• 한국산업융합학회 논문집
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• 제22권4호
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• pp.447-457
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• 2019

The intelligent sensory system is required to ensure the accurate welding performance. This paper describes the development of an intelligent vision sensor for the robotic laser welding. The sensor system includes a PC based vision camera and a stripe-type laser diode. A set of robust image processing algorithms are implemented. The laser-stripe sensor can measure the profile of the welding object and obtain the seam line. Moreover, the working distance of the sensor can be changed and other configuration is adjusted accordingly. The robot, the seam tracking system, and CW Nd:YAG laser are used for the laser welding robot system. The simple and efficient control scheme of the whole system is also presented. The profile measurement and the seam tracking experiments were carried out to validate the operation of the system.

• Journal of Power Electronics
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• 제19권4호
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• pp.835-845
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• 2019

This paper presents a robust-optimal control strategy to improve the output-voltage error-tracking and control capability of a DC-DC boost converter. The proposed strategy employs an optimized Fractional-order Proportional-Integral (FoPI) controller that serves to eliminate oscillations, overshoots, undershoots and steady-state fluctuations. In order to significantly improve the error convergence-rate during a transient response, the FoPI controller is augmented with a pre-stage nonlinear error-modulator. The modulator combines the variations in the error and error-derivative via the signed-distance method. Then it feeds the aggregated-signal to a smooth sigmoidal control surface constituting an optimized hyperbolic secant function. The error-derivative is evaluated by measuring the output-capacitor current in order to compensate the hysteresis effect rendered by the parasitic impedances. The resulting modulated-signal is fed to the FoPI controller. The fixed controller parameters are meta-heuristically selected via a Particle-Swarm-Optimization (PSO) algorithm. The proposed control scheme exhibits rapid transits with improved damping in its response which aids in efficiently rejecting external disturbances such as load-transients and input-fluctuations. The superior robustness and time-optimality of the proposed control strategy is validated via experimental results.

• 한국기계가공학회지
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• 제19권12호
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• pp.113-118
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• 2020

Recently, eco-friendly electric motorcycles have been considered to replace aging gasoline motorcycles to reduce the amount of suspended fine dust in air. However, existing rechargeable battery-powered electric motorcycles have been found unacceptable by users because of their many limitations, such as long charging time, short travel distance per charge, and low driving speed. To overcome the drawbacks of conventional electric motorcycles, this paper proposes an exchangeable battery-powered electric motorcycle and a new frame shape for housing the exchangeable battery. The proposed frame is similar to that of current electric motorcycles; however, the shape and position of the saddle support, battery, and controller mount section are redesigned. The safety of the presented frame is verified through static and dynamic analyses using ABAQUS. In particular, the dynamic analysis is conducted under the most extreme condition among the various operating situations, thus confirming the robustness of the proposed frame design.

• International Journal of Naval Architecture and Ocean Engineering
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• 제13권1호
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• pp.352-366
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• 2021

To decrease Europe's harmful emissions, the European Union aims to substantially increase its offshore wind energy capacity. To further develop offshore wind energy, investment in ever-larger construction vessels is necessary. However, this market is characterised by seemingly unpredictable growth of market demand, turbine capacity and distance from shore. Currently it is difficult to deal with such market uncertainty within the ship design process. This research aims to develop a method that is able to deal with market uncertainty in early ship design by increasing knowledge when design freedom is still high. The method uses uncertainty modelling prior to the requirement definition stage by performing global research into the market, and during the concept design stage by iteratively co-evolving the vessel design and business case in parallel. The method consists of three parts; simulating an expected market from data, modelling multiple vessel designs, and an uncertainty model that evaluates the performance of the vessels in the market. The case study into offshore wind foundation installation vessels showed that the method can provide valuable insight into the effect of ship parameters like main dimensions, crane size and ship speed on the performance in an uncertain market. These results were used to create a value robust design, which is capable of handling uncertainty without changes to the vessel. The developed method thus provides a way to deal with market uncertainty in the early ship design process.

