagation model of the wavefront-coding imaging system is established. The model uses defocus distance rather than wave aberration to characterize the degree of defocus of an imaging system. Then, based on a given defocus range, an optimization method based on Fisher information is used to determine the optimal phase-mask parameters. Finally, the anti-laser detection and damage performance of asymmetric phase masks at different defocus distances and propagation distances are simulated and analyzed. When studying the influence of defocus distance, compared to conventional imaging, the maximum single-pixel receiving power and echo-detection receiving power of asymmetric phase masks are reduced by about one and two orders of magnitude respectively. When exploring the influence of propagation distance, the maximum single-pixel receiving power of asymmetric phase masks decreases by about one order of magnitude and remains stable, and the echodetection receiving power gradually decreases with increasing propagation distance, until it approaches zero.

• Nuclear Engineering and Technology
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• v.55 no.4
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• pp.1233-1243
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• 2023

Shell-and-tube heat exchanger (STHX) is widely used by virtue of its simple structure and high reliability, especially in a space-constrained surface ship. For the STHX of the surface ship, roll, pitch and other motion of the ship will affect the heat transfer performance, resistance characteristics and structural strength of the heat exchanger. Therefore, it is urgent to carry out numerical simulation research on three-dimensional thermal hydraulic characteristics of surface ship STHX under the marine conditions. In this paper, the numerical simulation of marine shell and tube heat exchanger of surface ship was carried out using the porous media model. Firstly, the mathematical physical model and numerical method are validated based on the experimental data of a marine engine cooling water shell and tube heat exchanger. The simulation results are in good agreement with the experimental results. The prediction errors of pressure drop and heat transfer are less than 10% and 1% respectively. The effect of marine conditions on the heat transfer characteristics of the heat exchanger is investigated by introducing the additional force model of marine condition to evaluate the effect of different motion parameters on the heat transfer performance of the heat exchanger. This study could provide a reference for the optimization of marine heat exchanger design.

• Geomechanics and Engineering
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• v.33 no.3
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• pp.279-289
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• 2023

Brittleness index (BI) is an important property of rocks because it is a good index to predict rockburst. Due to its importance, several empirical and soft computing (SC) models have been proposed in the literature based on the punch penetration test (PPT) results. These models are very important as there is no clear-cut experimental means for measuring BI asides the PPT which is very costly and time consuming to perform. This study used a novel Multivariate Adaptive regression spline (MARS), M5P, and white-box ANN to predict the BI of rocks using the available data in the literature for an improved BI prediction. The rock density, uniaxial compressive strength (σ_c) and tensile strength (σ_t) were used as the input parameters into the models while the BI was the targeted output. The models were implemented in the MATLAB software. The results of the proposed models were compared with those from existing multilinear regression, linear and nonlinear particle swarm optimization (PSO) and genetic algorithm (GA) based models using similar datasets. The coefficient of determination (R²), adjusted R² (Adj R²), root-mean squared error (RMSE) and mean absolute percentage error (MAPE) were the indices used for the comparison. The outcomes of the comparison revealed that the proposed ANN and MARS models performed better than the other models with R² and Adj R² values above 0.9 and least error values while the M5P gave similar performance to those of the existing models. Weight partitioning method was also used to examine the percentage contribution of model predictors to the predicted BI and tensile strength was found to have the highest influence on the predicted BI.

• Wind and Structures
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• v.36 no.6
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• pp.393-404
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• 2023

Skewness and kurtosis are important higher-order statistics for simulating non-Gaussian wind pressure series on low-rise buildings, but their predictions are less studied in comparison with those of the low order statistics as mean and rms. The distribution gradients of skewness and kurtosis on roofs are evidently higher than those of mean and rms, which increases their prediction difficulty. The conventional artificial neural networks (ANNs) used for predicting mean and rms show unsatisfactory accuracy in predicting skewness and kurtosis owing to the limited capacity of shallow learning of ANNs. In this work, the deep neural networks (DNNs) model with the ability of deep learning is introduced to predict the skewness and kurtosis on a low-rise building. For obtaining the optimal generalization of the DNNs model, the hyper parameters are automatically determined by Bayesian Optimization (BO). Moreover, for providing a benchmark for future studies on predicting higher order statistics, the data sets for training and testing the DNNs model are extracted from the internationally open NIST-UWO database, and the prediction errors of all taps are comprehensively quantified by various error metrices. The results show that the prediction accuracy in this study is apparently better than that in the literature, since the correlation coefficient between the predicted and experimental results is 0.99 and 0.75 in this paper and the literature respectively. In the untrained cornering wind direction, the distributions of skewness and kurtosis are well captured by DNNs on the whole building including the roof corner with strong non-normality, and the correlation coefficients between the predicted and experimental results are 0.99 and 0.95 for skewness and kurtosis respectively.

• Smart Structures and Systems
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• v.31 no.3
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• pp.283-299
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• 2023

Structural stability of floating platforms has long since been a crucial issue in the field of marine engineering. Excessive motions would not only deteriorate the operating conditions but also seriously impact the safety, service life, and production efficiency. In recent decades, several control devices have been proposed to reduce unwanted motions, and an attractive one is the tuned heave plate (THP). However, the THP system may reduce or even lose its effectiveness when it is mistuned due to the shift of dominant wave frequency. In the present study, a novel adaptive tuned heave plate (ATHP) is proposed based on inerter by adjusting its inertance, which allows to overcome the limitation of the conventional THP and realize adaptations to the dominant wave frequencies in real time. Specifically, the analytical model of a representative semisubmersible platform (SSP) equipped with an ATHP is created, and the equations of motion are formulated accordingly. Two optimization strategies (i.e., J₁ and J₂ optimizations) are developed to determine the optimum design parameters of ATHP. The control effectiveness of the optimized ATHP is then examined in the frequency domain by comparing to those without control and controlled by the conventional THP. Moreover, parametric analyses are systematically performed to evaluate the influences of the pre-specified frequency ratio, damping ratio, heave plate sizes, peak periods and wave heights on the performance of ATHP. Furthermore, a Simulink model is also developed to examine the control performance of ATHP in the time domain. It is demonstrated that the proposed ATHP could adaptively adjust the optimum inertance-to-mass ratio by tracking the dominant wave frequencies in real time, and the proposed system shows better control performance than the conventional THP.