• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.197-204
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• 2020

In this paper, we present a learning platform for robotic grasping in real world, in which actor-critic deep reinforcement learning is employed to directly learn the grasping skill from raw image pixels and rarely observed rewards. This is a challenging task because existing algorithms based on deep reinforcement learning require an extensive number of training data or massive computational cost so that they cannot be affordable in real world settings. To address this problems, the proposed learning platform basically consists of two training phases; a learning phase in simulator and subsequent learning in real world. Here, main processing blocks in the platform are extraction of latent vector based on state representation learning and disentanglement of a raw image, generation of adapted synthetic image using generative adversarial networks, and object detection and arm segmentation for the disentanglement. We demonstrate the effectiveness of this approach in a real environment.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.1
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• pp.8-13
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• 2007

During the last years, there has been an increased interest in the new energy such as photovoltaic(PV) system from the viewpoint of environmental pollution. In this regard, this paper estimates the power quality of grid-connected PV system. As the maximum power operating point(MPOP) of photovoltaic(PV) power systems alters with changing atmospheric conditions, the efficiency of maximum power point tracking(MPPT) is important in PV power systems. Moreover, grid-connected PV system occurs some problems such as voltage inequality and harmonics. Therefore, this paper presents the results of a grid-connected PV system modeling that contains incremental conductance MPPT controller by PSCAD/EMTDC simulator and investigates the influence that can occur in the grid-connected PV system from aspect of power quality, i.e. voltage drop, total harmonic distortion(TDD) and total demand distortion(TDD). For the case study, the measured data of the PV way in Cheongwadae, Seoul, Korea is used.

• Journal of the Korean Society of Safety
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• v.29 no.5
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• pp.54-59
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• 2014

The record type receivers that are operated in large industrial sites have strength in preventing fire. However, because of its long circuit lines and multiple detectors, the receivers are vulnerable to lightning, noise, and breakdown of equipments, resulting in malfunction. In case of malfunctioning of detection circuits of main protection areas, such as electrical room and server room, potential release of gaseous extinguisher agents may lead to property and life damage. In this paper, we present the results on the characteristics of the transponder that initiates the solenoid valves, with respect to various electromagnetic and lightning inflow conditions. Based on the measured data, we analyzed the systematic problems of the transponder. In order to prevent receiver malfunctions, a sequential circuit was configured with two additional transponders and a timer. The circuit was tested with a simulator with preference and delay circuit algorithms.

• Bulletin of the Korean Space Science Society
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• 2008.10a
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• pp.34.3-34.3
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• 2008

Relative navigation system is presented using measurements from a single-channel global positioning system (GPS) simulator. The objective of this study is to provide real-time relative navigation results as well as absolute navigation results for two formation flying satellites separated about 1km in low earth orbit. To improve the performance, more accurate dynamic model and modified relative measurement model are developed. This modified method prevents non-linearity of the measurement model from degrading precision by applying linearization about the states from absolute navigation algorithm not about a priori states. Furthermore, absolute states are obtained using ion-free GRAPHIC pseudo-ranges and precise relative states are provided using double differential carrier-phase data based on Extended Kalman Filter. The software-based simulation is performed and achieved meter-level precision for absolute navigation and millimeter-level precision for relative navigation. The absolute and relative accuracies at steady state are about 0.77m and 4mm respectively (3D, r.m.s.). In addition, Integer ambiguity algorithm (LAMBDA method) improves simulation performances.

