• The Journal of the Korea Contents Association
• /
• v.19 no.3
• /
• pp.72-79
• /
• 2019

Autonomous locomotion has two essential functionalities: mapping builds and updates maps by uncertain position information and measured sensor inputs, and localization is to find the positional information with the inaccurate map and the sensor information. In addition, obstacle detection, avoidance, and path designs are necessarily required for autonomous locomotion by combining the probabilistic methods based on uncertain locations. The sensory inputs, which are measured by a metric-based scanner, have difficulties of distinguishing moving obstacles like humans from static objects like walls in given environments. This paper proposes the low resolution grid map combined with reinforcement learning, which is compared with the conventional recognition method for detecting static and moving objects to generate obstacle avoiding path. Finally, the proposed method is verified with experimental results.

• Journal of Korean Society of Transportation
• /
• v.16 no.4
• /
• pp.153-166
• /
• 1998

본 연구에서는 도시 가로망에서의 구간 통행시간을 예측하기 위하여 time-frequency 분석의 일종인 웨이브렛변환과 RBF신경망 모형을 이용한 예측모형을 개발하였다. 웨이브렛 변환을 이용한 시계열 자료 분석을 통해서 통행시간에 내재되어 있는 다양한 패턴의 특징을 추출함으로써 오전/오후의 첨두현상, 신호교차로의 현시주기 등 주기적으로 발생되는 요인들에 의해서 통행시간 시계열 자료의 패턴에 나타나는 규칙성을 분석해 내었다. 분석된 패턴정보에 대한 규명은 카오스 이론을 근간으로한 시간지연좌표를 이용하여 시계열 자료의 규칙성을 시각적으로 판별하여 예측모형 구축에 활용하도록 하였다. 또, RBF신경망을 이용하여 예측범위의 공간적/시간적 확대에 따른 모형 구축에 소요되는 시간을 최소화하도록 하였으며, 시내버스 노선의 정류장간 운행시간 예측을 통해서 기존 연구에서 제기되었던 현실세계의 단순화, 다단계 예측시 정확성 등의 문제를 해결하였다. 예측실험결과 웨이브렛 변환을 데이터의 전처리 과정에 삽입하여 링크 통행시간의 패턴정보 예측에 활용할 경우, 기존의 예측모형에 비해서 훨씬 정확한 예측이 가능한 것으로 나타났으며, RBF 신경망은 짧은 학습시간에도 불구하고 역전파 신경망보다 우수한 예측력을 갖고 있는 것으로 밝혀졌다.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2014.11a
• /
• pp.1139-1141
• /
• 2014

뇌파 수집과 분석을 위한 상용 장비인 모바일 헤드셋 Emotiv를 이용한 BCI 연구가 있었다. 특히 Emotiv에서 제공되는 학습기능을 사용한 사례들에서 다양한 패턴을 학습한 경우는 인식률이 떨어지고 학습하는데 많은 시간이 소비된다. 본 논문에서는 Emotiv의 학습기능을 한 가지만 사용해서 인식률을 높이고 자이로센서를 이용하여 로봇을 4가지 방향으로 제어해서 원하는 경로로 이동가능 한 기능을 구현했다. 구현한 결과는 평균 85.67%를 보여 성공적이었다.

• Information and Communications Magazine
• /
• v.32 no.4
• /
• pp.10-15
• /
• 2015

본고에서는 u-Office 서비스를 실현하기 위하여 이동 단말 기기로부터 수신한 사용자의 시간 및 위치 이동 정보를 이용해서 사용자에게 유용한 서비스를 제공하는 데 필요한 사용자 맞춤형 서비스 제공 통합 프레임워크 및 추론 기술 알고리즘에 대해 기술하고자 한다. 사용자 맞춤형 서비스제공 통합 프레임워크는 사용자 이동단말기 및 시간 및 이동 데이터를 저장하는 AP, AP의 데이터를 수집하는 데이터베이스, 사용자 이동 단말 어플리케이션 등으로 구성되어있으며, 사용자의 시간 및 위치 정보를 학습하여 이동 경로를 예측하고 유용한 서비스를 제공하기 위해 사용된 기계학습 기반 추론 알고리즘에 대하여 알아본다. u-Office 서비스를 실현하기 위하여 실제로 캠퍼스 및 교실범위로 구현한 사용자 패턴기반 맞춤형 서비스 프레임워크에 대해 알아보고 제공 가능한 서비스에 대하여 논의한다.

