• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.15 no.4
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• pp.104-114
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• 2016

Potholes have caused diverse problems such as wheel damage and car accident. A pothole detection technology is the most important to provide efficient pothole maintenance. The previous pothole detections have been performed by manual reporting methods. Thus, the problems caused by potholes have not been solved previously. Recently, many pothole detection systems based on video cameras have been studied, which can be implemented at low costs. In this paper, we propose a new pothole detection algorithm based on saliency map information in order to improve our previously developed algorithm. Our previous algorithm shows wrong detection with complicated situations such as the potholes overlapping with shades and similar surface textures with normal road surfaces. To address the problems, the proposed algorithm extracts more accurate pothole regions using the saliency map information, which consists of candidate extraction and decision. The experimental results show that the proposed algorithm shows better performance than our previous algorithm.

• Proceedings of the IEEK Conference
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• 2000.07b
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• pp.885-888
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• 2000

Among the previous searching methods, there are the typical methods such as full search and three-step search, etc. Block motion estimation using exhaustive search is too computationally intensive. To apply in practice, recently proposed fast algorithms have been focused on reducing the computational complexity by limiting the number of searching points. According to the reduction of searching points, the quality performance is aggravated in those algorithms. In this paper, We present a fast and efficient search algorithm for block motion estimation that produces better quality performance and less computational time compared with a three-step search (TSS). Previously the proposed Two Step Search Algorithm (TWSS) by Fang-Hsuan Cheng and San-Nan sun is based on the ideas of dithering pattern for pixel decimation using a part of a block pixels for BMA (Block Matching Algorithm) and multi-candidate to compensate quality performance with several locations. This method has good quality performance at slow moving images, but has bad quality performance at fast moving images. To resolve this problem, the proposed algorithm in this paper considers spatial and temporal correlation using neighbor and previous blocks to improve quality performance. This performance uses neighbor motion vectors and previous motion vectors in addition, thus it needs more searching points. To compensate this weakness, the proposed algorithm uses statistical character of dithering matrix. The proposed algorithm is superior to TWSS in quality performance and has similar computational complexity

• Korean Journal of Optics and Photonics
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• v.18 no.3
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• pp.179-184
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• 2007

In order to extract more accurate skin parameters, this study was focused on the improvement of the efficiency of a previous inverse fitting algorithm based on genetic algorithms. The algorithm provides the best fitting result of the diffusion approximation model to a VRS (visual reflectance spectroscopy) curve of skin. Simplex and wavelength selection methods were applied to the previous algorithm. Nine skin parameters were inversely extracted from the modeling studies. The revised inverse fitting algorithm was determined to produce an 83% reduction of computation time and a 0.64% reduction of sum of square error, compared to the previous algorithm. In conclusion, we confirmed that the new algorithm provides faster and more accurate solutions for the diffusion approximation model.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.11
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• pp.1013-1021
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• 2000

This paper suggests fuzzy-PI controllers for a heavy-duty gas turbine. The fuzzy-PI controllers are designed to regulate rotor speed and exhaust temperature of the gas turbine. The controller gains are tuned by genetic algorithm(GA). This paper also proposes a new fitness function of GA using a desired output response. The suggested controller is compared with previous controllers via simulations and it is shown that the rotor speed variation of our controller is smaller than those of previous ones.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.462-465
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• 2002

This paper deals with the problem of synthesis of stable and optimal grasps with unknown objects by 3-finger hand. Previous robot grasp research has analyzed mainly with either unknown objects 2D by vision sensor or unknown objects, cylindrical or hexahedral objects, 3D. Extending the previous work, in this paper we propose an algorithm to analyze grasp of unknown objects 3D by vision sensor. This is archived by two steps. The first step is to make a 3D geometrical model of unknown objects by stereo matching which is a kind of 3D computer vision technique. The second step is to find the optimal grasping points. In this step, we choose the 3-finger hand because it has the characteristic of multi-finger hand and is easy to modeling. To find the optimal grasping points, genetic algorithm is used and objective function minimizing admissible farce of finger tip applied to the object is formulated. The algorithm is verified by computer simulation by which an optimal grasping points of known objects with different angles are checked.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.11
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• pp.54-64
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• 2002

