• 한국정밀공학회지
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• 제10권2호
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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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• 제17권12호
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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.

• 한국컴퓨터그래픽스학회논문지
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• 제7권1호
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• pp.37-49
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• 2001

본 논문에서는 다중 모달리티 영상으로부터 상호보완적인 정보를 추출하여 통합된 형태로 표현하기 위하여 다해상도 영상정합을 위한 상호정보 최적화 방법을 제안한다. 본 방법은 두 영상이 기하학적으로 정렬되면 명암도 유사성 측정을 위한 평가함수인 상호정보가 최대화된다는 가정 하에 두 영상에서 대응되는 화소 명암도간 통계적 의존관계나 정보중복성을 계산하여 영상간 변환관계를 추정하여 정합한다. 실험결과로는 뇌 자기공명영상과 뇌 전산화단층 촬영영상을 사용하여 육안평가를 통한 정확성 측면과 초기조건 변화와 잡음 첨가를 통한 견고성 측면으로 검증한다. 본 방법은 표면이나 특징 부위 추출에 의한 정합이 아닌 영상 자체 정보를 사용함으로써 사용자와의 빈번한 상호작용을 줄이며 비모수화 밀도추정으로 기존 평가함수보다 견고하게 밀도추정이 가능하다. 또한 다해상도 기법을 적용한 확률적 최적화로 견고한 수렴을 유도한다.

• 한국생물정보학회:학술대회논문집
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• 한국생물정보시스템생물학회 2003년도 제2차 연례학술대회 발표논문집
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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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• 제19권3호
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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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• 제23권3호
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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.

• 한국통신학회논문지
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• 제38A권6호
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• pp.492-503
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• 2013

H.264/AVC는 화면 내, 화면 간 예측을 포함한 다양한 부호화 기술을 이용, 높은 부호화 성능을 보여준다. 그러나 화면 내 예측은 화면 간 예측에 비해 여전히 많은 부호화 데이터를 포함하고 있다. 본 논문에서는 적응적 모드 선택 기술을 포함한 새로운 화면 내 부호화 기술을 제안한다. 인접 모드의 결합을 통한 새로운 부호화 모드와 단순화된 gradient 모드가 추가되면서 세밀한 방향의 특징 및 gradation 영역을 효과적으로 부호화한다. 또한 주변블록을 통해서 적절한 모드를 선택적으로 제공하면서 상대적으로 적은 복잡도와 높은 부호화 성능을 보여준다. 제안한 방법은 1.72배의 복잡도 증가수준에서 1.96%의 비트율 절감 및 0.25 dB의 PSNR 향상을 보여주고 있다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제12권7호
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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.

• 대한전자공학회논문지SP
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• 제45권4호
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• pp.22-31
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• 2008

3DTV를 위한 핵심 기술 중의 하나인 다시점 영상에서 변이를 추정하고 가상시점을 합성하는 새로운 방식을 제안한다. 다시점 영상에서 변이를 효율적이고 정확하게 추정하기 위해 준 N-시점 & N-깊이 구조를 제안한다. 이 구조는 이웃한 영상의 정보를 이용하여 변이 추정 시 발생하는 계산상의 중복을 줄인다. 제안 방식은 사용자에게 2D와 3D 자유시점을 제공하며, 사용자는 자유시점 비디오의 모드를 선택할 수 있다. 실험 결과는 제안 방식이 정확한 변이 지도를 제공하며, 합성된 영상이 사용자에게 자연스러운 자유시점 비디오를 제공한다는 것을 보여준다.

• 산업공학
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• 제21권3호
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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.