• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.3
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• pp.2123-2130
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• 2015

For such automatic monitoring robot or a robot cleaner that is utilized indoors, if it deviates from someone by replacement or, or of a mobile robot such as collisions with unexpected object direction or planned path, based on the planned path There is a need to come back to, it is necessary to tough self-position estimation ability of mobile robot in this, which is also associated with resolution of the kidnap problem of conventional mobile robot. In this study, the case of a mobile robot, operates indoors, you want to take advantage of the low cost of the robot. Therefore, in this paper, by using the acquisition device to an external image information such as the CCTV which is installed in a room, it acquires the environment image and take advantage of marker recognition of the mobile robot at the same time and converted it absolutely spatial coordinates it is, we are trying to solve the self-position estimation of the mobile robot in the room and kidnap problem and actual implementation methods potential field to try utilizing robotic systems. Thus, by implementing the method proposed in this study to the actual robot system, and is promoting the relevant experiment was to verify the results.

• Journal of Intelligence and Information Systems
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• v.12 no.3
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• pp.67-82
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• 2006

We propose the HBEM(Hybrid Behavior Evolution Model) composed of rule classification and evolutionary neural network using rule descriptor and link descriptor for evolutionary behavior of virtual robots. In our model, two levels of the knowledge of behaviors were represented. In the upper level, the representation was improved using rule and link descriptors together. And then in the lower level, behavior knowledge was represented in form of bit string and learned adapting their chromosomes by the genetic operators. A virtual robot was composed by the learned chromosome which had the best fitness. The composed virtual robot perceives the surrounding situations and they were classifying the pattern through rules and processing the result in neural network and behaving. To evaluate our proposed model, we developed HBES(Hybrid Behavior Evolution System) and adapted the problem of gathering food of the virtual robots. In the results of testing our system, the learning time was fewer than the evolution neural network of the condition which was same. And then, to evaluate the effect improving the fitness by the rules we respectively measured the fitness adapted or not about the chromosomes where the learning was completed. In the results of evaluating, if the rules were not adapted the fitness was lowered. It showed that our proposed model was better in the learning performance and more regular than the evolutionary neural network in the behavior evolution of the virtual robots.

• The Transactions of the Korea Information Processing Society
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• v.4 no.12
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• pp.3052-3062
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• 1997

An Information Retrieval (IR) is to retrieve relevant information that satisfies user's information needs. However a major role of IR systems is not just the generation of sets of relevant documents, but to help determine which documents are most likely to be relevant to the given requirements. Various attempts have been made in the recent past to use syntactic analysis methods for the generation of complex construction that are essential for content identification in various automatic text analysis systems. Unfortunately, it is known that methods based on syntactic understanding alone are not sufficiently powerful to Produce complete analyses of arbitrary text samples. In this paper, we present a document ranking method based on two-level ranking. The first level is used to retrieve the documents, and the second level to reorder the retrieved documents. The main keywords used in the first level can be defined as nouns and/or compound nouns that possess good document discrimination powers. The sub-keywords used in the second level can be also defined as adjectives, adverbs, and/or verbs that are not main keywords, and function words. An empirical study was conducted from a Korean encyclopedia with 23,113 entries and 161 Korean natural language queries collected by end users. 850% of the natural language queries contained sub-keywords. The two-level document ranking methods provides significant improvement in retrieval effectiveness over traditional ranking methods.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.5
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• pp.1-9
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• 2017

Recently, the active research into wireless sensor networks has led to the development of sensor nodes with improved performance, including their mobility and location awareness. One of the most important goals of such sensor networks is to transmit the data generated by mobile sensors nodes. Since these sensor nodes move in the mobile wireless sensor networks (MWSNs), the energy consumption required for them to transmit the sensed data to the fixed sink is increased. In order to solve this problem, the use of mobile sinks to collect the data while moving inside the network is studied herein. The important issues are the mobility and energy consumption in MWSNs. Because of the sensor nodes' limited energy, their energy consumption for data transmission affects the lifetime of the network. In this paper, a mobile-sink based energy-efficient clustering scheme is proposed for use in mobile wireless sensor networks (MECMs). The proposed scheme improves the energy efficiency when selecting a new cluster head according to the mobility of the mobile sensor nodes. In order to take into consideration the mobility problem, this method divides the entire network into several cluster groups based on mobile sinks, thereby decreasing the overall energy consumption. Through both analysis and simulation, it was shown that the proposed MECM is better than previous clustering methods in mobile sensor networks from the viewpoint of the network energy efficiency.