• Journal of Korean Society for Atmospheric Environment
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• v.33 no.5
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• pp.521-528
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• 2017

In the combustion treatment of explosive gases with a high heating value such as $H_2$ and $NH_3$ used in semiconductor and chemical processes, the heat recovery modeling and exergy analysis of the process using the Aspen Plus simulator and its thermodynamic data were performed to examine the recovery of high temperature thermal energy. The heat recovery process was analyzed through this process modeling while the exergy results clearly confirmed that the rigorous reaction mainly occurs in the condenser and the chamber. In addition, the process modeling demonstrated that approximately 95% of the exergy is destructed on the basis of the exergies injected and the exergy being exhausted. Using the exergy technique, which can quantitatively analyze the energy, we could understand the energy flow in the process and confirm that our heat recovery process was efficiently designed.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.6
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• pp.2234-2239
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• 2010

In this paper, the performance of ad-hoc wireless network protocols is analyzed under the vehicular communication environments. We estimate the throughput and delay of the protocols with packet sizes and various data traffics in expressways and metropolis by using QualNet simulator. It turns out that the performance of DSR protocol is better in expressways and the performance of AODV works well in metropolitan areas. Therefore, it is necessary that the proper protocols should be selected to provide the better performance according to the vehicular communication environments.

• Journal of Korea Multimedia Society
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• v.12 no.2
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• pp.178-190
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• 2009

XML is recommended by W3C(World Wide Web) and widely accepted as a standard markup language for expression and sharing data. Recently, increasing the use and the amount of XML documents, there is required that easy methods for accessing XML documents at anytime and anywhere, therefore, the distributed XML repository systems is developed. For this, distributed XML repository systems is necessary to research catalog management schemes. In this paper, we design distributed XML database model considering CPU costs, I/O costs, concurrency control, two-phase commits a protocol, queuing delay and so on. And we implement a simulator in order to execute performance evaluation centralized catalog method, fully replicated catalog method, and partitioned catalog method using reasonably setting up environments.

• Journal of Advanced Navigation Technology
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• v.10 no.1
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• pp.7-12
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• 2006

In this paper, we investigated performance for 5.8GHz dedicated short range communication system using OFDM which will be applied to Intelligent transportation system services. The maximum speed of a vehicle in DSRC channel is very fast as 180km/h, so a service time is very short to serve a various traffic information if hand-off is not occurred. Therefore higher bit rate is required to proved advanced and intelligent service to the drivers of various vehicle and the data transmission rate of the next generation DSRC system if being promoted over 10Mbps. The signals received in Racian channel have been simulated using the computer simulator. For performance improvement, BCH coding scheme are adopted.

• Journal of Navigation and Port Research
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• v.32 no.9
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• pp.705-709
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• 2008

In the sea various methods have been conducted to capture wave energy which include the use of pendulums, pneumatic devices, etc. Floating devices, such as a cavity resonance device take advantages of both the water motion and the wave induced motions of the floating body itself. The wave energy converter is known commercially as the WAGB(Wave Activated Generator Buoy) and is used in some commercially available buoys to power navigation aids such as lights and horns. This wave energy converter consists of a circular flotation body which contains a vertical water column that has free communication with the sea. A theoretical analysis of this power generated by a pneumatic type wave energy converter is performed and the results obtained from the analysis are used for a real wave energy converter buoy. This paper is shown to have an optimum value for which maximum power is obtained at a given resonant wave period Also, the length of the internal water column corresponds to that of the water mass in the water column. If designed properly, wave energy converter can take advantage not only of the cavity resonance, but also qf the heaving motion of the buoy. Finally, simulation is performed with a LabVIEW program and the simulation results are applied to a wave energy simulator for modifying design data for a wave energy converter.

• The KIPS Transactions:PartA
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• v.12A no.7 s.97
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• pp.621-626
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• 2005

Recently, flash memory is widely used in various embedded applications since it has many advantages in terms of non-volatility, fast access speed, shock resistance, and low power consumption. However, it requires a software layer called FTL(Flash Translation Layer) due to its hardware characteristics. We present a new FTL algorithm named LSTAFF(Large State Transition Applied Fast flash Translation Layer) which is designed for large block flash memory The presented LSTAFF is adjusted to flash memory with pages which are larger than operating system data sector sizes and we provide performance results based on our implementation of LSTAFF and previous FTL algorithms using a flash simulator.