• Journal of Institute of Control, Robotics and Systems
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• v.17 no.2
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• pp.79-87
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• 2011

This paper presents the optimal design of an overlapped ultrasonic sensor ring for high resolution obstacle detection of an autonomous mobile robot. It is assumed that a set of low directivity ultrasonic sensors of the same type are arranged along a circle of nonzero radius at a regular spacing with their beams overlapped. First, taking into account the dead angle region, the entire range of obstacle detection is determined with reference to the center of an overlapped ultrasonic sensor ring. Second, the optimal design index of an overlapped ultrasonic sensor ring is defined as the area closeness of three sensing subzones resulting from beam overlap. Third, the lower and upper bounds on the number of ultrasonic sensors are derived, which can guarantee minimal beam overlap and also avoid excessive beam overlap among adjacent ultrasonic sensors. Fourth, employing a commercial low directivity ultrasonic sensor, an optimal design example of an overlapped ultrasonic sensor ring is given along with the ultrasonic sensor ring prototype mounted on top of a mobile robot. Finally, some experimental results using our prototype ultrasonic sensor ring are given to demonstrate the validity and performance of an optimally overlapped ultrasonic sensor ring for high resolution obstacle detection.

• Journal of Microbiology and Biotechnology
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• v.7 no.5
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• pp.318-322
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• 1997

In order to isolate a microorganism having preferential degradation of D-carnitine from DL-carnitine, a bacterium assimilating D-carnitine as a sole carbon and energy source was isolated from soil by enrichment culture and partially identified as Enterobacter sp. Also, a mutant having lessened L-carnitine decomposition rates was selected with nitrosoguanidine mutagenesis, which led to decrease the specific activities of carnitine dehydrogenase (7.6-fold) and ${\beta}$-hydroxybutyrate dehydrogenase (9.5-fold) as compared to the wild strain. Meanwhile, optimal culture conditions for optical resolution of DL-carnitine were investigated. Under optimal conditions, 3.53 g/l L-carnitine was obtained from 20 g/l DL-carnitine, which corresponded to 35.3% L-carnitine yield and 97.9% optical purity.

• Journal of Microbiology and Biotechnology
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• v.8 no.6
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• pp.601-605
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• 1998

For the resolution of L-carnitine from DL-carnitine, resting cells of Enterobacter sp. NH-104, which had a higher capacity of D-carnitine decomposition, were harvested at maximal specific activity of D-carnitine decomposition of 47.05 unit/mg cell. The cells were frozen at $-80^{\circ}C$ to assess functions as enzyme sources. Optimal concentration of cells and DL-carnitine were 17 g/$\ell \; and \; 20 g/\ell$, respectively, and reaction buffer was best at 75 mM of Tris. HCl. Optimal temperature and pH were $36^{\circ}C$ and 8.2, respectively. When the reaction at optimal conditions was carried out for 14 h, the optical purity was 98.21 %, and the quantity and yield of remaining L-carnitine were 4.432 g/$\ell$ and 44.32%, respectively.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.8
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• pp.790-798
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• 2011

An efficient sequential computation algorithm of kinematic optimal control is suggested for redundancy resolution of freefloating manipulators. Utilization of minimum principle usually requires involved and tedious procedure of differentiation of Hamiltonian. Due to the constraints of momentum conservation, it is not easy to get exact differential equations of boundary value problem for even relatively simple free-floating manipulator models. To overcome this difficulty, we developed an effective sequential algorithm for the computation of terms appeared in the differential equations. The usefulness of suggested approach is verified by simulation of a planar 3-joints free-floating manipulator.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1310-1315
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• 2003

In many practical engineering design problems, there are some design and manufacturing considerations that are difficult or infeasible to express in terms of an objective function or a constraint. In this situation, a set of optimal candidate designs having different topological complexities, not just a single optimal design, is preferred. To generate systematically such design candidates, we propose a hierarchical multiscale design resolution control scheme. In order to adjust its topological complexity by choosing a different starting resolution level in the hierarchical design space, we propose to employ a general M-band wavelet transform in transforming the original design space into the multiscale design space.

