• Journal of Electrical Engineering and Technology
• /
• 제10권2호
• /
• pp.676-687
• /
• 2015

Path planning algorithms are used to allow mobile robots to avoid obstacles and find ways from a start point to a target point. The general path planning algorithm focused on constructing of collision free path. However, a high continuous path can make smooth and efficiently movements. To improve the continuity of the path, the searched waypoints are connected by the proposed polynomial interpolation. The existing polynomial interpolation methods connect two points. In this paper, point groups are created with three points. The point groups have each polynomial. Polynomials are made by matching the differential values and simple matrix calculation. Membership functions are used to distribute the weight of each polynomial at overlapped sections. As a result, the path has $G^2$ continuity. In addition, the proposed method can analyze path numerically to obtain curvature and heading angle. Moreover, it does not require complex calculation and databases to save the created path.

• 한국정보디스플레이학회:학술대회논문집
• /
• 한국정보디스플레이학회 2006년도 6th International Meeting on Information Display
• /
• pp.1259-1262
• /
• 2006

In this paper, we propose a modified cubic convolution interpolation for the enlargement or reduction of digital images using a pixel difference value. The proposed method has a low complexity: the number of multiplier of weighted value to calculate one pixel of a scaled image has seven less than that of cubic convolution interpolation has sixteen. We use the linear function of the cubic convolution and the difference pixel value for selecting interpolation methods. The proposed method is compared with the conventional one for the computational complexity and the image quality. The simulation results show that the proposed method has less computational complexity than one of the cubic convolution interpolation.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2001년도 춘계학술대회논문집B
• /
• pp.590-595
• /
• 2001

To improve the modeling accuracy for the finite element method, this paper proposes a method to make a combined use of finite elements and exact dynamic elements. Exact interpolation functions for a Timoshenko beam element are derived and compared with interpolation functions of the finite element method (FEM). The exact interpolation functions are tested with the Laplace variable varied. The exact interpolation functions are used to gain more accurate mode shape functions for the finite element method. This paper also presents a combined use of finite elements and exact dynamic elements in design problems. A Timoshenko frame with tapered sections is tested to demonstrate the design procedure with the proposed method.

• 융합신호처리학회 학술대회논문집
• /
• 한국신호처리시스템학회 2000년도 하계종합학술대회논문집
• /
• pp.213-216
• /
• 2000

본 논문에서는 volume rendering 기법을 이용하여 2차원 MRI 영상들을 합성하여 3차원 영상 만들 때 보다 해상도를 높이기 위한 개선된 sampling방법을 소개한다 2차원 슬라이스 영상들이 3차원으로 재구성할 때 voxel 기반으로 렌더링을 하기 때문에 오브젝트의 내부 영역까지도 볼 수 있는 것이 volume rendering의 가장 큰 장점이다. 따라서 영상을 재구성하는 과정에서 보다 향상된 interpolation을 적용시켜서 공간 해상도를 향상시키면 보다 명확하게 오브젝트 내부 정보를 살펴 볼 수 있다. 본 논문에서는 nearest neighbor 이나 linear 같은 interpolation으로 sampling한 방법보다 cubic interpolation을 3차원 공간에서 적용 시켜서 보다 resampling이 잘 되도록 하여 해상도를 향상시켜 보았다. 이렇게 향상된 Interpolation 적용시켜서 렌더링할 때 얼마나 오브젝트 내부 영역이 잘 가시화가 되었는지 transfer function을 적용시켜서 오브젝트 내부 정보를 렌더링 해보았고, 임의의 축으로 오브젝트을 잘라서 2D 단면 영상으로 출력해 보았다. 보다 향상된 interpolation을 적용시켜서 resampling을 하면 영상 해상도가 개선되었음을 볼 수 있었다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
• /
• pp.46-51
• /
• 1991

An algorithm of finding a solution to an $H^{\infty}$-minimization problem is proposed, and the solution is obtained explicity in terms of closed-form. We construct an optimal controller subject to the interpolation constraints such that $H^{\infty}$-norm and the minimized value of transfer function matrix are equal.l.

• 한국지능시스템학회:학술대회논문집
• /
• 한국퍼지및지능시스템학회 1998년도 The Third Asian Fuzzy Systems Symposium
• /
• pp.562-567
• /
• 1998

This paper examined the relations among the multidimensional linear interpolation(MDI) and fuzzy reasoning , and neural networks, and showed that an showed that an MDI is a special form of Tsukamoto's fuzzy reasoning and regularization networks in the perspective of fuzzy reasoning and neural networks, respectively. For this purposes, we proposed a special Tsukamoto's membership (STM) systemand triangular basis function (TBF) networks, Also we verified the condition when our proposed TBF becomes a well-known radial basis function (RBF).

• Journal of applied mathematics & informatics
• /
• 제31권5_6호
• /
• pp.677-693
• /
• 2013

We construct exponentially fitted interpolation formulas using the values of the ${\omega}$-dependent function $f$ as well as its derivatives up to the $n$th order at a finite number of nodes on a closed interval ${\Omega}$. The function $f$ is of the form, $$f(x)=f_1(x)cos({\omega}x)+f_2(x)sin({\omega}x),x{\in}{\Omega}$$, where $f_1$ and $f_2$ are smooth enough to be approximated by polynomials on ${\Omega}$. Some properties of the formulas are newly found. The properties are numerically investigated and reexamined by producing some figures.

• Journal of Information Processing Systems
• /
• 제2권3호
• /
• pp.153-158
• /
• 2006

In this paper, we propose an image interpolator for low computational complexity. The proposed image interpolator supports the image scaling using a modified cubic convolution interpolation between the input and output resolutions for a full screen display. In order to reduce the computational complexity, we use the difference in value of the adjacent pixels for selecting interpolation methods and linear function of the cubic convolution. The proposed image interpolator is compared with the conventional one for the computational complexity and image quality. The proposed image interpolator has been designed and verified by Verilog HDL(Hardware Description Language). It has been synthesized using the Xilinx VirtexE FPGA, and implemented using an FPGA-based prototype board.

• 대한수학회지
• /
• 제49권3호
• /
• pp.537-547
• /
• 2012

In this paper, we define a $p$, $q$-difference operator and obtain an explicit formula which is used to express the $p$, $q$-analogue of the unified generalization of Stirling numbers and its exponential generating function in terms of the $p$, $q$-difference operator. Explicit formulas for the non-central $q$-Stirling numbers of the second kind and non-central $q$-Lah numbers are derived using the new $q$-analogue of Newton's interpolation formula. Moreover, a $p$, $q$-analogue of Newton's interpolation formula is established.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2000년도 추계학술대회 논문집
• /
• pp.229-232
• /
• 2000

This research aims at developing a low-cost PC-NC system based on one-CPU and investigating the feasibility of its application to a simple-function lathe. Its hardware consists a two axes motion control board including a 24bit counter, 8253 timer, a 12bit DA converter, DIO board for PLC operation and a PC with Intel Pentium 466MHz. The fundamental real-time MC functions such as G-code interpretation, interpolation, position and velocity control of axes are performed. User programming interface with functions of icon manipulation, tool-path simulation and NC-code generation was implemented. In order to achieve real-time control and safety, axis control, NC interpretation, interpolation and user communication are completely executed during every interrupt interval of I msec.