• Transactions of the Korean Society of Mechanical Engineers
• /
• v.18 no.9
• /
• pp.2349-2357
• /
• 1994

This paper presents a facial expression transformation algorithm and drawing rule generation algolithm for a portrait drawing robot which was developed for the '93 Taejeon EXPO. The developed algorithm was mainly focused on the robust automatic generation of robot programs with the consideration that the drawing robot should work without any limitation of the age, sex or race for the persons. In order to give more demonstratin effects, the facial expression change of the pictured person was performed.

• Journal of the Korean Society for Precision Engineering
• /
• v.13 no.2
• /
• pp.94-101
• /
• 1996

The equations of motion for a basic industrial robotic system which has a rigid or a flexible arm are derived by Lagrange's equation, respectively. Especially, for the deflection of the flexible arm, the assumed mode method is employed. These equations are highly nonlinear equations with nonlinear coupling between the variables of motion. In order to design the control law for the rigid-arm robot, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory. The control law for the rigid-arm robot is employed to input the desired path and to provide the required nonlinear transformations for the flexible-arm robot to follow. By using the implicit Euler method to solve the nonlinear equations, the comparison of the motions between the flexible and the rigid robots and the effect of flexibility are examined.

• Journal of Institute of Control, Robotics and Systems
• /
• v.4 no.1
• /
• pp.45-55
• /
• 1998

In this paper, a robust path tracker and depth controller of Autonomous Underwater Vehicle based on sliding mode control is presented. We have also designed augmented equivalent control inputs by analyzing the sliding mode with the reaching mode. This can enhance the reaching rate, and improve chattering problems, that is, noise caused by the control plane actuator of the vehicle, which is one of the problems that occur when sliding mode control is used. Also to resolve the steady state error generated in the path tracker under current effect, a modified sliding plane is constructed. Also a redesigned sliding plane and control input using transformation matrix is proposed to do easy design of MIMO depth controller. For state variables that cannot be measured directly, reduced order sliding mode control is used to design an observer. The performance of designed path tracker and depth controller is investigated by computer simulation. The results show that the proposed control system has robust performance to parameter variation, modelling error and disturbance.

• Journal of the Institute of Electronics Engineers of Korea SD
• /
• v.47 no.2
• /
• pp.51-59
• /
• 2010

Two logic transformations, De Morgan and re-substitution, are sufficient to convert a unate gate network (UGN) to a more general balanced inversion parity (BIP) network. Circuit classes of interest are discussed in detail. We prove that De Morgan and re-substitution transformations are test-set preserving for path delay faults. Using the results of this paper, we can easily show that a high-level test set for a function z that detects all path delay faults in any UGN realizing z also detects all path delay faults in any BIP realization of z.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.12 no.11
• /
• pp.2050-2056
• /
• 2008

A realization for moving object sensing and tracking system in two dimensional plane using stereo line CCDs and lighting source is presented in this paper. The system is realized that instead of processing camera images directly, two line CCD sensor and input line image is used to measure two dimensional distance by comparing the brightness on line CCDs. The algorithms are used the moving object sensing, path tracking and coordinate converting method. To ensure the effective detection of moving path, a detection algorithm to evaluate the reliability of each measured distance is developed. The realized system results are that the performance of moving object recognizing shows 5mm resolution, and enables to track a moving path of object per looms period.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2008.05a
• /
• pp.302-305
• /
• 2008

For an complete image composition to be stitched on several mosaic images, tracing displacement of direction and distance between successive images are important parameters. The input image is modeled by using a general second order two-dimensional Taylor-series and then converting it to a $3{\times}3$ correlation block and storing the data. A moving factor and coordinate is calculated by comparing the continuous correlation blocks. The experimentation result has a success rate of 85% for moving path tracing as continuous images are moved to 10% of image central position.

