• Journal of the Korean Institute of Intelligent Systems
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• v.5 no.1
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• pp.52-64
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• 1995

Robot manipulator is a highly nonlinear-time varying system. Therefore, a lot of control theory has been applied to the system. Robot manipulator has two types of control; one is path planning, another is path tracking. In this paper, we select the path tracking, and for this purpose, propose the intelligent control¬ler which is combined with fuzzy logic and neural network. The fuzzy logic provides an inference morphorlogy that enables approximate human reasoning to apply to knowledge-based systems, and also provides a mathematical strength to capture the uncertainties associated with human cognitive processes like thinking and reasoning. Based on this fuzzy logic, the fuzzy logic controller(FLC) provides a means of converhng a linguistic control strategy based on expert knowledge into automahc control strategy. But the construction of rule-base for a nonlinear hme-varying system such as robot, becomes much more com¬plicated because of model uncertainty and parameter variations. To cope with these problems, a auto-tuning method of the fuzzy rule-base is required. In this paper, the GA-based Fuzzy-Neural control system combining Fuzzy-Neural control theory with the genetic algorithm(GA), that is known to be very effective in the optimization problem, will be proposed. The effectiveness of the proposed control system will be demonstrated by computer simulations using a two degree of freedom robot manipulator.

• Journal of KIISE:Software and Applications
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• v.29 no.1_2
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• pp.98-113
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• 2002

In this paper, we present advanced algorithms to reduce the computations of block matching algorithms for motion estimation in video coding. Advanced multi-level successive elimination algorithms(AMSEA) are based on the Multi-level successive elimination algorithm(MSEA)[1]. The first algorithm is that when we calculate the sum of absolute difference (SAD) between the sum norms of sub-blocks in MSEA, we use the partial distortion elimination technique. By using the first algorithm, we can reduce the computations of MSEA further. In the second algorithm, we calculate SAD adaptively from large value to small value according to the absolute difference values between pixels of blocks. By using the second algorithm, the partial distortion elimination in SAD calculation can occur early. So, the computations of MSEA can be reduced. In the third algorithm, we can estimate the elimination level of MSEA. Accordingly, the computations of the MSEA related to the level lower than the estimated level can be reduced. The fourth algorithm is a very fast block matching algorithm with nearly 100% motion estimation accuracy. Experimental results show that AMSEA are very efficient algorithms for the estimation of motion vectors.

• The KIPS Transactions:PartB
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• v.13B no.2 s.105
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• pp.105-114
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• 2006

In ubiquitous environment where various kinds of computers are embedded in persons, objects and environment and they are interconnected and can be used in my place as necessary, different types of data need to be exchanged between heterogeneous machines through home network. In the environment, the efficient processing, transmission and monitoring of image data are essential technologies. We need to make research not only on traditional image processing such as spatial and visual resolution, color expression and methods of measuring image quality but also on transmission rate on home network that has a limited bandwidth. The present study proposes a new motion vector estimation algorithm for transmitting, processing and controlling image data, which is the core part of contents in home network situation and, using algorithm, implements a real time monitoring system of multi dimensional images transmitted from multiple cameras. Image data of stereo cameras to be transmitted in different environment in angle, distance, etc. are preprocessed through reduction, magnification, shift or correction, and compressed and sent using the proposed metamorphosis hierarchical motion vector estimation algorithm for the correction of motion. The proposed algorithm adopts advantages and complements disadvantages of existing motion vector estimation algorithms such as whole range search, three stage search and hierarchical search, and estimates efficiently the motion of images with high variation of brightness using an atypical small size macro block. The proposed metamorphosis hierarchical motion vector estimation algorithm and implemented image systems can be utilized in various ways in ubiquitous environment.

• KIPS Transactions on Software and Data Engineering
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• v.12 no.9
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• pp.407-418
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• 2023

The Multi-Object Goal Visual Navigation(MultiOn) is a visual navigation task in which an agent must visit to multiple object goals in an unknown indoor environment in a given order. Existing models for the MultiOn task suffer from the limitation that they cannot utilize an integrated view of multimodal context because use only a unimodal context map. To overcome this limitation, in this paper, we propose a novel deep neural network-based agent model for MultiOn task. The proposed model, MCFMO, uses a multimodal context map, containing visual appearance features, semantic features of environmental objects, and goal object features. Moreover, the proposed model effectively fuses these three heterogeneous features into a global multimodal context map by using a point-wise convolutional neural network module. Lastly, the proposed model adopts an auxiliary task learning module to predict the observation status, goal direction and the goal distance, which can guide to learn the navigational policy efficiently. Conducting various quantitative and qualitative experiments using the Habitat-Matterport3D simulation environment and scene dataset, we demonstrate the superiority of the proposed model.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2023.05a
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• pp.250-251
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• 2023

