• Journal of Digital Contents Society
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• v.16 no.3
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• pp.373-379
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• 2015

In this paper, we propose an online VQ Codebook generation method for updating an existing VQ Codebook in real-time and adding to an existing cluster with newly created text data which are news paper, web pages, blogs, tweets and IoT data like sensor, machine. Without degrading the performance of the batch VQ Codebook to the existing data, it was able to take advantage of the newly added data by using a triangle inequality which modifying the VQ Codebook progressively show a high degree of accuracy and speed. The result of applying to test data showed that the performance is similar to the batch method.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.10a
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• pp.719-721
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• 2013

A thinning stage of fingerprint algorithm occupies 39% cycle of microprocessor system for identification processing of image from fingerprint sensor. Hardware block processing is more effective than software one in speed and power consumption, because a thinning algorithm is iteration of simple instructions without a transcendental function. This paper describes an effective hardware scheme for thinning stage processing using Verilog-HDL in $64{\times}64$ Pixel Array. The hardware scheme is designed and simulated in RTL. The logic is also synthesized by XST in FPGA environment and tested. Experimental results show the performance of the proposed scheme and possibility of application for a soft microprocessor and thinning processor embedded fingerprint SoC.

• KIPS Transactions on Software and Data Engineering
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• v.6 no.1
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• pp.9-14
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• 2017

Embedded devices with the development of modern computer technology also began equipped with a variety of functions. In this study, to provide a method of tracking efficient face with a small instrument of resources, such as built-in equipment that uses an image sensor in recent years has been actively carried out. It uses a face detection method using the features of the MB-LBP in order to obtain an accurate face, specify the region (Region of Interest) around the face when the face detection for the face object tracking in the next video did. And in the video can not be detected faces, to track objects using the CAM-Shift key is a conventional object tracking method, which make it possible to retain the information without loss of object information. In this study, through the comparison with the previous studies, it was confirmed the precision and high-speed performance of the object tracking system.

• ETRI Journal
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• v.44 no.6
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• pp.1004-1019
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• 2022

For autonomous driving without high-definition maps, we present a model capable of generating multiple plausible paths from egocentric images for autonomous vehicles. Our generative model comprises two neural networks: feature extraction network (FEN) and path generation network (PGN). The FEN extracts meaningful features from an egocentric image, whereas the PGN generates multiple paths from the features, given a driving intention and speed. To ensure that the paths generated are plausible and consistent with the intention, we introduce an attentive discriminator and train it with the PGN under a generative adversarial network framework. Furthermore, we devise an interaction model between the positions in the paths and the intentions hidden in the positions and design a novel PGN architecture that reflects the interaction model for improving the accuracy and diversity of the generated paths. Finally, we introduce ETRIDriving, a dataset for autonomous driving, in which the recorded sensor data are labeled with discrete high-level driving actions, and demonstrate the state-of-the-art performance of the proposed model on ETRIDriving in terms of accuracy and diversity.

• Journal of Digital Convergence
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• v.14 no.5
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• pp.325-331
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• 2016

In driving at evening or night, we are not able to recognize the speed bump and so stop suddenly. It could result in accidents. And also, we have a restriction of street light installation in farm road because it could be harmful to the crops and driver could not recognize the walking people. It needs to develop the speed bump with light and streetlight to be non harmful to the crops. So, we develop both the speed bump and streetlight with LED which could be non harmful to the crops and be increased recognition of walking people in farm road. For LED lighting power, we use the solar cells, and piezoelectric elements. It has automatic on/off according to power saving rates without illumination sensor. Minimization of circuit elements and design of minimum resisters and low power LED was used for power saving in assuring 3-days.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.4
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• pp.623-640
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• 2017

The full nonlinear equations of an unmanned aerial vehicle ground taxiing mathematical dynamic model are built based on a type of unmanned aerial vehicle data in LMS Virtual.Lab Motion. The flexible landing gear model is considered to make the aircraft ground motion more accurate. The electric braking control system is established in MATLAB/Simulink and the experiment of it verifies that the electric braking model with the pressure sensor is fitted well with the actual braking mechanism and it ensures the braking response speediness. The direction rectification control law combining the differential brake and the rudder with 30% anti-skid brake is built to improve the directional stability. Two other rectifying control laws are demonstrated to compare with the designed control law to verify that the designed control is of high directional stability and high braking efficiency. The lateral displacement increases by 445.45% with poor rectification performance under the only rudder rectifying control relative to the designed control law. The braking distance rises by 36m and the braking frequency increases by 85.71% under the control law without anti-skid brake. Different landing conditions are simulated to verify the good robustness of the designed rectifying control.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2568-2574
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• 2005

