• Journal of the Korean Institute of Telematics and Electronics S
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• v.36S no.2
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• pp.28-37
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• 1999

Differentially Responsible Adaptive Critic Learning technique is proposed for learning the control technique with multiple control inputs as in robot system using reinforcement learning. The reinforcement learning is a self-learning technique which learns the control skill based on the critic information Learning is a after a long series of control actions. The Adaptive Critic Learning (ACL) is the representative reinforcement learning structure. The ACL maximizes the learning performance using the two learning modules called the action and the critic modules which exploit the external critic value obtained seldomly. Drawback of the ACL is the fact that application of the ACL is limited to the single input system. In the proposed Differentially Responsible Action Dependant Adaptive Critic learning structure, the critic function is constructed as a function of control input elements. The responsibility of the individual control action element is computed based on the partial derivative of the critic function in terms of each control action element. The proposed learning structure has been constructed with the CMAC neural networks and some simulations have been done upon the two dimensional Cart-Role system and robot squatting problem. The simulation results are included.

• Ocean Systems Engineering
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• v.6 no.4
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• pp.377-400
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• 2016

Dropped objects are among the top ten causes of fatalities and serious injuries in the oil and gas industry (DORIS, 2016). Objects may accidentally fall down from platforms or vessels during lifting or any other offshore operation. Proper planning of lifting operations requires the knowledge of the risk-free zone on the sea bed to protect underwater structures and equipment. To this end a three-dimensional (3D) theory of dynamic motion of dropped cylindrical object is expanded to also consider ocean currents. The expanded theory is integrated into the authors' Dropped Objects Simulator (DROBS). DROBS is utilized to simulate the trajectories of dropped cylinders falling through uniform currents originating from different directions (incoming angle at $0^{\circ}$, $90^{\circ}$, $180^{\circ}$, and $270^{\circ}$). It is found that trajectories and landing points of dropped cylinders are greatly influenced by the direction of current. The initial conditions after the cylinders have fallen into the water are treated as random variables. It is assumed that the corresponding parameters orientation angle, translational velocity, and rotational velocity follow normal distributions. The paper presents results of DROBS simulations for the case of a dropped cylinder with initial drop angle at $60^{\circ}$ through air-water columns without current. Then the Monte Carlo simulations are used for predicting the landing point distributions of dropped cylinders with varying drop angles under current. The resulting landing point distribution plots may be used to identify risk free zones for offshore lifting operations.

• Journal of Advanced Navigation Technology
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• v.3 no.1
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• pp.20-31
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• 1999

In this paper, we have chosen KimPo International Airport as an area for estimating the flutter interference, in order to analyze the flutter interference. The field test at 25 points around KimPo International Airport and the simulation have been performed for estimating the flutter interference. We consider the received power of a direct wave, the height of an antenna, the ERP of a transmitting point, transmit frequency, and the reflection coefficients of an airplane, the transmit/receive point coordinates as estimation functions for the flutter. From the results, we have found that the flutter interference from flights is very serious around the route of flight circumference, and often occurs when the height of an airplane is low, range from 40 to 240 m. Besides, the degree of the flutter interference can be changed according to the distance between an airplane and a transmitting point, elevation angle, and the reflection coefficients of an airplane.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.3C
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• pp.304-310
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• 2009

This paper proposes a successive MAP (maximum a posteriori probability) detection scheme with SoIC(soft interference cancellation) to reduce the receiver complexity of hierarchical M-ary QAM system. For the successive MAP detection, modulation symbols generated from the other data streams are treated as Gaussian noise or eliminated as the soft interference according to their priorities. The log-likelihood ratio of the a posteriori probability (LAPRP) of each bit is calculated by the MAP detector with an adjusted noise variance in order to take the elimination and Gaussian assumption effect into account. By separating the detection process into the successive steps, the detection complexity is reduced to increase linearly with the number of bits per hierarchical M-ary QAM symbol. Simulation results show that the proposed detection provides a small performance degradation as compared to the optimal MAP detection.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.1
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• pp.21-27
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• 2002

Inspection and shape measurement of three-dimensional objects are widely needed in industries for quality monitoring and control. A number of visual or optical technologies have been successfully applied to measure three-dimensional surfaces. However, those conventional visual or optical methods have inherent shortcomings such as occlusion and variant surface reflection. X-ray vision system can be a good solution to these conventional problems, since we can extract the volume information including both the surface geometry and the inner structure of any objects. In the x-ray system, the surface condition of an object, whether it is lambertian or specular, does not affect the inherent characteristics of its x-ray images. In this paper, we propose a three-dimensional x-ray imaging method to reconstruct a three dimensional structure of an object out of two dimensional x-ray image sets. To achieve this by the proposed method, two or more x-ray images projected from different views are needed. Once these images are acquired, the simultaneous algebraic reconstruction technique(SART) is usually utilized. Since the existing SART algorithms have several shortcomings such as low performance in convergence and different convergence within the reconstruction volume of interest, an advanced SART algorithm named as USART(uniform SART) is proposed to avoid such shortcomings and improve the reconstruction performance. Because, each voxel within the volume is equally weighted to update instantaneous value of its internal density, it can achieve uniform convergence property of the reconstructed volume. The algorithm is simulated on various shapes of objects such as a pyramid, a hemisphere and a BGA model. Based on simulation results the performance of the proposed method is compared with that of the conventional SART method.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.103-103
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• 2000

