• Journal of Institute of Control, Robotics and Systems
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• v.7 no.9
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• pp.723-732
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• 2001

In this paper, the neurofuzzy controller of optically guided AGV is proposed to improve the path-tracking performance A differential steered AGV has front-side and rear-side optical sensors, which can identify the guiding path. Due to the discontinuity of measured data in optical sensors, optically guided AGVs break away easily from the guiding path and path-tracking performance is being degraded. Whenever the On/Off signals in the optical sensors are generated discontinuously, the motion errors can be measured and updated. After sensing, the variation of motion errors can be estimated continuously by the dead reckoning method according to left/right wheel angular velocity. We define the estimated contour error as the sum of the measured contour in the sensing error and the estimated variation of contour error after sensing. The neurofuzzy system consists of incorporating fuzzy controller and neural network. The center and width of fuzzy membership functions are adaptively adjusted by back-propagation learning to minimize th estimated contour error. The proposed control system can be compared with the traditional fuzzy control and decision system in their network structure and learning ability. The proposed control strategy is experience through simulated model to check the performance.

• International Journal of CAD/CAM
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• v.4 no.1
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• pp.33-45
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• 2004

In this work, a rational procedure has been formulated for the selection of points approximating slice contours cut in LOM (Laminated Object manufacturing) with first order approximation. It is suggested that the number of points representing a slice contour can be 'minimised' or 'optmised' by equating the horizontal chordal deviation (HCD) to the user-defined surface form tolerance. It has been shown that such optimization leads to substantial reduction in slice height calculations and NC codes file size for cutting out the slices. Due to optimization, the number of contour points varies from layer to layer, so that points on successive layer contours have to be matched by four sided ruled surface patches and triangular patches. The technological problems associated with the cutting out of triangular patches have been addressed. A robust algorithm has been developed for the determination of slice height for optimum and arbitrary numbers of contour points with different strategies for error calculations. It has been shown that optimisation may even lead to detection and appropriate representation of elusive surface features. An index of optimisation has been defined and calculations of the same have been tabulated.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.22 no.8
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• pp.1691-1697
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• 1997

This paper presents a new motion compensated error coding method suitable for region based image coding system. Compared with block based conding, the region based coding improves subjective quality as it estimates and compensates 2D (or 3D) translantional, rotational, and scaling motion for each regions. although the region based coding has this advantage, its merit is reduced as bock-DCT (2D-DCT) is used to encode motion-compensated error. To overcome this problem, a new region adaptive motion compensated error coding technique which improver subjective and objective quality in the region boundary is proposed in this paper. In the proposed method, regions with large error are estimated using contour of the regions and contrast between the regions. The regions estiated as those with large error are coded by arbitrarily shaped image segment coding method. The mask information of the coded regions is not transmitted because it is estimated as the same algorithm in the encoder and the decoder. The proposed region adaptive motion conpensated error coding method improves about 0.5dB when it is compared with conventional block based method.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.2
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• pp.168-175
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• 2011

Contouring accuracy of CNC machine tools is very important for high-speed and high-precision machining. In particular, large contour error may occur during corner tracking. In order to reduce the corner contouring error, acceleration and deceleration control or tool-path planning methods have been suggested. However, they do not directly control the corner contouring error. In the meantime, network servo systems are widely used because of their easiness of building and cost effectiveness. Communication latency between the master controller and servo drives, however, may deteriorate contouring accuracy especially during corner tracking. This paper proposes a control strategy that can accurately calculate and directly control the corner contouring error. A prediction control is combined with the above control to cope with communication latency. The proposed control method is evaluated through computer simulation and experiments. The results show its validity and usefulness.

