• Title/Summary/Keyword: gradient structure

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Hybrid Fuzzy Adaptive Control of LEGO Robots

  • Vaseak, Jan;Miklos, Marian
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.2 no.1
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    • pp.65-69
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    • 2002
  • The main drawback of “classical”fuzzy systems is the inability to design and maintain their database. To overcome this disadvantage many types of extensions adding the adaptivity property to those systems were designed. This paper deals with one of them a new hybrid adaptation structure, called gradient-incremental adaptive fuzzy controller connecting gradient-descent methods with the so-called self-organizing fuzzy logic controller designed by Procyk and Mamdani. The aim is to incorporate the advantages of both Principles. This controller was implemented and tested on the system of LEGO robots. The results and comparison to a ‘classical’(non-adaptive) fuzzy controller designed by a human operator are also shown here.

Deposition and characterization of compositional gradient CrNx coatings prepared by arc ion plating

  • Zhang, Min;Kim, Kwang-Ho
    • Proceedings of the Korean Institute of Surface Engineering Conference
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    • 2009.05a
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    • pp.177-181
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    • 2009
  • Compositional gradient CrNx coatings were fabricated using arc ion plating in Ar/$N_2$ gaseous mixture by gradually increasing $N_2$ flux rate from 0 to 120 SCCM. The effect of negative substrate bias on the film microstructure and mechanical properties were systematically investigated with XRD, GDOES, and SEM. The results show that substrate bias has an important influence on film growth and microstructure of gradient CrNx coatings. The coatings mainly crystallized in the mixture of hexagonal $Cr_{2}N$ and fcc CrN phases. By increasing substrate bias, film microstructure evolved from an apparent columnar structure to an equiaxed one. With increasing substrate bias, deposition rate first increased, and then decreased. The maximum of deposition rate was 15 nm/min obtained at a bias of -50V.

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Nonlinear forced vibration of FG-CNTs-reinforced curved microbeam based on strain gradient theory considering out-of-plane motion

  • Allahkarami, Farshid;Nikkhah-bahrami, Mansour;Saryazdi, Maryam Ghassabzadeh
    • Steel and Composite Structures
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    • v.26 no.6
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    • pp.673-691
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    • 2018
  • The main goal of this research is to examine the in-plane and out-of-plane forced vibration of a curved nanocomposite microbeam. The in-plane and out-of-plane displacements of the structure are considered based on the first order shear deformation theory (FSDT). The curved microbeam is reinforced by functionally graded carbon nanotubes (FG-CNTs) and thus the extended rule of mixture is employed to estimate the effective material properties of the structure. Also, the small scale effect is captured using the strain gradient theory. The structure is rested on a nonlinear orthotropic viscoelastic foundation and is subjected to concentrated transverse harmonic external force, thermal and magnetic loads. The derivation of the governing equations is performed using energy method and Hamilton's principle. Differential quadrature (DQ) method along with integral quadrature (IQ) and Newmark methods are employed to solve the problem. The effect of various parameters such as volume fraction and distribution type of CNTs, boundary conditions, elastic foundation, temperature changes, material length scale parameters, magnetic field, central angle and width to thickness ratio are studied on the frequency and force responses of the structure. The results indicate that the highest frequency and lowest vibration amplitude belongs to FGX distribution type while the inverse condition is observed for FGO distribution type. In addition, the hardening-type response of the structure with FGX distribution type is more intense with respect to the other distribution types.

Directional Deinterlacing Method Using Local Gradient Features (국부 Gradient 특징을 이용한 방향성 deinterlacing 방법)

  • Woo, Dong-Hun;Eom, Il-Kyu;Kim, Yoo-Shin
    • Journal of the Institute of Electronics Engineers of Korea SP
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    • v.42 no.5 s.305
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    • pp.41-46
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    • 2005
  • Deinterlacing is the conversion from interlaced to progressive scan image that is considered to be 2 times image interpolation. In this paper, the simple and effective deinterlacing method is proposed based on the local gradient information of neighborhood pixels. In the proposed method, the weights for directions around the pixel to be interpolated are estimated, and the weighted sum for the neighborhood pixels is the final intensity value of the pixel to be interpolated. The proposed method has the structure suitable to practical implementation and can avoid the artifacts due to the wrong detection of edge direction. In the simulation, it showed improved subjective and objective performance than the ELA method and comparable performance compared with the variation of ELA method which has more complex structure and requires a couple of parameters that is determined by experience.

