• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.6
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• pp.749-754
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• 2009

Two gait generation methods using GP(genetic programming) and CPG(Central Pattern Generator) are compared to develop a fast locomotion for quadruped robot. GP based technique is an effective way to generate few joint trajectories instead of the locus of paw positions and lots of stance parameters. The CPGs are neural circuits that generate oscillatory output from a input coming from the brain. Optimization for two proposed methods are executed and analysed using Webots simulation for the quadruped robot which is built by Bioloid. Furthermore, simulation results for two proposed methods are experimented in real quadruped robot and performances and motion features of GP and CPG based methods are investigated.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38A no.10
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• pp.908-917
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• 2013

In this paper, we propose a discovery protocol for finding nearby mobile applications and services in a device-to-device communications system. The device-to-device communication technology enables proximity-based services such as mobile social networks and mobile marketing. For realizing these proximity-based services, it is essential to design a discovery protocol which pinpoints the devices with mobile applications of interest among hundreds and thousands of devices in proximity. In the infrastructure-less networks such as ad hoc networks, we can design the discovery protocol that periodically broadcasts a short discovery code containing the compressed information of the mobile applications. In this paper, we design the discovery protocol with the discovery code generated by using a hash function and a Bloom filter. We also mathematically analyze the performance of the proposed protocol.

• Journal of the Korean Institute of Gas
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• v.24 no.1
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• pp.66-75
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• 2020

Drilling operation is the most important and costly essential work in oil and gas exploration and development. Therefore, the studies about rate of penetration have been carried out continuously to improve drilling efficiency. In recent years, data-driven models have been developed by various researchers to overcome disadvantages of traditional mathematical models. For the data-driven models, selecting proper algorithms and parameters is very important. In addition, data-driven models should be retrained in real-time during continuous drilling operations in order to improve the model performance. In this paper, the latest studies are investigated to provide information about algorithms, drilling parameters and model retraining intervals that used in drilling optimization.

• Composites Research
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• v.36 no.2
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• pp.117-125
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• 2023

This paper proposes a new finite element formulation based on enhanced first-order shear deformation theory including the transverse normal strain effect via the mixed formulation (EFSDTM-TN) for the effective thermo-mechanical analysis of laminated composite structures. The main objective of the EFSDTM-TN is to provide an accurate and efficient solution in describing the thermo-mechanical behavior of laminated composite structures by systematically establishing the relationship between two independent fields (displacement and transverse stress fields) via the mixed formulation. Another key feature is to consider the thermal strain effect without additional unknown variables by introducing a refined transverse displacement field. In the finite element formulation, an eight-node isoparametric plate element is newly developed to implement the advantage of the EFSDTM-TN. Numerical solutions for the thermo-mechanical behavior of laminated composite structures are compared with those available in the open literature to demonstrate the numerical performance of the proposed finite element model.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.16 no.6
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• pp.400-405
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• 2023

Currently, inverted pendulums are being studied in many fields, including posture control of missiles, rockets, etc, and bipedal robots. In this study, the vertical posture control of the pendulum was studied by constructing a rotary inverted pendulum using a 256-pulse rotary encoder and a DC motor. In the case of nonlinear systems, complex algorithms and controllers are required, but a control method using the classic and relatively simple PID(Proportional Integral Derivation) algorithm was applied to the rotating inverted pendulum system, and a simple but desired method was studied. The rotating inverted pendulum system used in this study is a nonlinear and unstable system, and a PID controller using Microchip's dsPIC30F4013 embedded processor was designed and implemented in linear modeling. Usually, PID controllers are designed by combining one or two or more types, and have the advantage of having a simple structure compared to excellent control performance and that control gain adjustment is relatively easy compared to other controllers. In this study, the physical structure of the system was analyzed using mathematical methods and control for vertical balance of a rotating inverted pendulum was realized through modeling. In addition, the feasibility of controlling with a PID controller using a rotating inverted pendulum was verified through simulation and experiment.

• Journal of Korea Water Resources Association
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• v.30 no.4
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• pp.347-355
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• 1997

In this study, the applicability of genetic algorithms into the parameter estimation of storage function method for flood routing model is investigated. Genetic algorithm is mathematically established theory based on the process of Darwinian natural selection and survival of fittest. It can be represented as a kind of search algorithms for optima point in solution space and make a reach on optimal solutions through performance improvement of assumed model by applying the natural selection of life as mechanical learning province. Flood events recorded in the Daechung dam are selected and used for the parameter estimation and verification of the proposed parameter estimation method by the split sample method. The results are analyzed that the performance of the model are improved including peak discharge and time to peak and shown that the parameter Rsa, and f1 are most sensitive to storage function model. Based on the analysis for estimated parameters and the comparison with the results from experimental equations, the applicability of genetic algorithm is verified and the improvements of those equations will be used for the augmentation of flood control efficiency.