• Asia-Pacific Journal of Business
• /
• v.14 no.3
• /
• pp.1-16
• /
• 2023

Purpose Despite the ongoing digital transformation, it is not clear whether emerging market firms follow their manufacturing FDI path in the emerging digital industries. This paper examines how digital orientation affects the location strategies in internationalization and how the existing innovation capacities moderate the link between digital orientation and the location strategies. Design/methodology/approach This study chooses the Chinese setting for research design because digital transformation is already prevalent in the society and the cases of outward expansion are salient among the emerging markets. It uses the panel dataset of 976 Chinese listed firms that consists of 6,648 observations spanning from 2007 to 2017. Ordinary least square regression is used for the statistical approach with a one-year lag in the model. Findings Digital orientation increases a likelihood of emerging multinationals' entries in developed countries, and a high level of innovative capacities strengthens the link. Two groups seem to prefer entries in developed countries: firms with a high level of digital orientation with a high level of innovative capacities and firms with a low level of digital orientation, if with a low level of innovative capacities. The former reflects the context of digital transformation and the latter hints at the tax avoidance or interests in real estate. Research implications or originality While emerging multinationals are known to prefer entries in developing countries for capacity arbitrage, our results forecast that their FDI strategies may have a drastic change as digital transformation deepens.

• Journal of the Korean BIBLIA Society for library and Information Science
• /
• v.26 no.1
• /
• pp.217-231
• /
• 2015

This study aims to infer the gene-protein 'brings_about' chains of pancreatic cancer which were referred to in the pancreatic cancer related researches by constructing the gene-protein interaction network of pancreatic cancer. The chains can help us uncover publicly unknown knowledge that would develop as empirical studies for investigating the cause of pancreatic cancer. In this study, we applied a novel approach that grafts text mining and the main path analysis into Swanson's ABC model for expanding intermediate concepts to multi-levels and extracting the most significant path. We carried out text mining analysis on the full texts of the pancreatic cancer research papers published during the last ten-year period and extracted the gene-protein entities and relations. The 'brings_about' network was established with bio relations represented by bio verbs. We also applied main path analysis to the network. We found the main direct 'brings_about' path of pancreatic cancer which includes 14 nodes and 13 arcs. 9 arcs were confirmed as the actual relations emerged on the related researches while the other 4 arcs were arisen in the network transformation process for main path analysis. We believe that our approach to combining text mining analysis with main path analysis can be a useful tool for inferring undiscovered knowledge in the situation where either a starting or an ending point is unknown.

• Journal of KIISE:Software and Applications
• /
• v.30 no.9
• /
• pp.821-828
• /
• 2003

The virtual angioscopy was implemented using MR angiography image of carotid artery Inside of the carotid artery is one of the body region not accessible by real optical endoscopy but can be visualized with virtual endoscopy. In order to determine the navigation path, we segmented the common carotid artery and internal carotid artery from the MR angiography image. We used the coordinates as a navigation path for virtual camera that were calculated from medial axis transformation. We used the perspective projection and marching cube algorithm to render the surface from volumetric MRA image data. A stroke occurs when brain cells die because of decreased blood flow to the brain. The carotid artery is the primary blood vessel that supplies the blood flow to the brain. Therefore, the carotid artery stenosis is the primary reason of stroke. The virtual angioscopy is highly recommended as a diagnosis tool with which the specific Place of stenosis can be identified and the degree of stenosis can be measured qualitatively. Also, the virtual angioscopy can be used as an education and training tool for endoscopist and radiologist.

• The KIPS Transactions:PartB
• /
• v.10B no.5
• /
• pp.509-514
• /
• 2003

The virtual bronchoscopy was implemented using chest CT images to visualize inside of tracheo-bronchial wall. The optical endoscopy procedures are invasive, uncomfortable for patients and sedation or anesthesia may be required. Also, they have serious side effects such as perforation, infection and hemorrhage. In order to determine the navigation path, we segmented the tracheo-bronchial wall from the chest CT image. We used the coordinates as a navigation path for virtual camera that were calculated from medial axis transformation. We used the perspective projection and marching cube algorithm to render the surface from volumetric CT image data. The tracheobronchial disease was classified into tracheobronchial stenosis causing from inflammation or lung cancer, bronchiectasis and bronchial cancer. The virtual bronchoscopy is highly recommended as a diagnosis tool with which the specific place of tracheobronchial disease can be identified and the degree of tracheobronchial disease can be measured qualitatively, Also, the virtual bronchoscopy can be used as an education and training tool for endoscopist and radiologist.