• Journal of Korean Society of Industrial and Systems Engineering
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• 제34권3호
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• pp.24-34
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• 2011

An Unmanned Aerial Vehicle (UAV) is a powered pilotless aircraft, which is controlled remotely or autonomously. UAVs are an attractive alternative for many scientific and military organizations. UAVs can perform operations that are considered to be risky or uninhabitable for human. UA V s are currently employed in many military missions such as reconnaissance, surveillance, enemy radar jamming, decoying, suppression of enemy air defense (SEAD), fixed and moving target attack, and air-to-air combat. UAVs also are employed in a number of civilian applications such as monitoring ozone depletion, inclement weather, traffic congestion, and taking images of dangerous territory. For accomplishing the UAV's missions, guarantee of survivability should be preceded. The main objective of this study is to suggest a mathematical programming model and a $A^*PS$-PGA (A-star with Post Smoothing-Parallel Genetic Algorithm) for an UAV's path planning to maximize survivability. A mathematical programming model is composed by using MRPP (Most Reliable Path Problem) and TSP (Traveling Salesman Problem). A path planning algorithm for UAV is applied by transforming MRPP into SPP (Shortest Path Problem).

• Korean Journal of Computational Design and Engineering
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• 제10권3호
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• pp.162-167
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• 2005

A 3D solid element mesh generation algorithm was newly developed. 3D surface points of global rectangular coordinates were supplied by a 3D laser scanner. The algorithm is strait forward and simple but it generates hexahedral solid elements. Then, the surface rectangular elements were generated from the solid elements. The key of the algorithm is elimination of unnecessary elements and 3D boundary surface fitting using given 3D surface point data.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 한국방송공학회 1998년도 학술대회
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• pp.33-36
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• 1998

Most image restoration problems are ill-posed and need to e regularized. A difficult task in image regularization is to avoid smoothing of image edges. In this paper, were proposed an edge-preserving image restoration algorithm using block-based edge classification. In order to exploit the local image characteristics, we classify image blocks into edge and no-edge blocks. We then apply an adaptive constrained least squares (CLS) algorithm to eliminate noise around the edges. Experimental results demonstrate that the proposed algorithm can preserve image edges during the regularization process.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.418-418
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• 2000

This paper proposes a path planning algorithm for mobile robot. To generate an optimal path and minimum time path for a mobile robot, we use the Genetic Algorithm(GA) and Visibility Graph. After finding a minimum-distance between start and goal point, the path is revised to find the minimum time path by path-smoothing algorithm. Simulation results show that the proposed algorithms are more effective.

• Journal of Korean Institute of Industrial Engineers
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• 제26권3호
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• pp.289-295
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• 2000

The triangulation problem is to make triangles using the given points on the space. The Minimum Weight Triangulation(MWT) is the problem of finding a set of triangles with the minimum weight among possible set of the triangles. In this paper, a modified genetic algorithm(GA) based on an existing genetic algorithm and multispace smoothing technique is proposed. Through the computational results, we can find the tendency that the proposed GA finds good solutions though it needs longer time than the existing GA does as the problem size increases.

• Journal of the Institute of Electronics Engineers of Korea SP
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• 제44권2호
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• pp.55-62
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• 2007

This paper proposes method to get exquisite third dimension data removing included noise by error that occur in third dimension reconstruction through camera auto-calibration. Though reconstructing third dimension data by previous noise removing method, mesh that area is wide is happened problem by noise. Because mesh's area is important, the proposed algorithm need preprocessing that remove unnecessary triangle meshes of acquired third dimension data. The research analyzes the characteristics of noise using the area information of 3-dimensional meshes, separates a peek noise and a Gauss noise by its characteristics and removes the noise effectively. We give a quantitative evaluation of the proposed preprocessing filter and compare with the mesh smoothing procedures. We demonstrate that our effective preprocessing filter outperform the mesh smoothing procedures in terms of accuracy and resistance to over-smoothing.

