• Title/Summary/Keyword: Three-Point Algorithm

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Study on Traveling Characteristics of Straight Automatic Steering Devices for Drivable Agricultural Machinery (승용형 농기계용 직진 자동조향장치 주행특성 연구)

  • Won, Jin-ho;Jeon, Jintack;Hong, Youngki;Yang, Changju;Kim, Kyoung-chul;Kwon, Kyung-do;Kim, Gookhwan
    • Journal of Drive and Control
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    • v.19 no.4
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    • pp.19-28
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    • 2022
  • This paper introduces an automatic steering system for straight traveling capable of being mounted on drivable agricultural machinery which user can handle it such as a tractor, a transplant, etc. The modular automatic steering device proposed in the paper is composed of RTK GNSS, IMU, HMI, hydraulic valve, and wheel sensor. The path generation method of the automatic steering system is obtained from two location information(latitude and longitude on each point) measured by GNSS in advance. From HMI, a straight path(AB line) can be created by connecting latitude and longitude on each point and the device makes the machine able to follow the path. During traveling along the reference path, it acquires the real time position data every sample time(0.1s), compares the reference with them and calculates the lateral deviation. The values of deviation are used to control the steering angle of the machine using hydraulic valve mounted on the axle of front wheel. In this paper, Pure Pursuit algorithm is applied used in autonomous vehicles frequently. For the analysis of traveling characteristics, field tests were executed about these conditions: velocity of 2, 3, 4km/h which is applied to general agricultural work and ground surface of solid(asphalt) and weak condition(soil) such as farmland. In the case of weak ground state, two experiments were executed about no-load(without work) and load(with work such as plowing). The maximum average deviations were presented 2.44cm, 7.32cm, and 11.34cm during traveling on three ground conditions : asphalt, soil without load and with load(plowing).

Object Pose Estimation and Motion Planning for Service Automation System (서비스 자동화 시스템을 위한 물체 자세 인식 및 동작 계획)

  • Youngwoo Kwon;Dongyoung Lee;Hosun Kang;Jiwook Choi;Inho Lee
    • The Journal of Korea Robotics Society
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    • v.19 no.2
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    • pp.176-187
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    • 2024
  • Recently, automated solutions using collaborative robots have been emerging in various industries. Their primary functions include Pick & Place, Peg in the Hole, fastening and assembly, welding, and more, which are being utilized and researched in various fields. The application of these robots varies depending on the characteristics of the grippers attached to the end of the collaborative robots. To grasp a variety of objects, a gripper with a high degree of freedom is required. In this paper, we propose a service automation system using a multi-degree-of-freedom gripper, collaborative robots, and vision sensors. Assuming various products are placed at a checkout counter, we use three cameras to recognize the objects, estimate their pose, and create grasping points for grasping. The grasping points are grasped by the multi-degree-of-freedom gripper, and experiments are conducted to recognize barcodes, a key task in service automation. To recognize objects, we used a CNN (Convolutional Neural Network) based algorithm and point cloud to estimate the object's 6D pose. Using the recognized object's 6d pose information, we create grasping points for the multi-degree-of-freedom gripper and perform re-grasping in a direction that facilitates barcode scanning. The experiment was conducted with four selected objects, progressing through identification, 6D pose estimation, and grasping, recording the success and failure of barcode recognition to prove the effectiveness of the proposed system.

