• Journal of the Korean Society for Precision Engineering
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• v.10 no.2
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• pp.170-177
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• 1993

In robotic arc welding, the roll (rotation) of the torch about its direction vector does not have any effect on the welding operation. Thus we could use this redundant degree of greedom for the motion control of the robot manipulator. This paper presents an algorithm for the pseudo- inverse kinematic motion control of the 6-axis robot, which utilizes the above mentioned redunancy. The prototype welding operation and the tool path are also graphically simulated. Since the proposed algorithm requires only the position and normal vector of the weldine as an input data, it is useful for the CAD-based off-line programming of the arc welding robot. In addition, it also has the advantages of the redundant manipulator motion control, like singularity avoidance and collision free motion planning, when compared with the other motion control method based on the direct inverse kinematics.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.12
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• pp.3345-3363
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• 2023

Developers often use cross-platform frameworks to create mobile apps that can run on multiple platforms with minimal code changes. However, these frameworks may not suit all the needs of a specific app, so developers may also use native APIs to add platform-specific features. This method eventually dilutes the advantages of cross-platform development methodology that aims to reduce development costs and time, and often leads to a decision to return back to the original native mobile development methodology. In this study, we explore a different approach: combining different cross-platform tools to develop a storybook mobile app that meets various requirements. We have demonstrated that integrating two cross-platform solutions can be used reliably to develop complex mobile applications. However, we also report that this approach can introduce unforeseen issues such as sandbox redundancy, unexpected functional burdens, and redundant permission requests. Despite these challenges, we believe that combining two cross-platform solutions can be applied to a variety of functional and performance requirements, enabling the development of more sophisticated mobile applications at lower costs and with shorter development timelines than traditional mobile app development methodologies.

• Journal of the Korea Computer Graphics Society
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• v.7 no.1
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• pp.37-49
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• 2001

We propose an optimization of mutual information for multiresolution image registration to represent useful information as integrated form obtaining from complementary information of multi modality images. The method applies mutual information as cost function to measure the statistical dependency or information redundancy between the image intensities of corresponding pixels in both images, which is assumed to be maximal if the images are geometrically aligned. As experimental results we validate visual inspection for accuracy, changning initial condition and addictive noise for robustness. Since our method uses the native image rather than prior feature extraction, few user interaction is required to perform the registration. In addition it leads to robust density estimation and convergence as applying non-parametric density estimation and stochastic multiresolution optimization.

• Proceedings of the Korean Society for Bioinformatics Conference
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• 2003.10a
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• pp.133-138
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• 2003

The prediction of protein secondary structure has been an important bioinformatics tool that is an essential component of the template-based protein tertiary structure prediction process. It has been known that the predicted secondary structure information improves both the fold recognition performance and the alignment accuracy. In this paper, we describe several novel ideas that may improve the prediction accuracy. The main idea is motivated by an observation that the protein's structural information, especially when it is combined with the evolutionary information, significantly improves the accuracy of the predicted tertiary structure. From the non-redundant set of protein structures, we derive the 'potential' parameters for the protein secondary structure prediction that contains the structural information of proteins, by following the procedure similar to the way to derive the directional information table of GOR method. Those potential parameters are combined with the frequency matrices obtained by running PSI-BLAST to construct the feature vectors that are used to train the support vector machines (SVM) to build the secondary structure classifiers. Moreover, the problem of huge model file size, which is one of the known shortcomings of SVM, is partially overcome by reducing the size of training data by filtering out the redundancy not only at the protein level but also at the feature vector level. A preliminary result measured by the average three-state prediction accuracy is encouraging.

• Journal of Mechanical Science and Technology
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• v.19 no.3
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• pp.756-767
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• 2005

This paper presents a decentralized motion control method of welding mobile manipulators which use for welding in many industrial fields. Major requirements of welding robots are accuracy, robust, and reliability so that they can substitute for the welders in hazardous and worse environment. To do this, the manipulator has to take the torch tracking along a welding trajectory with a constant velocity and a constant heading angle, and the mobile-platform has to move to avoid the singularities of the manipulator. In this paper, we develop a kinematic model of the mobile-platform and the manipulator as two separate subsystems. With the idea that the manipulator can avoid the singularities by keeping its initial configuration in the welding process, the redundancy problem of system is solved by introducing the platform mobility to realize this idea. Two controllers for the mobile-platform and the manipulator were designed, respectively, and the relationships between two controllers are the velocities of two subsystems. Control laws are obtained based on the Lyapunov function to ensure the asymptotical stability of the system. The simulation and experimental results show the effectiveness of the proposed controllers.