• Journal of KIISE:Software and Applications
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• v.34 no.3
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• pp.266-274
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• 2007

This paper proposes a new reconstruction method of high-resolution facial image from a low-resolution facial image based on top-down machine learning and recursive error back-projection. A face is represented by a linear combination of prototypes of shape and that of texture. With the shape and texture information of each pixel in a given low-resolution facial image, we can estimate optimal coefficients for a linear combination of prototypes of shape and those that of texture by solving least square minimizations. Then high-resolution facial image can be obtained by using the optimal coefficients for linear combination of the high-resolution prototypes. In addition, a recursive error back-projection procedure is applied to improve the reconstruction accuracy of high-resolution facial image. The encouraging results of the proposed method show that our method can be used to improve the performance of the face recognition by applying our method to reconstruct high-resolution facial images from low-resolution images captured at a distance.

• Journal of the Institute of Convergence Signal Processing
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• v.9 no.1
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• pp.18-23
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• 2008

In this paper, we propose the input image selection-method to improve the reconstructed high-resolution (HR) image quality. To obtain ideal super-resolution (SR) reconstruction image, all input images are well-registered. However, the registration is not ideal in practice. Due to this reason, the selection of input images with low registration error (RE) is more important than the number of input images in order to obtain good quality of a HR image. The suitability of a candidate input image can be determined by using statistical and restricted registration properties. Therefore, we propose the proper candidate input Low Resolution(LR) image selection-method as a pre-processing for the SR reconstruction in automatic manner. In video sequences, all input images in specified region are allowed to use SR reconstruction as low-resolution input image and/or the reference image. The candidacy of an input LR image is decided by the threshold value and this threshold is calculated by using the maximum motion compensation error (MMCE) of the reference image. If the motion compensation error (MCE) of LR input image is in the range of 0 < MCE < MMCE then this LR input image is selected for SR reconstruction, else then LR input image are neglected. The optimal reference LR (ORLR) image is decided by comparing the number of the selected LR input (SLRI) images with each reference LR input (RLRI) image. Finally, we generate a HR image by using optimal reference LR image and selected LR images and by using the Hardie's interpolation method. This proposed algorithm is expected to improve the quality of SR without any user intervention.

• Journal of Power System Engineering
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• v.19 no.3
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• pp.75-80
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• 2015

Typically, robot system configured by articulated robot manipulator with 1 DOF transfer unit is being applied in automotive manufacturing automation process. Especially, 1 DOF transfer unit is necessary to extend workspace of robot manipulator. In this configuration, because transfer unit works only one direction, robot manipulator only works in one side in case of car body painting or sealing automation process. it is necessary three robot manipulator system at least. In this paper, in order to robot manipulator works effectively in car body sealing automation application, we are suggested omni-directional manipulator system and conducted studying on redundancy resolution method to solve manipulability-optimal problem.

• Journal of Biomedical Engineering Research
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• v.11 no.1
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• pp.113-120
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• 1990

In this paper, the deconvolution method utilizing a modified Wiener filter is applied for the enhancement of lateral resolution of ultrasonic B-scan Images. For this purpose, a phantom composed of wires which are 0.6mm of diameter and apart in the range between 3 to 9mm is constructed. The modified Wiener filter with optimal parameter is applied to the phantom for the analysis of ultrasonic image. The results obtained are as follows'When all parameters of the modified Wiener filter are optimal, the resolution of B-scan images is enhanced by 50 percent : Othenrise, the images are blurred, spilt at peak points, or noises are strengthened severely. When the point-spread function representing the characteristic function of the system is determined, the selection ranges of op- timum parameters may be narrowed. It is expected that the proposed method may be able to apply to clinic situations for more accurate image analysis by means of reducing the loss of important information.

• Journal of Biomedical Engineering Research
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• v.18 no.2
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• pp.113-120
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• 1997

This paper presents an optimal design for the SPECT reconstruction filter, based on a physical limit of SPECT lesion detection capability. To increase the performance of the filter on lesion detectability, the filter design was focused on increasing the local SyW ratio of a threshold lesion, that was determined by minimum detectable lesion size (MDU) from SPECT lesion detectabllity contrast-detail curve. The proposed filter showed flexible window characteristics of resolution recovery and noise smoothing for MDLSs in the resolution-limited and photon-limited regions, respectively, compennting for the relative impact of the main limitation factors on threshold detectability. The simulated results showed good adaptability of the proposed filter to the changes in physical parameters of photon counts, object contrast, and detector system resolution.