• Asia Marketing Journal
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• 제22권1호
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• pp.41-60
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• 2020

The goal of the study is to understand the role of social norm in purchase decisions where demand is revealed in the form of multiple-discreteness. Consumers are socially engaged in various activities through the expectation from others in their community. Actions or decisions are likely to reflect this influence. This implicit or explicit social norm is revealed as the rules, regulations, and standards that are understood, shared, endorsed, and expected by group members. When consumers' decisions are in distance from the norm, they come to face discomfort such as shame, guilt, embarrassment, and anxiety. These pressure act as a constraint as opposed to utility in their decision making. In this study, the effect of social norms on consumer demand is captured via multiple constraint model where constraints are not only from budget equation but also from psychological burden induced by the deviation from the norm. The posterior distributions of model parameters were estimated via conjoint study allowing for heterogeneity via hierarchical Bayesian framework. Individual characteristics such as age, gender and work experience are also used as covariates for capturing the observed heterogeneity. The empirical results show the role of social norm as constraint in consumers' utility maximization. The proposed model accounting for social constraint outperforms the standard budget constraint-only model in terms of model fit. It is found that people with longer job experience tend to be more robust and resistant to the deviation from the norm. Incorporating social norm into the utility model allows for another means to disentangle the reason for no-purchase as 'not preferred' and 'not able to buy'.

• 로봇학회논문지
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• 제19권2호
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• pp.149-158
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• 2024

This paper presents a robust autonomous navigation and reconnaissance system for tracked robots, designed to handle complex multi-floor indoor environments with stairs. We introduce a localization algorithm that adjusts scan matching parameters to robustly estimate positions and create maps in environments with scarce features, such as narrow rooms and staircases. Our system also features a path planning algorithm that calculates distance costs from surrounding obstacles, integrated with a specialized PID controller tuned to the robot's differential kinematics for collision-free navigation in confined spaces. The perception module leverages multi-image fusion and camera-LiDAR fusion to accurately detect and map the 3D positions of objects around the robot in real time. Through practical tests in real settings, we have verified that our system performs reliably. Based on this reliability, we expect that our research team's autonomous reconnaissance system will be practically utilized in actual disaster situations and environments that are difficult for humans to access, thereby making a significant contribution.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제18권3호
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• pp.670-684
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• 2024

3D Cross-Modal Retrieval (3DCMR) is a task that retrieves 3D objects regardless of modalities, such as images, meshes, and point clouds. One of the most prominent methods used for 3DCMR is the Cross-Modal Center Loss Function (CLF) which applies the conventional center loss strategy for 3D cross-modal search and retrieval. Since CLF is based on center loss, the center features in CLF are also susceptible to subtle changes in hyperparameters and external inferences. For instance, performance degradation is observed when the batch size is too small. Furthermore, the Mean Squared Error (MSE) used in CLF is unable to adapt to changes in batch size and is vulnerable to data variations that occur during actual inference due to the use of simple Euclidean distance between multi-modal features. To address the problems that arise from small batch training, we propose a Noisy Center Loss (NCL) method to estimate the optimal center features. In addition, we apply the simple Siamese representation learning method (SimSiam) during optimal center feature estimation to compare projected features, making the proposed method robust to changes in batch size and variations in data. As a result, the proposed approach demonstrates improved performance in ModelNet40 dataset compared to the conventional methods.

• 한국음향학회지
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• 제16권4호
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• pp.57-63
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• 1997