• Journal of Astronomy and Space Sciences
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• v.23 no.3
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• pp.269-288
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• 2006

We revised the OTFTOOL which was developed in Five College Radio Astronomy Observatory (FCRAO) for the On-The-Fly (OTF) observation. Besides the improvement of data resampling function of conventional OTFTOOL, we added a new SELF referencing mode and data pre-reduction function. Since OTF observation data have a large redundancy, we can choose and use only good quality samples excluding bad samples. Sorting out the bad samples is based on the floating level, rms level, antenna trajectory, elevation, $T_{sys}$, and number of samples. And, spikes are also removed. Referencing method can be chosen between CLASSICAL mode in which the references are taken from the OFFs observation and ELLIPSOIDAL mode in which the references are taken from the inner source free region (this is named as SELF reference). Baseline is subtracted with the source free channel windows and the baseline order chosen by the user. Passing through these procedures, the raw OTF data will be an FITS datacube. The revised-OTFTOOL maximizes the advantages of OTF observation by sorting out the bad samples in the earliest stage. And the new self-referencing method, the ELLIPSOIDAL mode, is very powerful to reduce the data. Moreover since it is possible to see the datacube at once without moving them into other data reduction programs, it is very useful and convenient to check whether the data resampling works well or not. We expect that the revised-OTFTOOL can be applied to the facilities of the OTF observation like SRAO, NRAO, and FCRAO.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38A no.6
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• pp.492-503
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• 2013

H.264/AVC has shown high coding efficiency by using various coding tools, including intra and inter prediction. However, there are still many more redundancy components in intra prediction than in inter prediction. In this paper, a novel intra prediction method is proposed with adaptive mode selection. The combined intra prediction modes and simplified gradient modes are added in order to refine the directional feature and gradation region. Suitable modes are selected according to the neighboring blocks that provide a high compression rate and lower computational complexity. The improvement of the proposed method is 1.96% in terms of the bitrate, 0.25 dB in PSNR, and 1.72 times in terms of the computational complexity.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.7
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• pp.3194-3216
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• 2018

Slow Feature Discriminant Analysis (SFDA) is a supervised feature extraction method inspired by biological mechanism. In this paper, a novel method called Two Dimensional Slow Feature Discriminant Analysis via $L_{2,1}$ norm minimization ($2DSFDA-L_{2,1}$) is proposed. $2DSFDA-L_{2,1}$ integrates $L_{2,1}$ norm regularization and 2D statically uncorrelated constraint to extract discriminant feature. First, $L_{2,1}$ norm regularization can promote the projection matrix row-sparsity, which makes the feature selection and subspace learning simultaneously. Second, uncorrelated features of minimum redundancy are effective for classification. We define 2D statistically uncorrelated model that each row (or column) are independent. Third, we provide a feasible solution by transforming the proposed $L_{2,1}$ nonlinear model into a linear regression type. Additionally, $2DSFDA-L_{2,1}$ is extended to a bilateral projection version called $BSFDA-L_{2,1}$. The advantage of $BSFDA-L_{2,1}$ is that an image can be represented with much less coefficients. Experimental results on three face databases demonstrate that the proposed $2DSFDA-L_{2,1}/BSFDA-L_{2,1}$ can obtain competitive performance.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.45 no.4
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• pp.22-31
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• 2008

In this paper, we propose a new approach for efficient multiview stereo matching and virtual view generation, which are key technologies for 3DTV. We propose semi N-view & N-depth framework to estimate disparity maps efficiently and correctly. This framework reduces the redundancy on disparity estimation by using the information of neighboring views. The proposed method provides a user 2D/3D freeview video, and the user can select 2D/3D modes of freeview video. Experimental results show that the proposed method yields the accurate disparity maps and the synthesized novel view is satisfactory enough to provide user seamless freeview videos.

• IE interfaces
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• v.21 no.3
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• pp.283-293
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• 2008

It is important to choose and develop right business model in the process of implementing the ubiquitous service concept. In particular, it is also required to build a method which can assist in establishing a business model in a competitive perspective to differentiate business strategy. However, we could not find the existing studies which tried to develop business model including methods on how to differentiate business strategy in a competitive environment. In this study, we propose an ontology for repository of ubiquitous business model and address on how to apply the proposed business model repository to real ubiquitous industry. We also built a repository of unlicensed wireless device industry to check the applicability of proposed ubiquitous business model ontology and to show the various examples. We expect that building the business model repository contributes to reduce the redundancy and inefficiency for industry as well as to increase likelihood of business success for an individual company.