• Journal of Institute of Control, Robotics and Systems
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• v.19 no.11
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• pp.998-1003
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• 2013

This study proposes an adaptive control algorithm for lateral motion of a UGV (Unmanned Ground Vehicle) using an NN (Neural Networks). The lateral motion of the UGV can be corrupted with various uncertainties such as side slip. In order to compensate the performance degradation of the UGV under various uncertainties, an NN-based adaptive control is designed by utilizing a virtual control concept. Since both the drift and input gain terms are uncertain, the proposed method adapts the whole terms related to the difference between the nominal and real systems. To avoid a singularity problem with the adaptive control, the affine property of the UGV dynamic model is utilized and the overall closed-loop stability is analyzed rigorously. Finally, numerical simulations using Carsim are performed to validate the effectiveness of the proposed scheme.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.4
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• pp.105-110
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• 2014

This paper presents the hysteresis friction of a sliding elastomer on various types of surfaces. The hysteresis friction is calculated by means of an analytical model which considers the energy spent by the local deformation of the rubber due to surface asperities. By establishing the fractal character of the surfaces, the contribution to rubber friction of roughness at different length scales is accounted for. High resolution surface profilometer is used in order to calculate the main three surface descriptors and the minimal length scale that can contribute to hysteresis friction. The results show that this friction prediction can be used in order to characterize in an elegant manner the surface morphology of various surfaces and to quantify the friction coefficient of sliding rubber as a function of surface roughness, load and speed.

• Tribology and Lubricants
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• v.34 no.1
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• pp.1-8
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• 2018

This paper presents the analysis of friction master curves for a sliding elastomer on rough granite. The hysteresis friction is calculated using an analytical model that considers the energy spent during the local deformation of the rubber due to surface asperities. The adhesion friction is also considered for dry friction prediction. The viscoelastic modulus of the rubber compound and the large-strain effective modulus are obtained from dynamic mechanical analysis (DMA). We accurately demonstrate the large strain of rubber that contacts with road substrate using the GW theory. We found that the rubber block deforms approximately to 40% strain. In addition, the viscoelastic master curve considering nonlinearity (at 40% strain) is derived based on the above finding. As viscoelasticity strongly depends on temperature, it can be assumed that the influence of velocity on friction is connected to the viscoelastic shift factors gained from DMA using the time-temperature superposition. In this study, we apply these shift factors to measure friction on dry granite over a velocity range for various temperatures. The measurements are compared to simulated hysteresis and adhesion friction using the Kluppel friction theory. Although friction results in the low-speed band match well with the simulation results, there are differences in the predicted and experimental results as the velocity increases. Thus, additional research is required for a more precise explanation of the viscoelastic material properties for better prediction of rubber friction characteristics.

• The Transactions of the Korea Information Processing Society
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• v.4 no.3
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• pp.792-801
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• 1997

In this paper we propose an algorithm which fits a surface to noise-corrupted data points using an aceive sur-vace with global deformations.It is 3-dimensional surface extension of our precious works on 2-dimensional curve modell[11,12].We use fimite differences,and represent shapes of surface as global transfromation suring evolution based on the ballon [odel[2,3]which allows partial inflation or deflation by using niegborhood'sextermal foreces on each node points.At first,we make local deformations based on the balloon [odel,and then the blobal transformation from the surface before deformations to the defomed surface is calcualted by the deterministic lest squre method,finally we apply the global transformation to the surface before deformations.In experiments we fit a surface(elliposid,B-spline)to noise-corrupted 3D data points using the active surface with affine deformations.

• Journal of the Semiconductor & Display Technology
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• v.13 no.1
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• pp.27-33
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• 2014

Video from unmanned aerial vehicle (UAV) is influenced by natural environments due to the light-weight UAV, specifically by winds. Thus UAV's shaking movements make the video shaking. Objective of this paper is making a stabilized video by removing shakiness of video acquired by UAV. Stabilizer estimates camera's motion from calculation of optical flow between two successive frames. Estimated camera's movements have intended movements as well as unintended movements of shaking. Unintended movements are eliminated by smoothing process. Experimental results showed that our proposed method performs almost as good as the other off-line based stabilizer. However estimation of camera's movements, i.e., calculation of optical flow, becomes a bottleneck to the real-time stabilization. To solve this problem, we make parallel stabilizer making average 30 frames per second of stabilized video. Our proposed method can be used for the video acquired by UAV and also for the shaking video from non-professional users. The proposed method can also be used in any other fields which require object tracking, or accurate image analysis/representation.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.11C
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• pp.1592-1599
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• 2004