Control architecture of the action based robot engineering can be divided into two types of deliberate type - and reactive type- controller. Typical deliberate type, slow in reaction speed, is well suited for the realization of the higher intelligence with its capability to forecast on the basis of environmental model according to time flow, while reactive type is suitable for the lower intelligence as it fits to the realization of speedy reactive action by inputting the sensor without a complete environmental model. Looking at the environments in the application areas in which robots are actually used, we can see that they have been mostly covered by the uncertain and unknown dynamic changes depending on time and place, the previously known knowledge being existed though. It may cause, therefore, any deterioration of the robot performance as well as further happen such cases as the robots can not carry out their desired performances, when any one of these two types is solely engaged. Accordingly this paper aims at suggesting Goal-oriented Geometric Model(GGM) Based Intelligent System Architecture which leads the actions of the robots to perform their jobs under variously changing environment and applying the suggested system structure to the navigation issues of the robots. When the robots do perform navigation in human life changing in a various manner with time, they can appropriately respond to the changing environment by doing the action with the recognition of the state. Extending this concept to cover the highest hierarchy without sticking only to the actions of the robots can lead us to apply to the algorithm to perform various small jobs required for the carrying-out of a large main job.

• Spatial Information Research
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• v.21 no.6
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• pp.57-67
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• 2013

GPS based car navigation systems show significant problems in such environment as a tunnel, a road surrounded by high buildings. In this study, we thus propose a method to determine positions and attitudes using only in-vehicle sensory data without a GPS. To check the feasibility of this method, we constructed a system to acquire in-vehicle sensory data and reference data simultaneously. We acquired test data using this system, estimated the trajectory based on the proposed method and evaluated the accuracy of both the sensory data and the trajectory. The speed and angular velocities provided by the in-vehicle sensors include 1.1 km/h and 0.8 deg/s RMS errors, respectively. The estimated trajectory using these data shows 20.8 m RMS errors for a 15 minute drive. In future, if we further combine additional sensors such as a camera and a GPS, we can achieve a high accurate navigation system at a low cost without an expensive high-grade external IMU.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.7
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• pp.1777-1783
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• 2014

In this paper, we designed and fabricated a high-speed semiconductor sensor for use in power control devices and analyzed the characteristics with pulsed radiation tests. At first, radiation sensitive circular Si PIN diodes with various diameters(0.1 mm ~5.0 mm) were designed and fabricated using Si epitaxial wafer, which has a $42{\mu}m$ thick intrinsic layer. The reverse leakage current of the diode with a radius of 2 mm at a reverse bias of 30 V was about 20.4 nA. To investigate the characteristic responses of the developed diodes, the pulsed gamma-radiation tests were performed with the intensity of 4.88E8 rad(Si)/sec. From the test results showing that the output currents and the rising speeds have a linear relationship with the area of the sensors, we decided that the optimal condition took place at a 2 mm diameter. Next, for the selected 2 mm diodes, dose rate tests with a range of 2.47E8 rad(Si)/sec to 6.21E8 rad(Si)/sec were performed. From the results, which showed linear characteristics with the radiation intensity, a large amount of photocurrent over 60mA, and a high speed response under 350ns without saturation, we can conclude that the our developed PIN diode can be a good candidate for the sensor of power control devices.

• Science of Emotion and Sensibility
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• v.22 no.4
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• pp.97-106
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• 2019

The purpose of this study was to investigate the effect of the type and measurement location of a fabric strain gauge sensor on the detection performance for respiratory signals. We implemented two types of sensors to measure the respiratory signal and attached them to a band to detect the respiratory signal. Eight healthy males in their 20s were the subject of this study. They were asked to wear two respiratory bands in turns. While the subjects were measured for 30 seconds standing comfortably, the respiratory was given at 15 breaths per minute were synchronized, and then a 10-second break; subsequently, the entire measurement was repeated. Measurement locations were at the chest and abdomen. In addition, to verify the performance of respiratory measurement in the movement state, the subjects were asked to walk in place at a speed of 80 strides per minute(SPM), and the respiratory was measured using the same method mentioned earlier. Meanwhile, to acquire a reference signal, the SS5LB of BIOPAC Systems, Inc., was worn by the subjects simultaneously with the experimental sensor. The Kruskal-Wallis test and Bonferroni post hoc tests were performed using SPSS 24.0 to verify the difference in measurement performances among the group of eight combinations of sensor types, measurement locations, and movement states. In addition, the Wilcoxon test was conducted to examine whether there are differences according to sensor type, measurement location, and movement state. The results showed that the respiratory signal detection performance was the best when the respiratory was measured in the chest using the CNT-coated fabric sensor regardless of the movement state. Based on the results of this study, we will develop a chest belt-type wearable platform that can monitor the various vital signal in real time without disturbing the movements in an outdoor environment or in daily activities.