The 12th IEEE International Conference on Fuzzy Systems, 2003. FUZZ '03.
Abstract This paper proposes a" traffic situation awareness&... more Abstract This paper proposes a" traffic situation awareness" driven intelligent agent for energy management of parallel hybrid vehicles. A coordinating device that governs energy flow in the powertrain is proposed based on the idea that driving environment (traffic situation) as well as the vehicle's mode of operation and the style of driver behavior directly affect fuel usage and pollutant emissions. For the realization of driving situation awareness, identification processes for roadway type is performed by extracting the driving information ...
Résumé/Abstract A concept of" driving situation awareness"-driven energ... more Résumé/Abstract A concept of" driving situation awareness"-driven energy management system for parallel hybrid electric vehicles (HEVs) is introduced. The essential feature of the proposed energy management system is to assess the driving environment (in terms of facility type combined with traffic congestion level) using long and short term statistical features of the drive cycle. Subsequently, this knowledge is provided to a system that makes intelligent decisions with respect to the torque distribution and charge sustenance tasks. ...
Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2012
This paper presents a non-linear control system design for managing the mass flow rate in a commo... more This paper presents a non-linear control system design for managing the mass flow rate in a common-rail direct-injection diesel engine. In diesel engines, exhaust gas recirculation systems are used to reduce the nitrogen oxide emissions. Since an exhaust gas recirculation system has highly non-linear characteristics and is coupled with a variable-geometry turbocharger, it requires a non-linear control system, which can substitute for an existing conventional lookup-table-based controller, in order to secure a control performance in the transient operating regime. In this project, the objective of the control system is to track the target mass air flow by adjusting the exhaust gas recirculation valve lift. In order to accomplish this objective, a non-linear control system is proposed that adopts a neural-network-based control scheme and an indirect adaptive control approach. The neural adaptive controller determines the position of the exhaust gas recirculation valve lift for trackin...
Journal of Engineering for Gas Turbines and Power, 2012
In diesel engines, variable geometry turbocharger (VGT) and exhaust gas recirculation (EGR) syste... more In diesel engines, variable geometry turbocharger (VGT) and exhaust gas recirculation (EGR) systems are used to increase engine specific power and reduce NOx emissions, respectively. Because the dynamics of both the VGT and EGR are highly nonlinear and coupled to each other, better performance may be attained by substituting nonlinear multiple input, multiple output (MIMO) controllers for the existing conventional lookup table-based linear controllers. This paper presents a coordinated VGT/EGR control system for common-rail direct injection diesel engines. The objective of the control system is to track target mass air flow and target intake manifold pressure by adjusting the EGR and VGT actuator positions. We designed a nonlinear MIMO control system using a neural control scheme that adopts an indirect adaptive control approach. The neural control system is comprised of a neural network identifier, which mimics the target air system, and a neural network controller, which calculate...
IEEE Transactions on Control Systems Technology, 2005
Abstract An energy management control system for a parallel hybrid electric vehicle is presented.... more Abstract An energy management control system for a parallel hybrid electric vehicle is presented. The proposed system incorporates an optimization scheme to assess the amount of engine torque for generating propulsive power (torque distribution task) as well as a charge sustaining scheme to ensure that battery's state of charge is maintained at sufficiently high level. In order to accomplish the torque distribution task, torque distribution control problem is formulated as a multi-objective nonlinear optimization problem, and recast and ...
In this study, a numerical framework for joint rotation configuration models of a finger is propo... more In this study, a numerical framework for joint rotation configuration models of a finger is proposed. The basic idea is to replicate the finger’s geometric posture observed when the human hand grasps a cylindrical object with various cross sections. In the model development, objects with the cross section adopted from the curves of order two (the family of conic sections) are taken into consideration to realize various finger postures. In addition, four different grasp styles, which simulate the individual-specific contact pattern between the surfaces of object and finger, are modeled and applied for the formulation of numerical models. An idea on how to change flexion/extension patterns in the middle of excursion of movement is proposed and discussed. Series of numerical studies have been conducted and analyzed to evaluate the proposed models. From the results, one can see the models’ feasibility and viability as a solution to describing finger’s flexion/extension movements (FEMs) ...