In this paper to cope with the reduction of products life-cycle as the variety of products along with the various demands of consumers, a virtual simulator is developed to make the changeover of manufacturing line efficient to embody a virtual simulation similar to a real manufacturing line. The developed virtual simulator can design a layout of a factory and make the time scheduling. Every factory has one simulator so that one product can be manufactured in the factories to use them as virtual factories. We suggest a scheme that heightens the agility to the diversity of manufacturing models by making the information of manufacturing lines and products models to be shared. The developed unit simulator can construct a proper virtual manufacturing line along with the required process of products using several kinds of operator and work cell. A user with the simulator can utilize an interface that makes one to manage the separate task process for each manu(acturing module, change operator components and work cells, and easily teach tasks of each task module. The developed simulator was made for users convenience by Microsoft Visual C++ 6.0 that can develop a program supplying graphic user interface environment and by OpenGL of the Silicon Graphics as a graphic library to embody 3D graphic environment. Also, we show that the simulator can be used efficiently for the agile manufacturing by the communication among the factories being linked by TCP/IP and a hybrid database system made by a hierarchical model and a relational model being developed to standardize the data information.

• Journal of Biomedical Engineering Research
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• v.31 no.4
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• pp.321-327
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• 2010

Most of the ear shells of hearing aids are manufactured manually, and it is one of the reasons that the cost of the custom-made hearing aids can be increased. Thus it is required to manufacture the ready-made ear shell for the purpose of easy manufacturing and decrease in cost. In this study, we extract parameters in order to manufacture the ready-made ear shell for CIC type hearing aids and simulate to reconstruct the ear shell using the extracted parameters. To parameter extraction, we set up the eleven parameters for the ready-made ear shell based on anatomical characteristics of the ear canal, and we found values of the parameters from twenty-one impressions in their 20s and twelve impressions in their 60s using aperture detection and feature detection algorithms. Classifying the parameters by size, we also determine the parameters of ready-made ear shell into three types for people in their 20s and two types for people in their 60s. Each ready-made ear shell was simulated to reconstruct using figured parameters, and evaluated the rate of agreement with unused impressions for setting parameters. To evaluate the ready-made ear shell, we calculate the volume ratio and intersection between of the each impression and ready-made ear shell, and the intersection ratio using the intersection volume and ready-made ear shell volume. As a result, the volume ratio was about 70%, and volume match ratio was also up to 70%. It means that the ready-made ear shell we simulated is the significantly matched to impression.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.10
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• pp.29-33
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• 2010

UV laser micromachining of metallic materials has been used in microelectronic and other industries. This paper shows on experimental investigation of micromachining of copper using a 355nm UV laser with 50ns pulse duration. A finite element model with high strain rate effect is especially suggested to investigate the phenomena which are only dominated by mechanically pressure impact in disregard of thermally heat transfer. In order to consider the strain rate effect, Cowper-Symonds model was used. To analyze the dynamic deformation during a very short processing time, which is nearly about several tens nanoseconds, a commercial Finite Element Analysis (FEA) code, LS-DYNA 3D, was employed for the computational simulation of the UV laser micro machining behavior for thin copper material. From these computational results, depth of the dent (from one to six pulsed) were observed and compared with previous experimental results. This will help us to understand interaction between UV laser beam and material.

• Journal of the Korean Vacuum Society
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• v.17 no.2
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• pp.81-89
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• 2008

Atomic behavior during ion beam sputtering was investigated by using classical molecular dynamics simulation. When Ar ion bombards on Au and Pd(001) surface with various incidence energies and angles, some atoms which gained substantial energy by impacting Ar ion were sputtered out and, simultaneously, others were landed on the surface as if surface atoms were redeposited. It was observed that the redeposited atoms are five times for Au and three times for Pd as many as sputtered atoms irrespective of both incidence energy and angle. From sequential ion bombarding calculations, contrary to the conventional concepts which have described the mechanism of surface pattern formation based only on the erosion theory, the redeposition atoms were turned out to play a significant role in forming the surface patterns.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.11
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• pp.3080-3086
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• 2009

We have analyzed the output characteristics of a LGP with pyramid shaped pattern by using a 3-D simulation tool. The influences on the LGP output of various parameters such as the pattern shape, pattern occupation ratio, pattern size, and etching angle were investigated. Comparing the pyramid shaped pattern with hemispherical patterns, little difference was observed. And, it was proved that the pattern occupation ratio and etching angle have relatively large effects on LGP output characteristics, while the pattern size has no effect. Therefore, we can improve the LGP characteristics by optimizing pattern structure and distribution.