• KIPS Transactions on Computer and Communication Systems
• /
• v.9 no.11
• /
• pp.256-264
• /
• 2020

Industrial Wireless Sensor Networks (IWSNs) is exploited to achieve various objectives such as improving productivity and reducing cost in the diversity of industrial application, and it has requirements such as low-delay and high reliability packet transmission. To accomplish the requirement, the network manager performs graph construction and resource allocation about network topology, and determines the transmission cycle and path of each node in advance. However, this network management scheme cannot treat mobile devices that cause continuous topology changes because graph reconstruction and resource reallocation should be performed as network topology changes. That is, despite the growing need of mobile devices in many industries, existing scheme cannot adequately respond to path failure caused by movement of mobile device and packet loss in the process of path recovery. To solve this problem, a network management scheme is required to prevent packet loss caused by mobile devices. Thus, we analyse the location and movement cycle of mobile devices over time using machine learning for predicting the mobility pattern. In the proposed scheme, the network manager could prevent the problems caused by mobile devices through performing graph construction and resource allocation for the predicted network topology based on the movement pattern. Performance evaluation results show a prediction rate of about 86% compared with actual movement pattern, and a higher packet delivery ratio and a lower resource share compared to existing scheme.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.24 no.6
• /
• pp.597-602
• /
• 2014

We propose hybrid-sensing system for human tracking. This system uses laser scanners and image sensors and is applicable to wide and crowded area such as hallway of university. Concretely, human tracking using laser scanners is at base and image sensors are used for human identification when laser scanners lose persons by occlusion, entering room or going up stairs. We developed the method of human identification for this system. Our method is following: 1. Best-shot images (human images which show human feature clearly) are obtained by the help of human position and direction data obtained by laser scanners. 2. Human identification is conducted by calculating the correlation between the color histograms of best-shot images. It becomes possible to conduct human identification even in crowded scenes by estimating best-shot images. In the experiment in the station, some effectiveness of this method became clear.

• KIPS Transactions on Computer and Communication Systems
• /
• v.11 no.9
• /
• pp.281-288
• /
• 2022

AGVs are often used in industrial applications to transport heavy materials around a large industrial building, such as factories or warehouses. In particular, in fulfillment centers their usefulness is maximized for automation. To increase productivity in warehouses such as fulfillment centers, sophisticated path planning of AGVs is required. We propose a scheme that can be applied to QMIX, a popular cooperative MARL algorithm. The performance was measured with three metrics in several fulfillment center layouts, and the results are presented through comparison with the performance of the existing QMIX. Additionally, we visualize the transport paths of trained AGVs for a visible analysis of the behavior patterns of the AGVs as heat maps.

• KIPS Transactions on Software and Data Engineering
• /
• v.3 no.8
• /
• pp.321-328
• /
• 2014

In this paper, we present a MapReduce-based mobility pattern mining system which can predict efficiently the next place of mobile users. It learns the mobility pattern model of each user, represented by Hidden Markov Models(HMM), from a large-scale trajectory dataset, and then predicts the next place for the user to visit by applying the learned models to the current trajectory. Our system consists of two parts: the back-end part, in which the mobility pattern models are learned for individual users, and the front-end part, where the next place for a certain user to visit is predicted based on the mobility pattern models. While the back-end part comprises of three distinct MapReduce modules for POI extraction, trajectory transformation, and mobility pattern model learning, the front-end part has two different modules for candidate route generation and next place prediction. Map and reduce functions of each module in our system were designed to utilize the underlying Hadoop infrastructure enough to maximize the parallel processing. We performed experiments to evaluate the performance of the proposed system by using a large-scale open benchmark dataset, GeoLife, and then could make sure of high performance of our system as results of the experiments.

• The KIPS Transactions:PartB
• /
• v.15B no.4
• /
• pp.375-382
• /
• 2008

A protein's subcellular localization is considered an essential part of the description of its associated biomolecular phenomena. As the volume of biomolecular reports has increased, there has been a great deal of research on text mining to detect protein subcellular localization information in documents. It has been argued that linguistic information, especially syntactic information, is useful for identifying the subcellular localizations of proteins of interest. However, previous systems for detecting protein subcellular localization information used only shallow syntactic parsers, and showed poor performance. Thus, there remains a need to use a full syntactic parser and to apply deep linguistic knowledge to the analysis of text for protein subcellular localization information. In addition, we have attempted to use semantic information from the WordNet thesaurus. To improve performance in detecting protein subcellular localization information, this paper proposes a three-step method based on a full syntactic dependency parser and WordNet thesaurus. In the first step, we constructed syntactic dependency paths from each protein to its location candidate, and then converted the syntactic dependency paths into dependency trees. In the second step, we retrieved root information of the syntactic dependency trees. In the final step, we extracted syn-semantic patterns of protein subtrees and location subtrees. From the root and subtree nodes, we extracted syntactic category and syntactic direction as syntactic information, and synset offset of the WordNet thesaurus as semantic information. According to the root information and syn-semantic patterns of subtrees from the training data, we extracted (protein, localization) pairs from the test sentences. Even with no biomolecular knowledge, our method showed reasonable performance in experimental results using Medline abstract data. Our proposed method gave an F-measure of 74.53% for training data and 58.90% for test data, significantly outperforming previous methods, by 12-25%.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.24 no.6B
• /
• pp.1048-1058
• /
• 1999

This paper compares some architectures to achieve the optimized WDM architecture for all optical transport network, the comparison is presented in terms of the number of required wavelength and LT. These architecture types are PPWDM, SHWDM, DHWDM and fully optical WDM. Topology is a static ring network where the routing pattern is fixed and traffic pattern has uniform demand. This paper also proposes an algorithm for the wavelength assignment for a folly optical WDM ring network which has full mesh traffic pattern. The algorithm is based on heuristic algorithm which assigns traffic connections according to their respective shortest path. Traffic described here that is to be passed through can be routed directly within the optical layer instead of having the higher layer to handle it.