In this work, geometry-based finger kinematic models for joint rotation configuration are propose... more In this work, geometry-based finger kinematic models for joint rotation configuration are proposed. The purpose of the work is to provide an effective means of describing an individual-specific finger motion during flexion or extension movements as precisely as possible. Based on the finger’s geometric postures that are observed when fingers naturally grasp a cylindrical object with a circular cross-section, its geometric relation between each phalanx of a finger and the object is extracted, and forms of contact between them are taken into consideration to secure more degrees of freedom for representing finger motions and are parameterized in the model development. A parameter identification approach is adopted to find model parameters that can be used to describe an individual-specific grasping style. For the validation of the proposed models, a set of optical motion capture experiments is performed. From the simulation study, one can see that the models provide one of the feasible...
This study presents a multi-robot navigation strategy based on a multi-objective decision-making ... more This study presents a multi-robot navigation strategy based on a multi-objective decision-making algorithm, the Fuzzy Analytic Hierarchy Process (FAHP). FAHP analytically selects an optimal position as a sub-goal among points on the sensing boundary of a mobile robot considering the following three objectives: the travel distance to the target, collision safety with obstacles, and the rotation of the robot to face the target. Alternative solutions are evaluated by quantifying the relative importance of the objectives. As the FAHP algorithm is insufficient for multi-robot navigation, cooperative game theory is added to improve it. The performance of the proposed multi-robot navigation algorithm is tested with up to 12 mobile robots in several simulation conditions, altering factors such as the number of operating robots and the warehouse layout.
This paper proposes a novel finger kinematic model for human hand configurations, which is applic... more This paper proposes a novel finger kinematic model for human hand configurations, which is applicable to the realization of a naturalistic human finger motion for robotic finger systems and/or artificial hands. The proposed finger model is derived based on the geometry of a hand shape grasping a virtual cylindrical object. The model is capable of describing the rotation configuration of the joints of a long finger with three degrees of freedom by a single parameter, i.e. the radius of a cylindrical object. Experimental validation of the model shows that it is able to simulate closely naturalistic human finger movements. With the use of the proposed model, discussions were made on how to achieve multi-finger coordination that makes task-specific hand movements and/or a posture for specific hand actions. Due to the simplicity of the model to define joints angle configuration in a long finger by a single parameter, the combination of the proposed model and the multi-finger coordination...
International Journal of Control, Automation and Systems, 2014
ABSTRACT This paper describes a highway lane detection and tracking algorithm based on an anneale... more ABSTRACT This paper describes a highway lane detection and tracking algorithm based on an annealed particle filter; the algorithm combines multiple cues of road images with the annealed particle filter. We build a geometric lane model that can be applied to not only linear roads but also to curved roads. As a first step, preprocessing with a bar filter and color cues is used. In the annealed particle filter step, a K-means algorithm is utilized to measure the weights of the particles. We realize lane detection and tracking using the annealed particle filter which is the main contribution of the current paper. Experimental results show that our method is effective in various road situations. What’s more, the particle number and time cost of the annealed particle filter for each frame is largely reduced compared with those values when using the conventional particle filter.
International Journal of Precision Engineering and Manufacturing, 2015
ABSTRACT Defect detection on an object surface is one of the most important tasks of an automated... more ABSTRACT Defect detection on an object surface is one of the most important tasks of an automated visual inspection system. The most modern defect detection systems are required to operate in real-time and handle high-resolution images. One of main difficulties in system applications is that it cannot be used for general inspection of various types of surface without tuning the internal parameters. In this paper, we demonstrate how to solve the problem mentioned above by using simple variance profile values of pixel intensities and applying it to the random-forest-based machine learning algorithm. Variance of Variance (VOV) profiles are used to describe the texture of an object surface and to amplify the irregularity of intensity variations. The feature amplification property of the VOV method can be applied generally to various types of surface and defect. For effective learning and reduction of false detection, a defect-size insensitive approach and a hard sample retraining process are introduced. The experimental results demonstrate reliable defect detection for various surface types without changing parameters.