• Annual Conference of KIPS
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• 2010.11a
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• pp.478-481
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• 2010

본 논문에서는 경제학, 사회학, 수학 분야에서 수십년 전부터 연구해오던 죄수의 딜레마 게임의 협동진화에 대해 고찰해보고자 한다. 반복적 죄수의 딜레마 게임은 게임이론의 가장 기본적인 이론으로써, 사회적 상호작용, 경제활동, 국제관계 등 다양한 현상들을 모델링 하기 위한 하나의 방법이다. 그 중에 N명이 참가하는 반복적 죄수 딜레마 게임의 전략은 유전 알고리즘(Genetic Algorithms, GAs)을 통해 진화적으로 만들어 낼 수 있으며, 이 경우에 그 결과를 일반적인 내쉬 균형 이 아닌, 모든 개체들이 유전알고리즘을 통해 협동으로 수렴하도록 유도할 수 있다는 사실은 상당히 시사하는 바가 크다. 기존에 주로 연구되어오던 죄수의 딜레마 게임은 협동으로의 수렴과정에서 일반적으로 순위기반선택(Rank-based selection)과 1점 교배기법(1point crossover)을 사용한다. 그러나 순위기반선택은 모든 개체에 순위을 매겨야 하기 때문에, 개체수가 커질수록 성능이 저하되며, 1점 교배기법은 개체 값이 분산되어있을 경우, 최적해(Optimal solution)을 찾기 힘들다는 단점이 있어, 개체수가 많은 경우에 적용하기에는 비효율적이다. 본 논문에서는 토너먼트 선택기법(Tournament selection)과 자기 적응형 교배기법(Self-adaptive crossover)을 적용한 새로운 기법을 제안한다. 또한 기존 기법과 비교 실험을 통해 제안기법이 기존기법에 비해 평균 수렴시간과 수렴 횟수에서 뛰어난 성능을 보이고 있음을 확인하였다.

• Tunnel and Underground Space
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• v.30 no.3
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• pp.181-192
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• 2020

Pin-on-disk test is a suggested abrasion testing method by ASTM (American Society for Testing and Materials). This briefly illustrated the Archimedean spiral motion of a pin type specimen on a disk. To apply this method to rock cutting tools, a constant linear velocity (CLV) is precisely maintained during the test. We defined the two velocity vectors (RPM and horizontal speed) which connected to the resultatnt velocity. We derived a differential equations for the two parameters under CLV condition. It was difficult to find a exact solution. Previous literatures had been reviewed, and an approximate solution was investigated. We mathematically simulated the result for a certain parameter, and examine the accuracy of the solution.

• Journal of Internet Computing and Services
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• v.18 no.3
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• pp.29-36
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• 2017

In these days, 3D dynamic simulation is closely related to many industries. In the past, physically-based 3D simulation was used mainly in the car crash or construction related fields, but it also plays an important role in movies or games today. Many mathematical computations are needed to represent the 3D object realistically, but it is difficult to process a large amount of calculations for simulation of application based on CPU in real-time. Recently, with the advanced graphic hardware and improved architecture, GPU can be utilized for the general purposes of computation function as well as graphic computation. Many approaches using GPU have been applied for various research fields. In this paper, we analyze the performance variation of two cloth simulation algorithms based on GPU according to the change of execution properties of GPU shaders in oder to optimize the performance of GPU-based cloth simulation. Cloth simulation is implemented by the spring centric algorithm and node centric algorithm with GPU parallel computing using compute shader of GLSL 4.3. We compare the performance of between these algorithms according to the change of the size and dimension of work group. The experiment is repeated to 10 times during 5,000 frames for each test and experimental results are provided by averaging of FPS. The experimental result shows that the node centric algorithm is executed in higher speed than the spring centric algorithm.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.9
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• pp.925-932
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• 2014

If a rotor possesses a high gyroscopic coupling or the running speed is high, the dynamical changes in the rotor become prominent. When active magnetic bearings are used to support such rotors, it is necessary for the bearing controller to take these dynamical changes into consideration. Independent-axis controllers, which are the most commonly used, modulate the bearing force solely based on the sensor output of the same axis. However, this type of controller has difficulties in overcoming the dynamical changes. On the other hand, mixed-axis controllers transform the sensor output into components corresponding to the vibrational modes. A separate controller can then be designed for each vibrational mode. In this way, the controller can be designed based on the dynamics of the rotor. In this paper, we describe a design process for a mixed-axis controller that uses a detailed mathematical model of the system. The performance of the controller is evaluated based on the ISO sensitivity requirements and unbalance response, while considering the change in the system dynamics due to the running speed.