In this paper, we proposed the 3D mesh watermarking using projection onto convex sets (POCS). 3D mesh is projected iteratively onto two constraint convex sets until it satisfy the convergence condition. These sets consist of the robustness set and the invisibility set that designed to embed watermark Watermark is extracted without original mesh by using the decision values and the index that watermark is embedded. Experimental results verified that the watermarked mesh have the robustness against mesh simplification, cropping, affine transformation, and vertex randomization as well as the invisibility.

• Smart Media Journal
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• v.5 no.1
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• pp.88-94
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• 2016

In this paper, we proposed a new object tracking algorithm based on sparse representation to handle the drifting problem. In APG-L1(accelerated proximal gradient) tracking, the sparse representation is applied to model the appearance of object using linear combination of target templates and trivial templates with proper coefficients. Also, the particle filter based on affine transformation matrix is applied to find the location of object and APG method is used to minimize the l1-norm of sparse representation. In this paper, we make use of the trivial template coefficients actively to block the drifting problem. We experiment the various videos with diverse challenges and the result shows better performance than others.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.25 no.4
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• pp.196-220
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• 2021

This study formulates a new geometric parameterization scheme to effectively address numerical analysis subject to the variation of the fiber radius of a square unit cell. In particular, the proposed mesh-morphing approach may lead to a parameterized weak form whose bilinear and linear forms are affine in the geometric parameter of interest, i.e. the fiber radius. As a result, we may certify the reduced basis analysis of a square unit cell model for any parameters in a predetermined parameter domain with a rigorous a posteriori error bound. To demonstrate the utility of the proposed geometric parameterization, we consider a two-dimensional, steady-state heat conduction analysis dependent on two parameters: a fiber radius and a thermal conductivity. For rapid yet rigorous a posteriori error evaluation, we estimate a lower bound of a coercivity constant via the min-θ method as well as the successive constraint method. Compared to the corresponding finite element analysis, the constructed reduced basis analysis may yield nearly the same solution at a computational speed about 29 times faster on average. In conclusion, the proposed geometric parameterization scheme is conducive for accurate yet efficient reduced basis analysis.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.spc4_2
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• pp.401-412
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• 2014

This study is purposed on showing an effective process for coordinate transformation of cadastral maps, based on the local datum, in the World Geodetic System (WGS) for Cadastral Reform Project (CRP). The process follows three steps: coordinate adjustment, datum transformation and distortion modeling. The first procedure is that point coordinates on local datum has to be adjusted by those GPS observed point-to-point distances, using trilateration. Secondly, the adjusted coordinates need to be transformed to WGS by applying the Affine model, while the verification of the methodology is implemented under numerical experiments. To conduct this procedure, 195 points in the same coordinate origins in Seoul and 61 points in several different origins in Incheon are used in the estimation. As a result, there are less than 2cm coordinate differences between transformed coordinates and measured ones at everywhere. Also, it is remarkable that the transformation does not depend on either of the particular common points or the sizes of computed region. Therefore, this suggested methodology is expected to easily provide identifications and corrections for points-deviations for improved quality of the cadastral map by distortion modeling through CRP.

• The KIPS Transactions:PartB
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• v.17B no.4
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• pp.309-316
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• 2010

This paper introduces a new model based method for facial expression recognition that uses facial grid angles as feature space. In order to be able to recognize the six main facial expression, proposed method uses a grid approach and therefore it establishes a new feature space based on the angles that each gird's edge and vertex form. The way taken in the paper is robust against several affine transformations such as translation, rotation, and scaling which in other approaches are considered very harmful in the overall accuracy of a facial expression recognition algorithm. Also, this paper demonstrates the process that the feature space is created using angles and how a selection process of feature subset within this space is applied with Wrapper approach. Selected features are classified by SVM, 3-NN classifier and classification results are validated with two-tier cross validation. Proposed method shows 94% classification result and feature selection algorithm improves results by up to 10% over the full set of feature.