• The Journal of the Acoustical Society of Korea
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• v.15 no.3E
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• pp.31-36
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• 1996

In this paper, a two-stage recognition approach based on error pattern hypotheses is proposed to reduce errors of a connected digit recognizer. In the approach, a conventional recognizer is first used to produce N-best candidate strings, and then error patterns are hypothesized by examining the candidate strings. For substitution error pattern hypotheses, error-pattern-dependent classifiers having more discriminative power than the first-stage classifier are used ; and for insertion and deletion errors, word duration and energy contour information are exploited are exploited to discriminated confusing pairs. Simulation results showed that the proposed approach achieves 15% decrease in word error rate for speaker-independent Korean connected digit recognition when a hidden Markov model-based recognizer is used for the first-stage classifier.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.47 no.6
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• pp.19-27
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• 2010

This paper proposes a method for enhancing detection performance and reducing computational cost when detecting a human face by applying B-spline active contour to the frame difference of consecutive images. Firstly, the method estimates amount of user's motion using kurtosis. If the kurtosis is smaller than a pre-defined threshold, it is considered that the amount of user's motion is insufficient and thus the contour fitting is not applied. Otherwise, the contour fitting is applied by exploiting the fact that the amount of motion is sufficient. Secondly, for the contour fitting, difference edges are detected by combining the distance transformation of the binarized frame difference and the edges of current frame. Lastly, the face is located by assigning the contour fitting process to the detected difference edges. Kurtosis-based motion amount estimation can reduce a computational cost and stabilize the results of the contour fitting. In addition, distance transformation-based difference edge detection can enhance the problems of contour lag and discontinuous difference edges. Experimental results confirm that the proposed method can reduce the face localization error caused by the contour lag and discontinuity of edges, and decrease the computational cost by omitting approximately 39% of the contour fitting.

• Communications of the Korean Mathematical Society
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• v.12 no.3
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• pp.797-812
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• 1997

For analytic functions we give an expression for the kernel $K_n$ of the remainder terms for the Gauss-Radau and the Gauss-Lobatto rules with end points of multiplicity r and prove the convergence of the kernel we obtained. The error bound are obtained for the type $$\mid$R_n(f)$\mid$ \leq \frac{1}{\pi}l(\Gamma) max_{z \in \Gamma} $\mid$K_n(z)$\mid$ max_{z \in \Gamma} $\mid$f(z)$\mid$$, where $l(\Gamma)$ denotes the length of contour $\Gamma$.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.466-471
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• 1996

This work is concerned with the development of digital contouring controller formulti-axial servosystems. Digital optimal contouring controller is proposed to coordinate each of the controllers of multiple feed drives and specifically improve the controuring performance. The optimal control formulation includes the contour error explicity in the performance index to be minimized. The contouring control is exercised for straight line and circular contours. Substantial improvement in contouring perfomance is obtained for a range of contouring conditions. Both steady state and transient error measures have been considered. The simulation study presented has estiblished the potential of the proposed controller to improve contourning perfomance.

• Journal of Broadcast Engineering
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• v.10 no.4 s.29
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• pp.632-642
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• 2005

This paper presents a new vertex selection scheme for the polygon-based contour approximation. In the proposed method, the entire contour is partitioned into partial segments and they are approximated adaptively with variable accuracy. The approximation accuracy of each segment is controlled based on its relative significance. By computing the relative significance with the texture degradation in the approximation error region, the visual quality enhancement in the reconstructed frames can be achieved under the same amount of the contour data. For this purpose, a decision rule for $d_{max}$ is derived based on inter-region contrasts. In addition, an adaptive vertex selection method using the derived rule is proposed. Experimental results are presented to show the superiority of the proposed method over conventional methods.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.10 s.253
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• pp.1209-1218
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• 2006

Precision servomechanisms are widely used in machine tool, semiconductor and flat panel display industries. It is important to improve contouring accuracy in high-precision servomechanisms. In order to improve the contouring accuracy, cross-coupled control systems have been proposed. However, it is very difficult to select the controller parameters because cross-coupled control systems are multivariable, nonlinear and time-varying systems. In this paper, in order to improve contouring accuracy of a biaxial servomechanism, a cross-coupled controller is adopted and an optimal tuning procedure based on an integrated design concept is proposed. Strict mathematical modeling and identification process of a servomechanism are performed. An optimal tuning problem is formulated as a nonlinear constrained optimization problem including the relevant controller parameters of the servomechanism. The objective of the optimal tuning procedure is to minimize both the contour error and the settling time while satisfying constraints such as the relative stability and maximum overshoot conditions, etc. The effectiveness of the proposed optimal tuning procedure is verified through experiments.