• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.6
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• pp.951-957
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• 2010

An optimal path generation method considering the safety of UGV(Unmanned Ground Vehicle) is proposed and demonstrated through examples. Among various functions of UGV, real-time obstacle avoidance is a key issue to realize realistic scenario in FCS(Future Combat Systems). A two-dimensional narrow corridor environment is considered as a test field. For each step of UGV movement, two objectives are considered: One is to minimize the distance to the target and the other to maximize the distance to the nearest point of an obstacle. A weighted objective function is used in the optimization problem. Equality and inequality constraints are taken to secure the UGV's dynamics and safety. The weighting factors are controlled by a fuzzy controller which is constructed by a fuzzy rule set and membership functions. Simulations are performed for two cases. First the weighting factors are considered as constant values to understand the characteristics of the corresponding solutions and then as variables that are adjusted by the fuzzy controller. The results are satisfactory for realistic situations considered. The proposed optimal path generation with the fuzzy control is expected to be well applicable to real environment.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.68 no.3
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• pp.471-479
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• 2019

This research proposes a indoor magnetic map matching algorithm that improves the position accuracy by employing multiple magnetic sensors and probabilistic candidate weighting function. Since the magnetic field is easily distorted by the surrounding environment, the distorted magnetic field can be used for position mapping, and multiple sensor configuration is useful to improve mapping accuracy. Nevertheless, the position error is likely to increase because the external magnetic disturbances have repeated pattern in indoor environment and several points have similar magnetic field distortion characteristics. Those errors cause large position error, which reduces the accuracy of the position detection. In order to solve this problem, we propose a method to reduce the error using multiple sensors and likelihood boundaries that uses human walking characteristics. Also, to reduce the maximum position error, we propose an algorithm that weights according to their importance. We performed indoor walking tests to evaluate the performance of the algorithm and analyzed the position detection error rate and maximum distance error. From the results we can confirm that the accuracy of position detection is greatly improved.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.46 no.1
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• pp.71-78
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• 2009

Sound source localization systems in service robot applications estimate the direction of a human voice. Time delay information obtained from a few separate microphones is widely used for the estimation of the sound direction. Correlation is computed in order to calculate the time delay between two signals. In addition, PHAT weighting function can be applied to significantly improve the accuracy of the estimation. However, FFT and IFFT operations in the PHAT weighting function occupy more than half of the area of the sound source localization system. Thus efficient FFT and IFFT designs are essential for the IP implementation of sound source localization system. In this paper, we propose an efficient FFT/IFFT design method based on the characteristics of human voice.

• Journal of Broadcast Engineering
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• v.24 no.5
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• pp.827-835
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• 2019

In the pooling stage of a full reference image quality assessment (FR-IQA) technique, the global perceived quality for any distorted image is usually measured from the quality of its local image patches. But all the image patches do not have equal contribution when estimating the overall visual quality since the degree of degradation on those patches depends on various considerations i.e., types of the patches, types of the distortions, distortion sensitivities of the patches, saliency score of the patches, etc. As a result, weighted pooling strategy comes into account and different weighting mechanisms are used by the existing FR-IQA methods. This paper performs a thorough analysis and proposes a novel weighting function by considering the luminance adaptation as well as the visual saliency effect to offer more appropriate local weights, which can be adopted in the existing FR-IQA frameworks to improve their prediction accuracy. The extended experimental results show the effectiveness of the proposed weighting function.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.4
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• pp.347-353
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• 2008

Reflected light can be decomposed into specular and diffuse components according to the light reflectance theory and experiments. The specular component appears in smooth surfaces mainly, while the diffuse one is visible in rough surfaces mostly. Therefore, each component can be used in forming their correlations to a surface roughness. However, they cannot represent the whole surface roughness seamlessly, because each formulation is merely validated in their available surface roughness regions. To solve this problem, new approaches to properly blend two light components in all regions are proposed in this paper. First is the weighting function method that a blending zone and rate can be flexibly adjusted, and second is the neural network method based on the learning from the measurement data. Simulations based on the light reflectance theory were conducted to examine its performance, and then experiments conducted to prove the enhancement of the measurement accuracy and reliability through the whole surface roughness regions.