• Journal of KIISE:Databases
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• v.37 no.2
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• pp.71-81
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• 2010

The problem of finding clusters is widely used in numerous applications, such as pattern recognition, image analysis, market analysis. The important factors that decide cluster quality are the similarity measure and the number of attributes. Similarity measures should be defined with respect to the data types. Existing similarity measures are well applicable to numerical attribute values. However, those measures do not work well when the data is described by categorical attributes, that is, when no inherent similarity measure between values. In high dimensional spaces, conventional clustering algorithms tend to break down because of sparsity of data points. To overcome this difficulty, a subspace clustering approach has been proposed. It is based on the observation that different clusters may exist in different subspaces. In this paper, we propose a new similarity measure for clustering of high dimensional categorical data. The measure is defined based on the fact that a good clustering is one where each cluster should have certain information that can distinguish it with other clusters. We also try to capture on the attribute dependencies. This study is meaningful because there has been no method to use both of them. Experimental results on real datasets show clusters obtained by our proposed similarity measure are good enough with respect to clustering accuracy.

• Journal of KIISE:Software and Applications
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• v.36 no.4
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• pp.253-260
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• 2009

Many algorithms for computer vision and pattern recognition have recently been implemented on GPU (graphic processing unit) for faster computational times. However, the implementation has two problems. First, the programmer should master the fundamentals of the graphics shading languages that require the prior knowledge on computer graphics. Second, in a job that needs much cooperation between CPU and GPU, which is usual in image processing and pattern recognition contrary to the graphic area, CPU should generate raw feature data for GPU processing as much as possible to effectively utilize GPU performance. This paper proposes more quick and efficient implementation of neural networks on both GPU and multi-core CPU. We use CUDA (compute unified device architecture) that can be easily programmed due to its simple C language-like style instead of GPU to solve the first problem. Moreover, OpenMP (Open Multi-Processing) is used to concurrently process multiple data with single instruction on multi-core CPU, which results in effectively utilizing the memories of GPU. In the experiments, we implemented neural networks-based text extraction system using the proposed architecture, and the computational times showed about 15 times faster than implementation on only GPU without OpenMP.

• The KIPS Transactions:PartA
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• v.18A no.6
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• pp.271-280
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• 2011

Time-Triggered Architecture (TTA), one of real-time software design paradigms which executes tasks in timely manner, has long been advocated as being better suited in fore-sighting system behavior than event-triggered architecture (ETA). To gain this valuable feature of TTA, however, precise task designing process is mandatory. Alternatively, ETA tries to execute tasks whenever paired events are occurred. It provides intuitive and flexible basement to add/remove tasks and, moreover, better response time performance. However ETA is difficult to analyze because system behavior might be different depending on the order of interrupts detected by the system. Many previous researches recommended TTA when developing safety-critical real-time systems, but cost problem of task designing process and insufficient consensus for applying rigorous software engineering practice are still challenging in practice. This paper describes software refactoring process which applying TTA approach into ETA based embedded software in artificial heart system. We implemented dedicated interrupt monitoring program to capture existing tasks' real-time characteristics. Based on the captured information, proper task designing process is done. Real-time analysis using RMA (Rate-Monotonic Analysis) verified that new design guarantees timeliness of the system. Empirical experiments revealed that revised design is as efficient, when measured in terms of system's external output, as the old design and enhances predictability of the system behavior as well.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.5 no.1
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• pp.17-25
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• 2011