The 12th IEEE International Conference on Fuzzy Systems, 2003. FUZZ '03.
Abstract This paper proposes a" traffic situation awareness&... more Abstract This paper proposes a" traffic situation awareness" driven intelligent agent for energy management of parallel hybrid vehicles. A coordinating device that governs energy flow in the powertrain is proposed based on the idea that driving environment (traffic situation) as well as the vehicle's mode of operation and the style of driver behavior directly affect fuel usage and pollutant emissions. For the realization of driving situation awareness, identification processes for roadway type is performed by extracting the driving information ...
Résumé/Abstract A concept of" driving situation awareness"-driven energ... more Résumé/Abstract A concept of" driving situation awareness"-driven energy management system for parallel hybrid electric vehicles (HEVs) is introduced. The essential feature of the proposed energy management system is to assess the driving environment (in terms of facility type combined with traffic congestion level) using long and short term statistical features of the drive cycle. Subsequently, this knowledge is provided to a system that makes intelligent decisions with respect to the torque distribution and charge sustenance tasks. ...
Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2012
This paper presents a non-linear control system design for managing the mass flow rate in a commo... more This paper presents a non-linear control system design for managing the mass flow rate in a common-rail direct-injection diesel engine. In diesel engines, exhaust gas recirculation systems are used to reduce the nitrogen oxide emissions. Since an exhaust gas recirculation system has highly non-linear characteristics and is coupled with a variable-geometry turbocharger, it requires a non-linear control system, which can substitute for an existing conventional lookup-table-based controller, in order to secure a control performance in the transient operating regime. In this project, the objective of the control system is to track the target mass air flow by adjusting the exhaust gas recirculation valve lift. In order to accomplish this objective, a non-linear control system is proposed that adopts a neural-network-based control scheme and an indirect adaptive control approach. The neural adaptive controller determines the position of the exhaust gas recirculation valve lift for trackin...
Journal of Engineering for Gas Turbines and Power, 2012
In diesel engines, variable geometry turbocharger (VGT) and exhaust gas recirculation (EGR) syste... more In diesel engines, variable geometry turbocharger (VGT) and exhaust gas recirculation (EGR) systems are used to increase engine specific power and reduce NOx emissions, respectively. Because the dynamics of both the VGT and EGR are highly nonlinear and coupled to each other, better performance may be attained by substituting nonlinear multiple input, multiple output (MIMO) controllers for the existing conventional lookup table-based linear controllers. This paper presents a coordinated VGT/EGR control system for common-rail direct injection diesel engines. The objective of the control system is to track target mass air flow and target intake manifold pressure by adjusting the EGR and VGT actuator positions. We designed a nonlinear MIMO control system using a neural control scheme that adopts an indirect adaptive control approach. The neural control system is comprised of a neural network identifier, which mimics the target air system, and a neural network controller, which calculate...
IEEE Transactions on Control Systems Technology, 2005
Abstract An energy management control system for a parallel hybrid electric vehicle is presented.... more Abstract An energy management control system for a parallel hybrid electric vehicle is presented. The proposed system incorporates an optimization scheme to assess the amount of engine torque for generating propulsive power (torque distribution task) as well as a charge sustaining scheme to ensure that battery's state of charge is maintained at sufficiently high level. In order to accomplish the torque distribution task, torque distribution control problem is formulated as a multi-objective nonlinear optimization problem, and recast and ...
In this study, a numerical framework for joint rotation configuration models of a finger is propo... more In this study, a numerical framework for joint rotation configuration models of a finger is proposed. The basic idea is to replicate the finger’s geometric posture observed when the human hand grasps a cylindrical object with various cross sections. In the model development, objects with the cross section adopted from the curves of order two (the family of conic sections) are taken into consideration to realize various finger postures. In addition, four different grasp styles, which simulate the individual-specific contact pattern between the surfaces of object and finger, are modeled and applied for the formulation of numerical models. An idea on how to change flexion/extension patterns in the middle of excursion of movement is proposed and discussed. Series of numerical studies have been conducted and analyzed to evaluate the proposed models. From the results, one can see the models’ feasibility and viability as a solution to describing finger’s flexion/extension movements (FEMs) ...
