• Journal of Korea Multimedia Society
• /
• v.13 no.5
• /
• pp.702-709
• /
• 2010

The performance of mass segmentation is greatly influenced by an initial position of a mass. Some researchers performed mass segmentation with the initial position of a mass given by radiologists. The purpose of our research is to find the initial position for mass segmentation and to notify the segmented mass to radiologists without any additional information on mammograms. The proposed system consists of breast segmentation by region growing and opening operations, decision of an initial seed with characteristics of masses, and mass segmentation by a level set segmentation. A seed for mass segmentation is set based on mass scoring measure calculated by block-based variances and masked information in a sub-sampled mammogram. We used a DDSM database to evaluate the system. The accuracy of mass detection is 78% sensitivity at 4 FP/image, and it reached 92% if multiple views for masses were considered.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.36 no.7
• /
• pp.680-687
• /
• 2008

This paper presents map creation algorithm and initial attitude estimation method for the proposed optical head tracker system. The optical head tracker system consists of the IR stereo cameras and infrared LEDs as features on the helmet. In order for the stereo camera to track the luminous LEDs, it must take in to account the light radiation from the LEDs to determine the position of the center points. The proposed map creation algorithm makes map data about the position of features center points on the helmet frame. Also, initial attitude estimation method is proposed to estimate the initial attitude and position of a pilot head from the camera frame by the use of the feature pattern on the helmet. Therefore, the head motion can be expressed with respect to the body frame of a flight.

• Journal of Power System Engineering
• /
• v.21 no.6
• /
• pp.101-109
• /
• 2017

The pneumatic driving system has advantages such as high output power per weight and low heat generation rate. However, it is difficult to control the position because of its strong non-linearity such as large friction forces compared to driving force, and heat transfer characteristics that change during operation. Therefore, in order to achieve the control objectives, a robust controller should be designed considering modeling error and model uncertainty. In this paper, a sliding mode controller is designed to improve the position control performance of pneumatic cylinder driving system. Experimental results show that the designed controller achieves the designed control objectives even if the model of the cylinder driving system, such as the initial pressure inside the cylinder and the initial position of the piston is changed.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.17 no.11
• /
• pp.2711-2722
• /
• 1993

Most of the current 2-D object recognition systems are model-based. In such systems, the representation of each of a known set of objects are precompiled and stored in a database of models. Later, they are used to recognize the image of an object in each instance. In this thesis, the approach method for the 2-D object recognition is treating an object boundary as a string of structral units and utilizing string matching to analyze the scenes. To reduce string matching time, models are rebuilt by means of fuzzy c-means clustering algorithm. In this experiments, the image of objects were taken at initial position of a robot from the CCD camera, and the models are consturcted by the proposed algorithm. After that the image of an unknown object is taken by the camera at a random position, and then the unknown object is identified by a comparison between the unknown object and models. Finally, the amount of translation and rotation of object from the initial position is computed.

• Phonetics and Speech Sciences
• /
• v.14 no.4
• /
• pp.11-17
• /
• 2022

This study investigates closure durations of Korean stops in terms of laryngeal contrasts, places of articulation, and three positions within words. Twenty-two Korean speakers produced the nonsense words containing Korean stops found in word-initial and word-final positions and between vowels. The statistical results showed that the closure durations differed significantly by laryngeal contrast and place of articulation. In addition, the differences by position within words were marginally significant. The closure durations were in the order of lenis < aspirated < fortis stops by laryngeal contrast, velar < alveolar < bilabial stops by place of articulation, and word-final < word-initial < between vowels by positions within words. The laryngeal contrasts were neutralized in word-final position as per coda neutralization in Korean phonology. This study shows that closure durations should be considered a valuable phonetic cue to identify stops on par with voice onset time and f0.

• MALSORI
• /
• no.31_32
• /
• pp.195-205
• /
• 1996

The aim of this paper is to describe the prosodic structure of Korean related to the syllable duration varying with its positional difference. An attempt is made in this study to analyze and describe the concrete correlation between the syllable lengthening and its position in the utterance at the initial and final positions. Using the syllable [na] at the final and initial position of a prosodic phrase in the Korean version of 'the North Wind and the Sun', it has found that the ratio of phrase final versus phrase initial syllable lengthening was approximately 1.8:1 for 4 subjects taking part in the test. In the case of nonsense data, we found that the ratio was approximately 1.6:1 for 2 out of 3 subjects. The results of this study might indicate that Korean tends to have a high rate of final lengthening. We can tentatively classify it, therefore, as a stress-timed language. Still, there is no denying that further studies should be done before we can be absolutely certain about the classification of languages along the dichotomy scale.

• Proceedings of the KIPE Conference
• /
• 2007.07a
• /
• pp.328-330
• /
• 2007

This paper deals with the estimation method on the initial pole position of a z-axis permanent magnet linear synchronous motor(PMLSM) without magnetic pole sensors such as Hall sensors. The proposed method takes account of the z-axis conditions such as the gravitational force and also the load conditions. The algorithm consists of two steps. The first step is to estimate the initial q-axis approximately by monitoring the movements at predefined different test q-axes. The second step is to estimate the real q-axis as accurately as possible based on the results at three different test q-axes. Experimental results on the z-axis PMLSM show good estimation characteristics of the proposed method.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.6
• /
• pp.577-582
• /
• 2015

This paper proposes an efficient detection of absolute position of a robot joint using two incremental encoders. We considers a robot joint comprising a motor, a reducer, two encoders, and a motor drive. An incremental(first) encoder provides motor's rotor position or input position of reducer while another incremental(second) encoder does output position of the reducer. A table is made where the relationship between the first and the second encoder counts is recorded. The key point is placed where the table is constructed: when a pulse occurs in the second encoder, there exists a corresponding unique count value of the first encoder. The absolute position is detected using the table by searching the second encoder position corresponding to the first encoder count value when a pulse occurs in the second encoder. The proposed method needs a small rotation, as just one second encoder's pulse angle, for the initial absolute position detection.

• Journal of Institute of Control, Robotics and Systems
• /
• v.2 no.4
• /
• pp.330-336
• /
• 1996

An real-time active beacon localization system for mobile robots is developed and implemented. This system permits the estimation of robot positions when detecting light sources by PSD(Position Sensitive Detector) sensor which are placed sparsely over the robots work space as beacons(or landmarks). An LSE(Least Square Estimation) method is introduced to calibrate the internal parameters of a model for the beacon and robot position. The proposed system has two operational modes of position estimation. One is the initial position calculation by the detection of two or more light sources positions of which are known. The other is the continuous position compensation that calculates the position and heading of the robot using the IEKF(Iterated Extended Kalman Filter) applied to the beacon and dead-reckoning data. Practical experiments show that the estimated position obtained by this system is precise enough to be useful for the navigation of robots.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.916-919
• /
• 1996

An real-time active beacon localization system for mobile robots is developed and implemented. This system permits the estimation of robot positions when detecting light sources by PSD(Position Sensitive Detector) sensor which are placed sparsely over the robot's work space as beacons(or landmarks). An LSE(Least Square Estimation) method is introduced to calibrate the internal parameters of a model for the beacon and robot position. The proposed system has two operational modes of position estimation. One is the initial position calculation by the detection of two or more light sources positions of which are known. The other is the continuous position compensation that calculates the position and heading of the robot using the IEKF(Iterated Extended Kalman Filter) applied to the beacon and dead-reckoning data. Practical experiments show that the estimated position obtained by this system is precise enough to be useful for the navigation of robots.