• International Journal of Control, Automation, and Systems
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• v.1 no.1
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• pp.101-110
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• 2003

This paper introduces an identification method for nonlinear models in the form of rule-based Fuzzy-Neural Networks (FNN). In this study, the development of the rule-based fuzzy neural networks focuses on the technologies of Computational Intelligence (CI), namely fuzzy sets, neural networks, and genetic algorithms. The FNN modeling and identification environment realizes parameter identification through synergistic usage of clustering techniques, genetic optimization and a complex search method. We use a HCM (Hard C-Means) clustering algorithm to determine initial apexes of the membership functions of the information granules used in this fuzzy model. The parameters such as apexes of membership functions, learning rates, and momentum coefficients are then adjusted using the identification algorithm of a GA hybrid scheme. The proposed GA hybrid scheme effectively combines the GA with the improved com-plex method to guarantee both global optimization and local convergence. An aggregate objective function (performance index) with a weighting factor is introduced to achieve a sound balance between approximation and generalization of the model. According to the selection and adjustment of the weighting factor of this objective function, we reveal how to design a model having sound approximation and generalization abilities. The proposed model is experimented with using several time series data (gas furnace, sewage treatment process, and NOx emission process data from gas turbine power plants).

• The KSFM Journal of Fluid Machinery
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• v.10 no.2 s.41
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• pp.7-15
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• 2007

A numerical procedure for optimizing the shape of three-dimensional channel with V-shaped ribs extruded on both walls has been carried out to enhance the turbulent heat transfer. The response surface based optimization is used as an optimization technique with Reynolds-averaged Wavier-stoked analysis. Shear stress transport (SST) turbulence model is used as a turbulence closure. Computational results for average heat transfer rate show good agreements with experimental data. The objective function is defined as a linear combination of heat transfer and friction loss-related terms with a weighting factor. Three dimensionless variables such as, rib pitch-to-rib height ratio, rib height-to-channel height ratio, and the attack angle of the rib are chosen as design variables. Nineteen training points obtained by D-optimal designs for three design variables construct a reliable response surface. In the sensitivity analysis, it is found that the objective function is most sensitive to the ratio of rib height-to-channel height ratio. And, optimal values of design variables have been obtained in a range of the weighting factor.

• Journal of KSNVE
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• v.10 no.2
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• pp.247-253
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• 2000

The evaluation of the ride quality had been performed by the subjective method before ISO2631(International Organization for Stadard 2631) and BS6841(British Standard 6841) was precented, but many research programs have been performed by the objective method after that. On this study, the ride quality was evaluated related with the objective method which considered the vibration which the human body feels on the driver's seat while driving on the road. In particular, we made the shock absorber nonlinear model and also selected the suitable shock absorber in the part of the vibration which the human body feels into the simulation. The shock absorber of suspension was dealt with 3 cases respectively with the front wheel and rear wheel. The vibration of the car driving on the road can be transferred to the wheel, the suspension, the vehicle body, the seat and the human body. The signal which was gained from the seat(hip) and the floor(foot) of the human body was changed to the vibration signal which the human body felt through using the frequency weighting function. And then the performance of the shock absorber was calculated through the statistic processing.

• Journal of the Society of Naval Architects of Korea
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• v.36 no.1
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• pp.70-81
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• 1999

To predict the viscous boundary layers and wakes around a ship, the CFD techniques are commonly used. For the efficient application of CFD tools to practical hull farms, a 3-D field grid generating system is developed. The present grid generating system utilizes the solution of Poisson equation. Sorenson's method developed for 2-D is extended into 3-D to provide the forcing functions controling grid interval and orthogonality on hull surface, etc. The weighting function scheme is used for the discretization of the Poisson equation and the linear equations are solved by using MSIP salver. The trans-finite interpolation is also employed to assure the smooth transition into boundary surface grids. To rove the applicability, the field grid systems around a container ship and a VLCC with bow and stem bulb are illustrated, and the procedures for generating 3-D field grid system are explained.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.455-460
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• 1994

This paper presents a simple methodology for reducing the order of H$_{\infty}$ controllers in the mixed sensitivity control problems. The key point of this methodology is to transform the generalized plant expression to new one, where the control object and the weighting functions for the sensitivity function may have some poles on the imaginary axis. So that, this methodology makes it possible to use the standard method to solve the general H$_{\infty}$ design problems about the mixed sensitivity problems, even for a servo system or a oscillatory system. We derive that the order of H$_{\infty}$ controllers designed by this methodology may be reduced to n$_{p}$ where n$_{p}$ is the order of the denominator of the control object. It is clear that n$_{p}$ is lower than n$_{p}$ + n$_{s}$, which is the order of H$_{\infty}$ controllers obtained by the ordinary H$_{\infty}$ design method up to now, where n$_{s}$ is the order of the denominator of the weighting function for sensitivity. Finally, a numerical example is given to illustrate the results..lts.ts..lts.lts.