• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.677-680
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• 2003

Perceptual landmarks are an effective solution for a mobile robot realizing steady and reliable long distance navigation. But the prerequisite is those landmarks must be detected and recognized robustly at a higher speed under various lighting conditions. This made image processing more complicated so that its speed and reliability can not be both satisfied at the same time. Color based target detection technique can separate target color regions from non-target color regions in an image with a faster speed, and better results were obtained only under good lighting conditions. Moreover, in the case that there are other things with a target color, we have to consider other target features to tell apart the target from them. Such thing always happens when we detect a target with its single character. On the other hand, we can generally search for only one target for each time so that we can not make use of landmarks efficiently, especially when we want to make more landmarks work together. In this paper, by making use of the moment invariants of each landmark, we can not only search specified target from separated color region but also find multi-target at the same time if necessary. This made the finite landmarks carry on more functions. Because moment invariants were easily used with some low level image processing techniques, such as color based target detection and gradient runs based target detection etc, and moment invariants are more reliable features of each target, the ratio of target detection were improved. Some necessary experiments were carried on to verify its robustness and efficiency of this method.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.32-35
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• 2004

In boundary estimation in Electrical Impedance Tomography (EIT), conventional method is the modified Newton Raphson (mNR) method .The mNR is famous for good method since has good convergence and robustness against noisy data. But the mNR is low efficiency to get and update Jacobian matrix. So, the mNR become very slow algorithm. We propose the Quasi Newton (QN) method to improve efficiency which will lead to speed up in boundary estimation. The QN can improve a low efficiency by using estimated Jacobian matrix contrary to using exactly calculated Jacobian matrix, this used by the mNR. And finally, we propose the modified Quasi Newton (mQN) method because the QN has some problems such as bad early convergence rate and instability of 'divided by zero'. For the verification of the propose method, numerical experiments are conducted and the results show a good performance.

• IE interfaces
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• v.22 no.1
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• pp.95-103
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• 2009

During the past few years, design of experiments (DOE) has been gaining acceptance in the telecommunications research community as a mean for designing and analyzing experiments economically and efficiently. In addition, the need for introducing a systematic robust design methodology (i.e., one of the most popular DOE methodologies) to network simulations has been increasing. In this paper, we present an architecture of voice over IP (VoIP) application and the E-Model for calculating the perceived quality of service (QoS). Then, we apply the Taguchi robust design methodology to optimize the perceived QoS of VoIP application, and describe the detailed step-by-step procedures. We have used ns-2 simulator to collect experimental data in which the SN ratio, a robustness measure, is analyzed to determine an optimal design condition. The analysis shows that "initial delay time in playout buffer" is a major control factor for ensuring robust behaviors of the perceived QoS of VoIP. Finally, we verify the proposed optimal design condition using a confirmation experiment.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.30-35
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• 1993

Simple recurrence relations for calculating completion times of various storage polices (unlimited, intermediate storages(FIS), finite intermediate storages(FIS), no intermediate storage(NIS), zero wait(ZW) for serial multi-product multi-unit processes are suggested. Not only processing times but also transfer times, set-up (clean-up) times of units and set-up times of storages are considered. Optimal scheduling strategies with zero transfer times and zero set-up times had been developed as a mixed integer linear programniing(MILP) formulation for several intermediate storage policies. In this paper those with non-zero transfer times, non-zero set-up times of units and set-up times of storages are newly proposed as a mixed integer nonlinear programming(MINLP) formulation for various storage polices (UIS, NIS, FIS, and ZW). Several examples are tested to evaluate the robustness of this strategy and reasonable computation times.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.9 s.174
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• pp.77-84
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• 2005

In most vision applications, we are frequently confronted with determining the position of object continuously. Generally, intertwined processes ire needed for target tracking, composed with tracking and control process. Each of these processes can be studied independently. In case of actual implementation we must consider the interaction between them to achieve robust performance. In this paper, the robust real time visual tracking in complex background is considered. A common approach to increase robustness of a tracking system is to use known geometric models (CAD model etc.) or to attach the marker. In case an object has arbitrary shape or it is difficult to attach the marker to object, we present a method to track the target easily as we set up the color and shape for a part of object previously. Robust detection can be achieved by integrating voting-based visual cues. Kalman filter is used to estimate the motion of moving object in 3D space, and this algorithm is tested in a pan/tilt robot system. Experimental results show that fusion of cues and motion estimation in a tracking system has a robust performance.