본 논문에서는 다양한 전화선 채널에서 수집된 한국통신(KT)의 데이터베이스를 이용하여 인식 시스템의 성능을 향상시키기 위한 효율적인 특징벡터 및 전처리방법을 연구하였다. 먼저 잡음 및 주변 환경 변화에 강인한 갓으로 알려져 있는 특징벡터들을 이용한 인식 성능을 비교하고, 가중 켑스트랄 거리측정 방법을 이용하여 인식시스템의 성능 향상을 검증하였다. 실험 결과, KT의 인식 시스템에서 이용하는 LPC 켑스트럼의 경우에 비하여 PLP(Perceptual Linear Prediction)과 MFCC)Mel Frequency Cepstral Coefficient)등에 대하여 인식률이 향상되었다. 켑스트럼간의 거리측정에 있어서는 RPS(Root Power Sums)와 BPL(Band Pass Lifter)과 같은 가중 켑스트랄 거리측정 함수들이 인식성능 향상에 도움을 주었다. 스펙트럼 차감법(Spectral Subtraction)의 적용은 왜곡에 의한 효과가 커서 인식률이 저하되었지만, RASTA(RelAtive SpecTrAl) 처리방법, CMS(Cepstral Mean Subtraction), SBR(Signal Bias Removal)의 적용시에는 인식 성능 향상을 보였다. 특히, CMS 방법은 간편하면서도 높은 인식 성능 향상을 보였다. 마지막으로, CMS의 실시간 구현을 위한 방법들의 인식 성능을 비교하고, 인식 성능 저하를 막기 위한 개선책을 제시하였다.

• 전자공학회논문지CI
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• 제48권2호
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• pp.55-65
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• 2011

본 논문은 증강현실 시스템에서 마커가 가려진 상황에서도 강건한 마커 검출을 위하여 지역적인 특징 점들을 이용하는 방법을 제안한다. 가려진 마커를 효율적으로 검출하기 위하여, 첫 번째 단계로 등록된 마커와 가려진 마커가 포함된 입력 영상을 Affine-SIFT (ASIFT, Affine-Scale Invariant Features Transform) 방법을 이용해 정합된 특징 점들을 검출한다. 두 번째 단계로 정합된 특징 점들의 이상치(Outlier)를 제거하기 위하여, 등록된 마커의 특징 점들에 주성분 분석(Principal Component Analysis)을 적용하고 제 1 주축과 제 2 주축으로 사영한 후 중심으로 부터의 거리에 대한 평균값을 타원의 장축과 단축으로 지정한다. 세 번째 단계로 마커의 기하학적인 왜곡을 추정하기 위하여 특징 점들이 이루는 Convex-hull 지점들을 다각형의 꼭짓점으로 정한다. 마지막 단계로, 입력영상에 정합된 특징 점들의 기하적인 왜곡의 변화를 추정함으로써 마커의 가려진 환경에 서도 강건한 마커 검출 결과를 얻을 수 있다.

• 대한전자공학회논문지SP
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• 제37권6호
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• pp.25-37
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• 2000

특징점의 궤적은 인접한 프레임에 존재하는 특정점 사이의 대응관계로 정의할 수 있다. 실제 영상열에서 존재할 수 있는 잘못된 특징점(false positive, false negative)들은 특징점의 대응관계를 결정할 때 많은 문제를 야기하기 때문에 특징점의 대응관계를 찾는 문제는 어려운 문제로 알려져 있다. 본 논문에서는 새로운 궤적의 나타남, 사라짐 등 불완전한 궤적을 갖는 특징점들을 고려하는 특징점 추적기법을 제안한다. 정합 척도로서 가중치가 부여된 유클리디언 거리를 사용하고 특징점의 운동특성을 잘 반영할 수 있도록 그 가중치를 자동으로 조정한다. 대응점 탐색과정에서 치명적인 영향을 줄 수 있는 애매한 특징점이 존재하는 경우를 고려하여 인접한 프레임 사이의 정합점 결정을 그래프에 의한 최적 대응점 탐색문제로 해결한다. 제안하는 대응점 탐색 알고리즘은 실제 영상열에서 나타날 수 있는 잘못된 특징점들이 대응관계를 결정할 때 주는 영향을 최소화하기 위하여 국부 최적(local optimal)을 찾게되며, 인접한 두 프레임에 m, n개의 특징점이 주어졌을 경우, 최선의 경우 O(mn), 최악의 경우 O($m^2n$)의 계산량을 필요로 한다. 제안하는 알고리즘은 정합과정에서 잘못된 특징점을 고려하고, 특징점의 운동특성을 잘 반영함으로써 대량의 특징점을 추적하는데도 충분히 적용할 수 있음을 실험을 통해 확인하였다.