This paper deals with the problem of synthesis of stable and optimal grasps with unknown objects by 3-finger hand. Previous robot grasp research has mainly analyzed with either unknown objects 2-dimensionally by vision sensor or known objects, such as cylindrical objects, 3-dimensionally. As extending the previous work, in this study we propose an algorithm to analyze grasp of unknown objects 3-dimensionally by using vision sensor. This is archived by two steps. The first step is to make a 3-dimensional geometrical model for unknown objects by using stereo matching. The second step is to find the optimal grasping points. In this step, we choose the 3-finger hand which has the characteristic of multi-finger hand and is easy to model. To find the optimal grasping points, genetic algorithm is employed and objective function minimizes the admissible force of finger tip applied to the objects. The algorithm is verified by computer simulation by which optimal grasping points of known objects with different angle are checked.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.4
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• pp.622-628
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• 2012

This paper proposes an environment monitoring algorithm using a behavior-based multiple robot system. This paper handles an escort and a boundary-tracking especially. Unlike previous research works, the proposed environment monitoring system which is based on the behavior-based multiple robot control allows the system to employ the reusable code and general algorithm. Also, the proposed method can be applied to cheaper process with low performances. In the proposed method, escort and boundary-tracking missions are constructed by weighted sum of predefined basic behaviors after redefining the basic behaviors in previous works and introducing the novel basic behavior. Simulation results of the proposed method are included to demonstrate the practical application of the proposed algorithm.

• Journal of Korean Institute of Industrial Engineers
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• v.27 no.1
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• pp.18-24
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• 2001

This paper presents a model and a heuristic algorithm for the Traveling Salesman Problem with Time Windows(TSPTW). The main difference of our model compared with the previous ones lies in that the time windows we are concerned are more flexible and realistic than the previous ones. In the typical TSPTW, the service at a node must begin within the time grid called the time window that is defined by the earliest and the latest time to start the service at each node. But, in real business practice, a lateness cost is usually penalized rather than the service is prohibited at all when a vehicle arrives after the latest time. Considering this situation, we develop a model with a new time window that allows an arrival after the latest time and penalizes the late arrival by charging a lateness cost. A two-phased heuristic algorithm is proposed for the model and is extensively tested to verify the accuracy and efficiency of the algorithm.

• 한국전산유체공학회:학술대회논문집
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• 2010.05a
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• pp.397-403
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• 2010

The Immersed boundary method(IBM) is one of CFD techniques which can simulate flow field around complex objectives using simple Cartesian grid system. In the previous studies the IBM has mostly been implemented to fractional step method based Navier-Stokes solvers. In these cases, pressure buildup near IB was found to occur when linear interpolation and stadard mass conservation is used and the interpolation scheme became complicated when higher order of interpolation is adopted. In this study, we implement the IBM to an incompressible Navier-Stokes solver which uses SIMPLE algorithm. Bi-linear and quadratic interpolation equations were formulated by using only geometric information of boundary to reconstruct velocities near IB. Flow around 2D circular cylinder at Re=40 and 100 was solved by using these formulations. It was found that the pressure buildup was not observed even when the bi-linear interpolation was adopted. The use of quadratic interpolation made the predicted aerodynamic forces in good agreement with those of previous studies.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.6
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• pp.462-467
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• 2002

A new approach for reducing the blocking artifact is proposed in this paper. This method can be applied to conventional transform coding, without introducing additional information or significant blurring. Main drawbacks of the Discrete Cosine Transform(DCT) are visible block boundaries due to coarse quantization of the coefficients. Therefore, restoration techniques result in unnecessary blurring of the image. The proposed deblocking algorithm is based on the heuristic approach for edge detection. All edges of the standard still images are categorized, and the best edges are selected. Several images are used fer experiments, and several other previous algorithms are compared with the proposed approach. The results show that the proposed algorithm works better than those of other previous researches. This algorithm can be used for JPEG, MPEG, and H.261 standard images.