A New Item Recommendation Procedure Using Preference Boundary

  • Kim, Hyea-Kyeong;Jang, Moon-Kyoung;Kim, Jae-Kyeong;Cho, Yoon-Ho
    • Asia pacific journal of information systems
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    • v.20 no.1
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    • pp.81-99
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    • 2010
  • Lately, in consumers' markets the number of new items is rapidly increasing at an overwhelming rate while consumers have limited access to information about those new products in making a sensible, well-informed purchase. Therefore, item providers and customers need a system which recommends right items to right customers. Also, whenever new items are released, for instance, the recommender system specializing in new items can help item providers locate and identify potential customers. Currently, new items are being added to an existing system without being specially noted to consumers, making it difficult for consumers to identify and evaluate new products introduced in the markets. Most of previous approaches for recommender systems have to rely on the usage history of customers. For new items, this content-based (CB) approach is simply not available for the system to recommend those new items to potential consumers. Although collaborative filtering (CF) approach is not directly applicable to solve the new item problem, it would be a good idea to use the basic principle of CF which identifies similar customers, i,e. neighbors, and recommend items to those customers who have liked the similar items in the past. This research aims to suggest a hybrid recommendation procedure based on the preference boundary of target customer. We suggest the hybrid recommendation procedure using the preference boundary in the feature space for recommending new items only. The basic principle is that if a new item belongs within the preference boundary of a target customer, then it is evaluated to be preferred by the customer. Customers' preferences and characteristics of items including new items are represented in a feature space, and the scope or boundary of the target customer's preference is extended to those of neighbors'. The new item recommendation procedure consists of three steps. The first step is analyzing the profile of items, which are represented as k-dimensional feature values. The second step is to determine the representative point of the target customer's preference boundary, the centroid, based on a personal information set. To determine the centroid of preference boundary of a target customer, three algorithms are developed in this research: one is using the centroid of a target customer only (TC), the other is using centroid of a (dummy) big target customer that is composed of a target customer and his/her neighbors (BC), and another is using centroids of a target customer and his/her neighbors (NC). The third step is to determine the range of the preference boundary, the radius. The suggested algorithm Is using the average distance (AD) between the centroid and all purchased items. We test whether the CF-based approach to determine the centroid of the preference boundary improves the recommendation quality or not. For this purpose, we develop two hybrid algorithms, BC and NC, which use neighbors when deciding centroid of the preference boundary. To test the validity of hybrid algorithms, BC and NC, we developed CB-algorithm, TC, which uses target customers only. We measured effectiveness scores of suggested algorithms and compared them through a series of experiments with a set of real mobile image transaction data. We spilt the period between 1st June 2004 and 31st July and the period between 1st August and 31st August 2004 as a training set and a test set, respectively. The training set Is used to make the preference boundary, and the test set is used to evaluate the performance of the suggested hybrid recommendation procedure. The main aim of this research Is to compare the hybrid recommendation algorithm with the CB algorithm. To evaluate the performance of each algorithm, we compare the purchased new item list in test period with the recommended item list which is recommended by suggested algorithms. So we employ the evaluation metric to hit the ratio for evaluating our algorithms. The hit ratio is defined as the ratio of the hit set size to the recommended set size. The hit set size means the number of success of recommendations in our experiment, and the test set size means the number of purchased items during the test period. Experimental test result shows the hit ratio of BC and NC is bigger than that of TC. This means using neighbors Is more effective to recommend new items. That is hybrid algorithm using CF is more effective when recommending to consumers new items than the algorithm using only CB. The reason of the smaller hit ratio of BC than that of NC is that BC is defined as a dummy or virtual customer who purchased all items of target customers' and neighbors'. That is centroid of BC often shifts from that of TC, so it tends to reflect skewed characters of target customer. So the recommendation algorithm using NC shows the best hit ratio, because NC has sufficient information about target customers and their neighbors without damaging the information about the target customers.

Improvement of the Yaw Motion for Electric Vehicle Using Independent Front Wheel Steering and Four Wheel Driving (독립 전륜 조향 및 4륜 구동을 이용한 전기 차량의 선회 운동 향상)