• Journal of Auto-vehicle Safety Association
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• 제13권2호
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• pp.35-41
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• 2021

In this study, improved path tracking control algorithm based on pure pursuit algorithm is newly proposed by using improved lane detection algorithm through real time post-processing with interpolation methodology. Since the original pure pursuit works well only at speeds below 20 km/h, the look-ahead distance is implemented as a sigmoid function to work well at an average speed of 45 km/h to improve tracking performance. In addition, a smoothing filter was added to reduce the steering angle vibration of the original algorithm, and the stability of the steering angle was improved. The post-processing algorithm presented has implemented more robust lane recognition system using real-time pre/post processing method with deep learning and estimated interpolation. Real time processing is more cost-effective than the method using lots of computing resources and building abundant datasets for improving the performance of deep learning networks. Therefore, this paper also presents improved lane detection performance by using the final results with naive computer vision codes and pre/post processing. Firstly, the pre-processing was newly designed for real-time processing and robust recognition performance of augmentation. Secondly, the post-processing was designed to detect lanes by receiving the segmentation results based on the estimated interpolation in consideration of the properties of the continuous lanes. Consequently, experimental results by utilizing driving guidance line information from processing parts show that the improved lane detection algorithm is effective to minimize the lateral offset error in the diverse maneuvering roads.

• The KIPS Transactions:PartC
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• 제14C권3호
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• pp.285-292
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• 2007

In the adaptable bandwidth allocation technique, a transmission plan for variable rate video data is made by the CBA algorithm and the data is transmitted by considering network traffic. But the CBA algorithm produces a transmission plan where the size of the increasing interval of transmission rate is generally larger than the size of the decreasing interval. And the transmission rate in CBA algorithm is changed in overflow curve during the increasing interval of transmission rate. This ぉy cause many frames to be discarded when available transmission rate is small. In this paper, a smoothing algorithm is proposed, where transmission rate is changed in the middle of underflow curve and overflow curve, but the transmission rate increases at the minimum. In order to show the performance, the proposed algorithm and a CBA algorithm were applied to a transmission plan in the adaptable bandwidth allocation technique, and the minimum frame rates, the average frame rates, the variation of frame rates, and the numbers of discarded frames were compared in both algorithms.

• The Journal of the Acoustical Society of Korea
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• 제30권7호
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• pp.383-389
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• 2011

In this paper, we propose a improved speech absence probability estimation algorithm by applying environmental noise classification for speech enhancement. The previous speech absence probability required to seek a priori probability of speech absence was derived by applying microphone input signal and the noise signal based on the estimated value of a posteriori SNR threshold. In this paper, the proposed algorithm estimates the speech absence probability using noise classification algorithm which is based on Gaussian mixture model in order to apply the optimal parameter each noise types, unlike the conventional fixed threshold and smoothing parameter. Performance of the proposed enhancement algorithm is evaluated by ITU-T P.862 PESQ (perceptual evaluation of speech quality) and composite measure under various noise environments. It is verified that the proposed algorithm yields better results compared to the conventional speech absence probability estimation algorithm.

• Journal of the Korea Academia-Industrial cooperation Society
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• 제21권7호
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• pp.685-691
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• 2020

In this study, an algorithm that recognizes numbers from 0 to 9 was developed using the data obtained after tracking hand movements using the echo signal of a millimeter-wave radar sensor at 77 GHz. The echo signals obtained from the radar sensor by detecting the motion of a hand gesture revealed a cluster of irregular dots due to the difference in scattering cross-sectional area. A valid center point was obtained from them by applying a K-Means algorithm using 3D coordinate values. In addition, the obtained center points were connected to produce a numeric image. The recognition rate was compared by inputting the obtained image and an image similar to human handwriting by applying the smoothing technique to a CNN (Convolutional Neural Network) model trained with MNIST (Modified National Institute of Standards and Technology database). The experiment was conducted in two ways. First, in the recognition experiments using images with and without smoothing, average recognition rates of 77.0% and 81.0% were obtained, respectively. In the experiment of the CNN model with augmentation of learning data, a recognition rate of 97.5% and 99.0% on average was obtained in the recognition experiment using the image with and without smoothing technique, respectively. This study can be applied to various non-contact recognition technologies using radar sensors.