Microscopic Interdiffusion in Multilayer Structure

  • Kim, Jai-Young
    • Journal of Magnetics
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    • v.2 no.2
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    • pp.58-66
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    • 1997
  • Recently, artificially modulated magnetic multilayer materials, for examples giant magnetoresistant magnetic head materials and magneto-optic recording materials in the wavelength of a blue laser beam, attract great attention in the electronics industry due to their unique properties derived from the modulated multilayer structure. Since the multilayer structure as well as amorphous structure, is non-equilibrium state in terms of free energy, an assessment of the thermal staibility in the multilayer structure is crucially importnat both for basic research and applications. In this review paper, effective microscopic interdiffusion process in the two dimensional multilayer structure will be described in terms of steep concentration gradient effect, strain effect and magnetic transition effect.

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Path Tracking Control Using a Wavelet Based Fuzzy Neural Network for Mobile Robots

  • Oh, Joon-Seop;Park, Yoon-Ho
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.4 no.1
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    • pp.111-118
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    • 2004
  • In this paper, we present a novel approach for the structure of Fuzzy Neural Network(FNN) based on wavelet function and apply this network structure to the solution of the tracking problem for mobile robots. Generally, the wavelet fuzzy model(WFM) has the advantage of the wavelet transform by constituting the fuzzy basis function(FBF) and the conclusion part to equalize the linear combination of FBF with the linear combination of wavelet functions. However, it is very difficult to identify the fuzzy rules and to tune the membership functions of the fuzzy reasoning mechanism. Neural networks, on the other hand, utilize their learning capability for automatic identification and tuning. Therefore, we design a wavelet based FNN structure(WFNN) that merges these advantages of neural network, fuzzy model and wavelet transform. The basic idea of our wavelet based FNN is to realize the process of fuzzy reasoning of wavelet fuzzy system by the structure of a neural network and to make the parameters of fuzzy reasoning be expressed by the connection weights of a neural network. And our network can automatically identify the fuzzy rules by modifying the connection weights of the networks via the gradient descent scheme. To verify the efficiency of our network structure, we evaluate the tracking performance for mobile robot and compare it with those of the FNN and the WFM.

The Internal Structure of an Identification Function in Korean Lexical Pitch Accent in North Kyungsang Dialect

  • Kim, Jungsun
    • Phonetics and Speech Sciences
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    • v.5 no.1
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    • pp.91-98
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    • 2013
  • This paper investigated Korean prosody as it relates to graded internal structure in an identification function. Within Korean prosody, variants regarded as dialectal variations can appear as different prosodic scales, which contain the range of within-category variations. The current experiment was intended to show how the prosodic scale corresponding to the range of within-category differences relates to f0 contours for speakers of two Korean dialects, North Kyungsang and South Cholla. In an identification task, participants responded by selecting an item from two answer choices. The probability of choosing the correct response from the two choices was computed by a logistic regression analysis using intercepts and slopes. That is, the correct response between two choices was used to show a linear line with an s-shape presentation. In this paper, to investigate the graded internal structure of labeling, 25%, 50%, and 75% of predicted probability were assessed. Listeners from North Kyungsang showed progressive variations, whereas listeners from South Cholla revealed random patterns in the internal structure of the identification function. In this paper, the results were plotted using scatterplot graphs, applying the range of within-category variation and predicted probability obtained from the logistic regression analyses. The scatterplot graphs showed the different degree of the responses for f0 scales (i.e., variations within categories). The results demonstrate that the gradient structures of native pitch accent users become more progressive in response to f0 scales.