• Proceedings of the Korean Society of Near Infrared Spectroscopy Conference
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• 2001.06a
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• pp.1172-1172
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• 2001

Compact Near Infrared Diode Array Spectrometers offer new possibilities for on line quality assurance in the agricultural sector. Due to their speed and complete robustness towards temperature fluctuations and mechanical shock Diode Array Spectrometers are suitable for the use on Agricultural Harvest Machines. The growing consumer consciousness of food quality in combination with falling manufacturing prices demands procedures for an effective quality control system. The various conventional types of NIR instruments which have so far been used in laboratories are unsuitable for mobile applications under the rough conditions of field cropping not only because of their slow speed of measurement but also because of their shock sensitive filter wheels and monochromators necessary for fractionating polychromatic light. Another advantage of the on line use is the reduction of the sampling error because of the continuously measurement of the whole product. Considering the large economic importance of the dry matter content on agricultural products it is of particular advantage that water belongs to those constituents which are most easily assessed in the near infrared. While other constituents of economic importance such as starch, oil and protein in grains and seeds have a much lesser effect on NIR signals, their contents can nonetheless be assessed with high analytical precision on freshly harvested grains and seeds. In the last years several applications for on line quality assessment on harvesting machines were developed and tested. The talk will give an overview and outlook on existing and future possibilities of this new field of NIR applications.

• Proceedings of the KIEE Conference
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• 1998.07f
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• pp.2051-2053
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• 1998

In spite of nonlinear or step-changing load and line disturbances, the inverter for the UPS must provide the pure sinusoidal output voltage with low THD(Total Harmonics Distortion). This paper proposes an inverter controller for the UPS which has a good dynamic response characteristic and robustness for applying industrial world directly. The inverter output voltage is controlled instantaneously with a double regulation loop by a TMS320C31 Digital Signal Processor so that it has very good dynamic response for nonlinear or step-changing load and line disturbances. To improve the voltage utilization and response characteristics, the Space Vector Modulation(SVM) technique is adapted for the switching method of this system. The characteristics of the proposed control system were verified by simulations and experiments.

• The Transactions of the Korean Institute of Power Electronics
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• v.21 no.3
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• pp.275-281
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• 2016

A novel bidirectional magnetic wireless communication system is proposed in this study. This system provides the communication capability between the source and load sides by high-frequency signal while wireless power is transferred. Contrary to the conventional wireless communication systems using complex IC circuit and active components, the proposed system is simply composed of passive components. It is practical and beneficial for environmental robustness, cost effectiveness, and simple implementation. The detailed static analysis of the proposed system for power and communication lines is established. The proposed system is experimentally verified, and results show that a 0.1 voltage gain for communication line is obtained while a 2.0 voltage gain for the power line is achieved. The proposed system is adequate for practical applications as it allows the inductive power transfer system to wirelessly and easily communicate between the source and load sides.

• Journal of Power Electronics
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• v.18 no.5
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• pp.1555-1566
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• 2018

Proportional capacitor-current-feedback active damping (AD) is a common damping method for the resonance of LCL-type grid-connected inverters. Proportional capacitor-current-feedback AD behaves as a virtual resistor in parallel with the capacitor. However, the existence of delay in the actual control system causes impedance in the virtual resistor. Impedance is manifested as negative resistance when the resonance frequency exceeds one-sixth of the sampling frequency ($f_s/6$). As a result, the damping effect disappears. To extend the system damping region, this study proposes a virtual resistor-inductor-capacitor (RLC) AD method. The method is implemented by feeding the filter capacitor current passing through a band-pass filter, which functions as a virtual RLC in parallel with the filter capacitor to achieve positive resistance in a wide resonance frequency range. A combination of Nyquist theory and system close-loop pole-zero diagrams is used for damping parameter design to obtain optimal damping parameters. An experiment is performed with a 10 kW grid-connected inverter. The effectiveness of the proposed AD method and the system's robustness against grid impedance variation are demonstrated.

• Journal of the Korean Operations Research and Management Science Society
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• v.41 no.2
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• pp.129-139
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• 2016

This paper presented a robust ship scheduling model using the quadratic programming problem. Given a set of available carriers under control and a set of cargoes to be transported from origin to destination, a robust ship scheduling that can minimize the mean-variance objective function with the required level of profit can be modeled. Computational experiments concerning relevant maritime transportation problems are performed on randomly generated configurations of tanker scheduling in bulk trade. In the first stage, the optimal transportation problem to achieve maximum revenue is solved through the traditional set-packing model that includes all feasible schedules for each carrier. In the second stage, the robust ship scheduling problem is formulated as mentioned in the quadratic programming. Single index model is used to efficiently calculate the variance-covariance matrix of objective function. Significant results are reported to validate that the proposed model can be utilized in the decision problem of ship scheduling after considering robustness and the required level of profit.