• The Journal of Korean Institute of Communications and Information Sciences
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• v.18 no.11
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• pp.1645-1654
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• 1993

Unlike a noise removal recursive temporal filter, this paper presents a temporal filter which improves visual quality and data compression efficiency. In general, for the temporal band-limitation, temporal aliasing should be considered. Since most of a video signal has temporally aliased components, it is desirable to consider them. From a signal processing point of view, it is impossible to realize the filtering not afeced by the aliasings. However, in this paper, efficient filtering with de-aliasing characteristics is proposed. Considering the location of a video signal, temporal filtering can be accomplished by the spatial filtering along the motion vector trajectory (Motion Adaptive Spatial Filter). This filtered result dose not include the aliasings. Besides the efficient band-limitation, temporal noise is also reduced. For the evaluation of the MASF, its realization and filtering characteristics will be discussed in ditail.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.6
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• pp.1-7
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• 2011

This paper presents implementation and control of a two wheeled mobile robot system which consists of two systems, an inverted pendulum system and a mobile robot system. Control purpose is to regulate its balancing and navigation. The balancing robot has advantages of one point turning and robust balancing against disturbances from the ground. Simulation studies of local and global control methods are performed. Since the robot is implemented to have a symmetrical structure, simple linear control algorithms are used for balancing and navigation. Low cost sensors such as gyro and tilt sensor are fused together to detect the inclined angle. Experimental studies of following desired circular trajectory are conducted.

• Journal of the Korean Institute of Intelligent Systems
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• v.5 no.4
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• pp.77-86
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• 1995

The new architecture that fuzzy logic control(FLC) with difficulties for tuning membership function (MF) is parallel with neural networks(NN) to be learned from the output of FLC is proposed. Therefore proposed scheme has the characteristics to utilize the expert knowledge in design process, to be learned during the operation without any learning mode. In this architecture, the function of the FLC is to supply the sliding surface which is constructed on the phase plane by rule base for giving the desired control characteristics and learning criterion of NN and the stabilization of the control performance before NN is learned, The function of the NN is to let the system trajectory be tracked to the sliding surface and reached to the stable point.

• Journal of the Korean Institute of Intelligent Systems
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• v.8 no.2
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• pp.106-116
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• 1998

A position control algorithm of a flexible manipulator is studied. The proposed algorithm is based on an ACFAC(Automatic Constructed Fuzzy Adaptive Controller) system based on the neural network learning algorithms. The proposed system learns membership functions for input variables using unsupervised competitive learning algorithm and output information using supervised outstar learning algorithm. ACFAC does not need a dynamic modeling of the flexible manipulator. An ACFAC is designed that the end point of the flexible manipulator tracks the desired trajectory. The control input to the process is determined by error, velocity and variation of error. Simulation and experiment results show a robustness of ACFAC compared with the PID control and neural network algorithms.

• Journal of Power System Engineering
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• v.13 no.1
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• pp.19-25
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• 2009

This paper is a study on the link composition design of a double link type level luffing jib crane using path generation synthesis passing through three precision points according to parameters, the length of backstay, the ratio of fly jib length between two moving hinges to the total length of fly jib, the location of a intermediate passing point etc. when the maximum and minimum working radius of the crane are given. The performance of the crane depends on the deviation of the luffing trajectory at fly jib tip. The luffing trajectories according to the above parameters are analyzed and shown in graphs by the developed computer program. In a real-life design, some trials are needed to arrive at a proper link composition design. Therefore, it is expected that the present computer program can rapidly and exactly deal with a link composition design proper to the design criteria of the crane.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.7
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• pp.43-50
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• 2002

This paper presents the new gait implementation of a biped robot with smooth walking using 3-dimensional continuous trunk motion and kick action of ankle joints. Trajectory generation ova trunk is performed not on a unit gait but on a whole walking interval. In applying kick action such as heel-touch or toe-off, varying coordinate system was employed for the simplification of the kinematic analysis. Desired ZMP (zero moment point) is also changed to implement the efficient kick action. As a result, balancing motion of the proposed gait was much more decreased than that of conventional one. Moreover, robot\\`s walking behavior is very smooth, natural and similar to the pace of a human. The walking experiment system is composed of eight AC servo motors and a DSP controller. The walking simulation and the experimental results are shown using the proposed new walking algorithm.

• International Journal of Ocean System Engineering
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• v.1 no.4
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• pp.211-221
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• 2011

Tugboats are widely used near harbors to assist with various operations such as the berthing and deberthing of very large vessels and the towing of barges. Capsizing accidents involving tugboats occasionally take place when the tugboat makes rapid turns in harsh weather conditions. When there is little evidence suggesting how the accident occurred and when the crew members are missing, it is necessary to predict the time history of the towing vessel’s attitude and trajectory from its departure point to when and where it capsized, depending on various input parameters using a numerical simulation. In this paper, the dynamics of a tugboat and a towed barge in conjunction with the external force and moment were established, and the possible input parameters and operational scenarios which might influence the large roll motion of the tugboat were identified. As a result of analyzing the simulated time history of the excessive roll motion of the tugboat, it was found that roll motion can take place when the tugboat is situated on the crest of a wave and when it is pulled by a towed barge through a towing line. The main cause of the accident would be the parameters that primarily influence such situations. These are the wave parameters, course changing scenario, and the amount of tension.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.659-663
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• 2009

In this paper, we propose a rectification method that can convert ray space data obtained by controlled camera array to ideal data. Here, Ideal data is obtained by getting longitudinal and transversal epipolar line between cameras vertical and horizontal. However it is actually difficult to arrange cameras strictly because we arrange cameras by hand. As conventional method, we have use camera-calibration method. But if we use this method there are some errors on the output image. When we generate arbitrary viewpoint images this error is critical problem. We focus attention on ideal trajectory of characteristic point. And to minimize the error directly we parallelize the real one. And we showed usefulness of proposed technique. Then using the proposed technique, we were successful reducing the error to less than 0.5 pixels.

• Journal of Mechanical Science and Technology
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• v.20 no.3
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• pp.418-425
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• 2006

The present investigation deals with the study of the internal flow phenomena of the counterflow type vortex tube using experimental testing and numerical simulation. Visualization was carried out using the surface tracing method, injecting dye on the vortex tube wall using a needle. Vortex tube is made of acrylic to visualize the surface particle tracing and the input air pressure was varied from 0.1MPa to 0.3MPa. The experimentally visualized results on the tube show that there is an apparent sudden changing of the trajectory on the vortex tube wall which was observed in every experimental test case. This may indicate the stagnation position of the vortex flow. The visualized stagnation position moves towards the vortex generator with increase in cold flow ratio and input pressure. Three-dimensional computational study is also conducted to obtain more detailed flow information in the vortex tube. Calculated total pressure, static pressure and total temperature distributions in the vortex tube were in good agreement with the experimental data. The computational particle trace on the vortex tube wall is very similar to that observed in experiments.

• Journal of the Korean Society of Propulsion Engineers
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• v.12 no.1
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• pp.16-22
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• 2008

The effect of two-phase spray injected into subsonic cross-flow was studied experimentally. External-mixing of two-phase spray from orifice nozzle with L/d of 3 was tested with various air-liquid ratio that ranges from 0 to 59.4%. Trajectory of spray and breakup phenomena were investigated by shadowgraph photography. Detailed spray structure was characterized in terms of SMD, droplet velocity, and volume flux using PDPA. Experimental results indicate that penetration length was increased and collision point of liquid jets approached to nozzle exit and distributions of mist-like spray were obtained by increasing air-liquid ratio.