• Journal of Institute of Control, Robotics and Systems
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• v.9 no.12
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• pp.1026-1032
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• 2003

A biped walking robot which is developed as a platform for researching walking algorithm is briefly introduced. The developed walking robot has 6 degrees of freedom per one leg. The origins of the last three axis do not intersect at a point, so the kinematic analysis is cubmersome with the conventional method. In the former version of the robot, Jacobian-based inverse kinematics method is used. However, the Jacobian-based inverse kinematics method has drawbacks for the application in which knee is fully extended such as stair-case walking. The reason far that is the Jacobian becomes ill-conditioned near the singular points and the method is not able to give adequate solutions. So, a method for giving a closed-form inverse kinematics solution is proposed. The proposed method is based on careful consideration of the kinematic structure of the biped walking robot.

• Journal of Welding and Joining
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• v.19 no.2
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• pp.200-207
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• 2001

Three-diemnsional bead profile was measured using the biprism stereo vision sensor in GMAW, which consists of an optical filter, biprism and CCD camera. Since single CCD camera is used, this system has various advantages over the conventional stereo vision system using two cameras such as finding the corresponding points along the horizontal scanline. In this wort, the biprism stereo vision sensor was designed for the GMAW, and the linear calibration method was proposed to determine the prism and camera parameters. Image processing techniques were employed to find the corresponding point along the pool boundary. The ism-intensity contour corresponding to the pool boundary was found in the pixel order and the filter-based matching algorithm was used to refine the corresponding points in the subpixel order. Predicted bead dimensions were in broad agreements with the measured results under the conditions of spray mode and humping bead.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.572-577
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• 1996

Stereolithography is a process used to rapidly produce stereolithographic parts directly from three dimensional CAD models. However, design methodologies necessary to create components to be built by stereolithography are different from those required by conventional machining processes. A case in point is the nescessity of support structures, which are used to support a component during the building the build but are removed once building and curing are complete. Support structures are required to anchor the component to the platform and to prevent sagging or disortion. This paper deals with the specially maintained SupportMap data structure to find some region which need support structures. Interferences between support structures and parts, as well as among support structures are checked and statically stable regions are searched to remove the surplus support structures. Cross shaped tooth profiles are designed for easy eliminating the support structures.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.6 no.3
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• pp.794-814
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• 2012

We propose a novel method for improving Wi-Fi positioning accuracy while reducing the energy consumption of mobile devices. Our method presents three contributions. First, we jointly and intelligently select the optimal subset of access points for positioning via maximum mutual information criterion. Second, we further propose local discriminant embedding algorithm for nonlinear discriminative feature extraction, a process that cannot be effectively handled by existing linear techniques. Third, to reduce complexity and make input signal space more compact, we incorporate clustering analysis to localize the positioning model. Experiments in realistic environments demonstrate that the proposed method can lower energy consumption while achieving higher accuracy compared with previous methods. The improvement can be attributed to the capability of our method to extract the most discriminative features for positioning as well as require smaller computation cost and shorter sensing time.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2014.10a
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• pp.966-972
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• 2014

The Lattice Boltzmann Method (LBM) has attracted attention as an alternative numerical algorithm for solving fluid mechanics, and its intrinsic unsteadiness and weak numerical damping make it more suitable for aeroacoustic problems. In this paper, applicability of the LBM for solving flow noise problems is tested by applying it to predict transmission loss of a simple expansion silencer. The time history of the static pressure is recorded at the inlet and outlet pipes. The transmission loss (TL) of the muffler is computed by using three point method and two source method, respectively. The TL calculated using the LBM is compared with that computed using finite element method (FEM) and measured data. It is found through these comparisons that the LBM is capable of predicting TL of the simple expansion silencer accurately, which it is difficult to predict using the conventional CFD methods based on the RANS solvers.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 1997.06a
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• pp.125-130
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• 1997

In this paper we present an algorithm to generate new views of a scene, starting with images from weakly calibrated cameras. Errors in 3D scene reconstruction usually gets reflected in the quality of the new scene generated, so we seek a direct method for reprojection. In this paper, we use the knowledge of dense point matches and their affine coordinate values to estimate the corresponding affine coordinate values in the new scene. We borrow ideas from the object recognition literature, and extend them significantly to solve the problem of reprojection. Unlike the epipolar line intersection algorithms for reprojection which requires at least eight matched points across three images, we need only five matched points. The theory of reprojection is used with hardware based rendering to achieve fast rendering. We demonstrate our results of novel view generation from stereopairs for arbitrary locations of the virtual camera.

• Proceedings of the IEEK Conference
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• 2000.07a
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• pp.253-256
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• 2000

This paper describes a DSP implementation of a real-time 3D sound localization algorithm with the use of a low power embedded DSP. A distinctive feature of this implementation is that the audible frequency band is divided into three, in accordance with the sound reflection and diffraction phenomena through different media from a certain sound source to human ears, and then in each subband a specific implementation procedure of the 3D sound localization is devised so as to operate real-time at a low frequency of 50MHz on a 16bit fixed-point DSP. Thus out DSP implementation can provide a listener with 3D sound effects through a headphone at low cost and low power consumption.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.33A no.4
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• pp.27-36
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• 1996

It is well known that the viterbi algorithm proposed as a mthod of decoding convolutional codes is in fact maximum likelihood (ML) and therefore optimal. But, because hardware complexity grows exponentially with the constraint length, there will be severe constraints on the implementation of the viterbi decoders. In this paper, the three-layered backpropagation neural networks are proposed as an alternative in order to get sufficiently useful performance and deal successfully with the problems of the viterbi decoder. This paper shows that the neural convolutional decoder (NCD) can make a decision in the point of ML in decoding and describes simulation results. The cause of the difference between stochastic results and simulation results is discussed, and then thefuture prospect of the NCD is described on the basis of the characteristic of the transfer function.

• Structural Engineering and Mechanics
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• v.8 no.1
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• pp.1-18
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• 1999

Procedures are investigated by which nonlinear finite element shell analysis algorithms can be simplified to provide more cost effective approximate analyses of orthogonally-reinforced concrete flat plate structures. Two alternative effective stiffness formulations, and an unbalanced force formulation, are described. These are then implemented into a nonlinear shell analysis algorithm. Nonlinear geometry, three-dimensional layered stress analyses, and other general formulations are bypassed to reduce the computational burden. In application to standard patch test problems, these simplified approximate analysis procedures are shown to provide reasonable accuracy while significantly reducing the computational effort. Corroboration studies using various simple and complex test specimens provide an indication of the relative accuracy of the constitutive models utilized. The studies also point to the limitations of the approximate formulations, and identify situations where one should revert back to full nonlinear shell analyses.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.1
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• pp.91-97
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• 2000

In this paper, the illuminator is designed to recognize the shape and the existence of holes of radiation fin in the point that the light reflection characteristics are different according to the roughness of the material. The threshold value, the positions of holes and the black pixel nembers in the positon are obtained under the illuminator, in accordance with the reference image, by applying binary conversion and hole segmentation algorithm, as they are suggested in this paper, The existence and shape of hole are recognized by calculating the distance and feature value in the test image, which is obtained from the parameters of reference image. It is programmed to apply to GUI(Graphic User the Interface) in windows. More than 98% of recognition rate is shown, as it is applied to three different sizes of the radiation fin.