This paper aims to find the optimal control gain for enhancing the convenience of electric walking frames and design a control algorithm. With the recent advances in medical technology, there has been a rapid increase in the aging population and a variety of mobile walking frames have been developed for improvement of the quality of life. However, the manual walking frames of such mobile aids don't have any electric motor which helps facilitate elderly users' walking and thus are not efficient enough for the old people of weak strength to use especially when moving on uneven surfaces such as slopes or thresholds. The types of electric walking frames have been developed to overcome such inefficiency. Electric walking frames require users' control operations for motor driving unlike manual frames. Therefore, when they are not properly handled, it causes considerable inconvenience to their users. The present study compared the electric walking frames with manual ones in terms of operational convenience and attempted to improve the user convenience of walking frames varying the control value for user convenience based on certain standards. This paper presented a haptic sensor designed to recognize the will to walk and measure the degree of convenience and proposed a control algorithm for improvement of convenience. For user convenience, this paper evaluated the relative convenience of walking frames in view of changing differences between the center of vehicle (COV) and the center of position (COP). With the employment of an electric walking frame and a new measuring method, all the processes were experimentally tested and validated.

• International Journal of Highway Engineering
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• v.6 no.4 s.22
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• pp.13-24
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• 2004

The Marshall mix design method used in Korea, which was described in the design & construction regulation, had been introduced from Japan Highway Cooperation standard guide. Most engineers have thought that it is the major reason that causes pavement distresses. Therefore, there is a need to modify the current Marshall mix design through using the volumetric design concept, which is most widely used in asphalt mix design. The modified mix design determines the preliminary optimum asphalt content at 4% VTM (Voids in Total Mix). If the Marshall properties, which are VFA, VMA, stability, and flow, were satisfied with the requirements, the preliminary optimum asphalt content is determined as the final optimum asphalt content. The modified Marshall mix design considers VMA. while the current Marshall mix design does not consider VMA. By considering the Marshall stability and flow as the criteria instead of design factors, the modified Marshall mix design is able to decrease the errors occurred in Marshall stability test The test was performed to compare the Marshall properties between current and modified Marshall mix design. The left results showed that there was no difference in the Marshall properties, except for VTM. Thus, the modified Marshall mix design can produce the asphalt mixtures with the constant VTM (4%), and it can improve the asphalt mixture quality in Korea.

• Korean Journal of Medicinal Crop Science
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• v.2 no.2
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• pp.154-161
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• 1994

This experiment was carried out to establish micropropagation system in Fritillaria thunbergii Miq. Through the culture of bulblet scales, stems, node-buds and shoot tips with special reference to the effect of physiological age of explant and plant growth regulators on bulblet formation. Number of formed bulblets was significantly increased in node-bud or stem tissue compared to scals segments and on the medium supplemented with kinetin than BA containing medium. Optimum levels of kinetin for bulblet formation from node-bud taken from above 3 cm shoot length and stem segments excised from below 3 cm shoot length were 5.0 mg /L and $1.0{\sim}3.0\;mg$ /L kinetin, respectively. Interesting phenomenon was observed, the direct formation of bulblets from the axilliary bud of cultured explants. Bulblet forming capacity in stem tissue was depended on stem age, young stem had high regeneration ability compared to old stem taken from above 10 cm shoot length. 1.0 mg /L kinetin was optimum concentration for the formation of bulblets from old stem segments. Stem tissue taken from underground growing plant was promoted coampare to shoot tips or bulb scale segments. Optimum concentration of sucrose was $5{\sim}7%$. Summariged above results revealed that effective explant for micropropagation was stem and /or node-bud tissue excised from less than 3 cm plant height compared to those of bulb scale segments which showed high contamination after culture. Maximum multiplication rate of young stem and /or node-bud segment was about 20 times. Kinetin requirement for stimulation of bulblet formation from cultured explant depended on source of explants but favorable levels of kinetin for organogenesis ranged from 1.0 mg /L to 5.0 mg /L.