  • Jang, Jae-Ho;Kim, Chang-Jun;Kim, Sang-Ho;Kang, Min-Sung;Back, Sung-Hoon;Kim, Young-Soo;Han, Chang-Soo
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.1
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    • pp.45-55
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    • 2013
  • With the recent advancement of control method and battery technology, the electric vehicle have been researched to replace the conventional vehicle with electric vehicle with the view point of the environmental concerns and energy conservation. An electric vehicle which is equipped with the independent front steering system and in-wheel motors has advantage in terms of control. For example, the different torque which generated by left and right wheels directly can make yaw moment and the independent steering using outer wheel control is able to reduce the sideslip angle. Using of independent steering and driving system, the 4 wheel electric vehicle can improve a performance better than conventional vehicle. In this paper, we consider the method for improving the cornering performance of independent front steering system and in-wheel motor used electric vehicle with the compensated outer wheel angle and direct yaw moment control. Simulation results show that the method can improve the cornering performance of 4 wheel electric vehicle. We also apply the steering motor failure to steer the vehicle turned by the torque difference without steering. This paper describes an independent front steering and driving, consist of three parts; Vehicle Model, Control Algorithm for independent steering and driving and simulation. First, vehicle model is application of TruckSim software for independent front steering and 4 wheel driving. Second, control algorithm describes the reduced sideslip and direct yaw moment method in view of cornering performance. Last is simulation and verification.

Single Outlier Removal Technology for TWR based High Precision Localization (TWR 기반 고정밀 측위를 위한 단일 이상측정치 제거 기술)

  • Lee, Chang-Eun;Sung, Tae-Kyung
    • The Journal of Korea Robotics Society
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    • v.12 no.3
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    • pp.350-355
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    • 2017
  • UWB (Ultra Wide Band) refers to a system with a bandwidth of over 500 MHz or a bandwidth of 20% of the center frequency. It is robust against channel fading and has a wide signal bandwidth. Using the IR-UWB based ranging system, it is possible to obtain decimeter-level ranging accuracy. Furthermore, IR-UWB system enables acquisition over glass or cement with high resolution. In recent years, IR-UWB-based ranging chipsets have become cheap and popular, and it has become possible to implement positioning systems of several tens of centimeters. The system can be configured as one-way ranging (OWR) positioning system for fast ranging and TWR (two-way ranging) positioning system for cheap and robust ranging. On the other hand, the ranging based positioning system has a limitation on the number of terminals for localization because it takes time to perform a communication procedure to perform ranging. To overcome this problem, code multiplexing and channel multiplexing are performed. However, errors occur in measurement due to interference between channels and code, multipath, and so on. The measurement filtering is used to reduce the measurement error, but more fundamentally, techniques for removing these measurements should be studied. First, the TWR based positioning was analyzed from a stochastic point of view and the effects of outlier measurements were summarized. The positioning algorithm for analytically identifying and removing single outlier is summarized and extended to three dimensions. Through the simulation, we have verified the algorithm to detect and remove single outliers.

Design and Implementation of Real-time Moving Picture Encoder Based on the Fractal Algorithm (프랙탈 알고리즘 기반의 실시간 영상 부호화기의 설계 및 구현)

  • Kim, Jae-Chul;Choi, In-Kyu
    • The KIPS Transactions:PartB
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    • v.9B no.6
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    • pp.715-726
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    • 2002
  • In this paper, we construct real-time moving picture encoder based on fractal theory by using general purpose digital signal processors. The constructed encoder is implemented using two fixed-point general DSPs (ADSP2181) and performs image encoding by three stage pipeline structure. In the first pipeline stage, the image grabber acquires image data from NTSC standard image signals and stores digital image into frame memory. In the second stage, the main controller encode image dada using fractal algorithm. The last stage, output controller perform Huffman coding and result the coded data via RS422 port. The performance tests of the constructed encoder shows over 10 frames/sec encoding speed for QCIF data when all the frames are encoded. When we encode the images using the interframe and redundency based on the proposed algorithms, encoding speed increased over 30 frames/sec in average.