In this work, geometry-based finger kinematic models for joint rotation configuration are propose... more In this work, geometry-based finger kinematic models for joint rotation configuration are proposed. The purpose of the work is to provide an effective means of describing an individual-specific finger motion during flexion or extension movements as precisely as possible. Based on the finger’s geometric postures that are observed when fingers naturally grasp a cylindrical object with a circular cross-section, its geometric relation between each phalanx of a finger and the object is extracted, and forms of contact between them are taken into consideration to secure more degrees of freedom for representing finger motions and are parameterized in the model development. A parameter identification approach is adopted to find model parameters that can be used to describe an individual-specific grasping style. For the validation of the proposed models, a set of optical motion capture experiments is performed. From the simulation study, one can see that the models provide one of the feasible...
This study presents a multi-robot navigation strategy based on a multi-objective decision-making ... more This study presents a multi-robot navigation strategy based on a multi-objective decision-making algorithm, the Fuzzy Analytic Hierarchy Process (FAHP). FAHP analytically selects an optimal position as a sub-goal among points on the sensing boundary of a mobile robot considering the following three objectives: the travel distance to the target, collision safety with obstacles, and the rotation of the robot to face the target. Alternative solutions are evaluated by quantifying the relative importance of the objectives. As the FAHP algorithm is insufficient for multi-robot navigation, cooperative game theory is added to improve it. The performance of the proposed multi-robot navigation algorithm is tested with up to 12 mobile robots in several simulation conditions, altering factors such as the number of operating robots and the warehouse layout.
This paper proposes a novel finger kinematic model for human hand configurations, which is applic... more This paper proposes a novel finger kinematic model for human hand configurations, which is applicable to the realization of a naturalistic human finger motion for robotic finger systems and/or artificial hands. The proposed finger model is derived based on the geometry of a hand shape grasping a virtual cylindrical object. The model is capable of describing the rotation configuration of the joints of a long finger with three degrees of freedom by a single parameter, i.e. the radius of a cylindrical object. Experimental validation of the model shows that it is able to simulate closely naturalistic human finger movements. With the use of the proposed model, discussions were made on how to achieve multi-finger coordination that makes task-specific hand movements and/or a posture for specific hand actions. Due to the simplicity of the model to define joints angle configuration in a long finger by a single parameter, the combination of the proposed model and the multi-finger coordination...
International Journal of Control, Automation and Systems, 2014
ABSTRACT This paper describes a highway lane detection and tracking algorithm based on an anneale... more ABSTRACT This paper describes a highway lane detection and tracking algorithm based on an annealed particle filter; the algorithm combines multiple cues of road images with the annealed particle filter. We build a geometric lane model that can be applied to not only linear roads but also to curved roads. As a first step, preprocessing with a bar filter and color cues is used. In the annealed particle filter step, a K-means algorithm is utilized to measure the weights of the particles. We realize lane detection and tracking using the annealed particle filter which is the main contribution of the current paper. Experimental results show that our method is effective in various road situations. What’s more, the particle number and time cost of the annealed particle filter for each frame is largely reduced compared with those values when using the conventional particle filter.
International Journal of Precision Engineering and Manufacturing, 2015
ABSTRACT Defect detection on an object surface is one of the most important tasks of an automated... more ABSTRACT Defect detection on an object surface is one of the most important tasks of an automated visual inspection system. The most modern defect detection systems are required to operate in real-time and handle high-resolution images. One of main difficulties in system applications is that it cannot be used for general inspection of various types of surface without tuning the internal parameters. In this paper, we demonstrate how to solve the problem mentioned above by using simple variance profile values of pixel intensities and applying it to the random-forest-based machine learning algorithm. Variance of Variance (VOV) profiles are used to describe the texture of an object surface and to amplify the irregularity of intensity variations. The feature amplification property of the VOV method can be applied generally to various types of surface and defect. For effective learning and reduction of false detection, a defect-size insensitive approach and a hard sample retraining process are introduced. The experimental results demonstrate reliable defect detection for various surface types without changing parameters.
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Papers by Jong-Seob Won