The pallet, typically a form of tertiary packaging, is a flat structure used as a base for the unitization of goods in the supply chain. In addition, standard pallets such as T-11 and T-12 are used throughout the logistics industry to reduce the cost and enhance the efficiency of transportation. However, in the case of special cargo, it is impossible to handle such cargo using a standard pallet due to its size and weight, so many have developed and are now using their customized pallet. Therefore, this study suggests a pallet size optimization method to calculate the optimal pallet size, which minimizes the loss of space on a pallet. The main input features are the specifications and the storage quantity of each cargo, and the optimization method that has modified the Neighborhood Search Algorithm calculates the optimal pallet size. In order to verify the optimality of the developed algorithm, a comparative analysis has been conducted through simulation.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.29 no.1
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• pp.29-37
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• 2011

The purpose of this research is to measure Quality of Life indices using Factor Analysis and Principle Component Analysis and to analyze the spatial patterns of Quality of life distribution in the Seoul Metropolitan Area in terms of spatial association using spatial statistics and spatial exploratory technique. In order to check the degree of clustering, this study used spatial autocorrelation indices, global Moran's I index. In addition, local scale analysis was conducted using Moran Scatterplot and Local Moran's I to identify the spatial association pattern and the high Quality of life. The analysis based on global statics showed that, in the Seoul Metropolitan Area, QoL Indices had been distributed with positive spatial association. According to the local spatial statistics, the general tendency of clustering H-H clusters which were mainly concentrated on the Seoul, L-H clusters were concentrated on the Kyunggi-Do and L-L Clusters showed the regional extent of lagging behind. However, in case of H-H, L-H Clusters they had been spread out in the Newtown as population increase.

• The Korean Journal of Mycology
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• v.27 no.1 s.88
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• pp.68-72
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• 1999

Wood-rotting fungi of the Aphyllophorales were collected through field trips to mountain areas of the country from January to December of 1997. Through the observation and identification of specimens, two genera, Meruliopsis (type species=M. taxicola) and Pseudomerulius (type species=P. aureus), and four species, Phanerochaete calotricha, Phanerochaete chrysorhiza, Meruliopsis corium, and Pseudomerulius aureus were confirmed as new wood-rotting fungi to Korea and are registered here with descriptions.

• Journal of Korean Society of Transportation
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• v.18 no.6
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• pp.89-99
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• 2000

To cope with the limits of conventional O-D trip matrix collecting methods, several approaches have been developed. One of them is bilevel Programming method Proposed by Yang(1995), which uses Sensitivity Analysis Based(SAB) algorithm to solve Generalized Least Square(GLS) problem. However, the SAB a1gorithm has revealed two critical short-comings. The first is that when there exists a significant difference between target O-D matrix and true O-D matrix, SAB algorithm may not produce correct solution. This stems from the heavy dependance on the historical O-D information, in special when gravel Patterns are dramatically changed. The second is the assumption of iterative linear approximation to original Problem. Because of the approximation, SAB algorithm has difficulty in converging to Perfect Stackelberg game condition. So as to avoid the Problems. we need a more robust and stable solution method. The main purpose of this Paper is to show the problem of the dependency of Previous models and to Propose an alternative solution method to handle it. The Problem of O-D matrix estimation is intrinsically nonlinear and nonconvex. thus it has multiple solutions. Therefore it is necessary to require a method for searching globa1 solution. In this paper, we develop a solution algorithm combined with genetic algorithm(GA) , which is widely used as probabilistic global searching method To compare the efficiency of the algorithm, SAB algorithm suggested by Yang et al. (1992,1995) is used. From the results of numerical example, the Proposed algorithm is superior to SAB algorithm irrespective of travel patterns.

• The Korean Journal of Mycology
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• v.24 no.4 s.79
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• pp.265-273
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• 1996

Fleshy fungi were collected during field trips to mountain areas throughout the country from October in 1994 to June in 1995. Through the observation and identification of specimens belonging to the wood-rotting fungi of the Aphyllophorales, one genus, Phlebiopsis, and six species, Athelia bombacina, Ceraceomyces sublaevis, Hyphoderma sibiricum, Hyphodontia arguta, Phlebiopsis gigantea, and Radulomyces confluens were confirmed as new corticioid fungi to Korea and are registered here with descriptions.

• The Korean Journal of Applied Statistics
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• v.33 no.3
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• pp.335-345
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• 2020

This paper deals with the problem of estimating the log-transformed linear regression model to fit actual battle data from the Ardennes Campaign of World War II into the Lanchester model. The problem of determining a global solution for parameters and multicollinearity problems are identified and modified by examining the results of previous studies on data. The least squares method requires attention because a local solution can be found rather than a global solution if considering a specific constraint or a limited candidate group. The method of exploring this multicollinearity problem can be confirmed by a statistic known as a variance inflation factor. Therefore, the Lanchester model is simplified to avoid these problems, and the combat power attrition rate model was proposed which is statistically significant and easy to explain. When fitting the model, the dependence problem between the data has occurred due to autocorrelation. Matters that might be underestimated or overestimated were resolved by the Cochrane-Orcutt method as well as guaranteeing independence and normality.