Performance assessment using the inverse analysis based a function approach of bridges repaired by ACM from incomplete dynamic data (불완전 동적 데이터로부터 복합신소재로 보강된 교량의 함수기반 역해석에 의한 성능 평가)

  • Lee, Sang-Youl;Noh, Myung-Hyun
    • Journal of the Korean Society for Advanced Composite Structures
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    • v.1 no.2
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    • pp.51-58
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    • 2010
  • This work examines the identification of stiffness reduction in damaged reinforced concrete bridges under moving loads, and carries out the performance assessment after repairing using advanced composite materials. In particular, the change of stiffness in each element before and after repairing, based on the Microgenetic algorithm as an advanced inverse analysis, is described and discussed by using a modified bivariate Gaussian distribution function. The proposed method in the study is more feasible than the conventional element-based method from computation efficiency point of view. The validity of the technique is numerically verified using a set of dynamic data obtained from a simulation of the actual bridge modeled with a three-dimensional solid element. The numerical examples show that the proposed technique is a feasible and practical method which can inspect the complex distribution of deteriorated stiffness although there is a difference between actual bridge and numerical model as well as uncertain noise occurred in the measured data.

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A Seamless N-Screen Service Technology for Disseminating Disaster Informations (재해정보 확산을 위한 끊김없는 N-스크린 서비스 기술)

  • Kim, Kyungjun;Park, Jonghoon;Kim, Chulwon
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.19 no.3
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    • pp.587-595
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    • 2015
  • A by-pass path in wireless sensor networks is the alternative path which be able to forward data when a routing path is being broken. One reason of depleting energy is occurred by the path. The method for solving prior to addressed the problem is proposed. However, this method may deplete radio resource. The best path has advantage that network lifetime of sensor nodes is prolonged; on the contrary, in order to maintain the best path it have to share their information between the entire nodes. In this paper, we propose the best path searching algorithm in the distributed three dimensional sensor networks. Through the neighboring informations sharing in the proposed method, the proposed algorithm can decide the best k-path as well as the extension of network lifetime.

An Otimal Path Determination in 3D Sensor Networks (3차원 무선 센서네트워크에서 최적경로 선정)

  • Kim, Kyung-Jun;Park, Sun;Kim, Chul-Won;Park, Jong-Hoon
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.16 no.9
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    • pp.1931-1938
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    • 2012
  • A by-pass path in wireless sensor networks is the alternative path which be able to forward data when a routing path is being broken. One reason of depleting energy is occurred by the path. The method for solving prior to addressed the problem is proposed. However, this method may deplete radio resource. The best path has advantage that network lifetime of sensor nodes is prolonged; on the contrary, in order to maintain the best path it have to share their information between the entire nodes. In this paper, we propose the best path searching algorithm in the distributed three dimensional sensor networks. Through the neighboring informations sharing in the proposed method, the proposed algorithm can decide the best k-path as well as the extension of network lifetime.

RSNT-cFastICA for Complex-Valued Noncircular Signals in Wireless Sensor Networks

  • Deng, Changliang;Wei, Yimin;Shen, Yuehong;Zhao, Wei;Li, Hongjun
    • KSII Transactions on Internet and Information Systems (TIIS)
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    • v.12 no.10
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    • pp.4814-4834
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    • 2018
  • This paper presents an architecture for wireless sensor networks (WSNs) with blind source separation (BSS) applied to retrieve the received mixing signals of the sink nodes first. The little-to-no need of prior knowledge about the source signals of the sink nodes in the BSS method is obviously advantageous for WSNs. The optimization problem of the BSS of multiple independent source signals with complex and noncircular distributions from observed sensor nodes is considered and addressed. This paper applies Castella's reference-based scheme to Novey's negentropy-based algorithms, and then proposes a novel fast fixed-point (FastICA) algorithm, defined as the reference-signal negentropy complex FastICA (RSNT-cFastICA) for complex-valued noncircular-distribution source signals. The proposed method for the sink nodes is substantially more efficient than Novey's quasi-Newton algorithm in terms of computational speed under large numbers of samples, can effectively improve the power consumption effeciency of the sink nodes, and is significantly beneficial for WSNs and wireless communication networks (WCNs). The effectiveness and performance of the proposed method are validated and compared with three related BSS algorithms through theoretical analysis and simulations.