Structure and Characteristics of Diffusion Flaame behind a Bluff-body in a Divergent Flow(II) (확대유로내의 Bluff-Body 후류확산화염의 구조 및 특성 2)

  • ;;Lee, Joong Sung
    • Transactions of the Korean Society of Mechanical Engineers
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    • v.19 no.11
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    • pp.2981-2994
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    • 1995
  • In order to elucidate the effects of positive pressure gradient on flame properties, structure and stabilization, an experimental study is made on turbulent diffusion flame stabilized by a circular cylinder in a divergent duct flow. A commercial grade gaseous propane is injected from two slits on the rod as fuel. In this paper, stabilization, characteristics and flame structure are examined by varying the divergent angle of duct. Temperature, ion current and Schlieren photographs were measured. It is found that critical divergent angle is expected to be about 8 ~ 12 degree through blow-off velocity pattern to divergent angle and the positive pressure gradient influences the flame temperature, intensity of ion current and eddy structure behind the rod. With the increase of divergent angle, typical temperature of recirculation zone is low but intensity of ion current is high in shear layer behind rod. Energy distributions of fluctuating temperature and ion current signals turn up low frequency corresponding to large scale eddies but high frequency corresponding to small scale eddies as well as low with the increase of divergent angle. Therefore the flame structure becomes a typical distributed-reacting flame.

Seepage Behaviors on the Box Culvert Side of Enlarged Levee (하천 보축제체의 배수통문 구조물 측면부 침투 특성)

  • Yang, Hakyoung;Kim, Youngmuk
    • Journal of the Korean GEO-environmental Society
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    • v.21 no.4
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    • pp.19-30
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    • 2020
  • This numerical study is to investigate the seepage characteristics of the side of the structure in the event of leakage from the structural connection part of the drainage structure installed through the enlarged levee, and to analyze the effect of piping on the stabilization of the levee by the lateral penetration behavior. To take into account lateral seepage behavior, 2D and 3D numerical analyses were performed on the same model, and the effect of lateral seepage was analyzed to assess the validity of the numerical analysis. As a result, when leakage occurs and a lateral seepage is considered with the gate located on the riverside land, the maximum pore water pressure near the leakage point of the structure has been reduced by half compared to the normal seepage state where no leakage occurred. Excessive variation in the pore pressure was shown at the lower part of the structure, especially if lateral seepage is not considered. As a water level rises to the high water level, it shows the hydraulic gradient was larger than the critical hydraulic gradient, which will be vulnerable to long-term piping. If a gate is located in the inland and side seepage is not considered, the effect of the seepage water such as hydraulic gradient and seepage velocity is underestimated compared with the case of considering side seepage. The maximum hydraulic gradient is relatively small when lateral seepage is neglected if a gate is located in the riverside land and there was might be a risk of piping or loss of material. In addition, the period exceeding the critical hydraulic gradient was interpreted as a short time zone. As a result, it is considered that the possibility of piping can be underestimated if side seepage is ignored.

Bottle Label Segmentation Based on Multiple Gradient Information

  • Chen, Yanjuan;Park, Sang-Cheol;Na, In-Seop;Kim, Soo-Hyung;Lee, Myung-Eun
    • International Journal of Contents
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    • v.7 no.4
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    • pp.24-29
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    • 2011
  • In this paper, we propose a method to segment the bottle label in images taken by mobile phones using multi-gradient approaches. In order to segment the label region of interest-object, the saliency map method and Hough Transformation method are first applied to the original images to obtain the candidate region. The saliency map is used to detect the most salient area based on three kinds of features (color, orientation and illumination features). The Hough Transformation is a technique to isolated features of a particular shape within an image. Therefore, we utilize it to find the left and right border of the bottle. Next, we segment the label based on the gradient information obtained from the structure tensor method and edge method. The experimental results have shown that the proposed method is able to accurately segment the labels as the first step of product label recognition system.