• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.263-266
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• 1994

Recently, complicated and dexterous tasks with two or more arms are needed in ninny robot manipulator applications which can not be accomplished with one manipulator. In general, when two arms manipulate an object, tile dynamics of the arms and the object should be considered simultaneously. In order to control the force of tile arms, we can use various control schemes based upon dynamic modeling. But, there are difficulties in solving inverse dynamics equations, and the environment where a manipulator performs various tasks is usually unknown, and we can not describe a model precisely, for instances, the effect of the joint flexibility, and the friction between the arm and the object. Therefore, in this paper, we suggest a new force control method employing fuzzy inference without solving dynamic equations. Fuzzy inference rules and parameters are designed and adjusted with the automatic fuzzy modeling method using the Hough transform and gradient descent method.

• International Journal of Computer Science & Network Security
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• v.23 no.10
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• pp.115-128
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• 2023

Deep learning has been incorporating various optimization techniques motivated by new pragmatic optimizing algorithm advancements and their usage has a central role in Machine learning. In recent past, new avatars of various optimizers are being put into practice and their suitability and applicability has been reported on various domains. The resurgence of novelty starts from Stochastic Gradient Descent to convex and non-convex and derivative-free approaches. In the contemporary of these horizons of optimizers, choosing a best-fit or appropriate optimizer is an important consideration in deep learning theme as these working-horse engines determines the final performance predicted by the model. Moreover with increasing number of deep layers tantamount higher complexity with hyper-parameter tuning and consequently need to delve for a befitting optimizer. We empirically examine most popular and widely used optimizers on various data sets and networks-like MNIST and GAN plus others. The pragmatic comparison focuses on their similarities, differences and possibilities of their suitability for a given application. Additionally, the recent optimizer variants are highlighted with their subtlety. The article emphasizes on their critical role and pinpoints buttress options while choosing among them.

• Journal of the Korean Society of Industry Convergence
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• v.27 no.3
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• pp.629-634
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• 2024

The Korea Research Institute of Ships and Ocean Engineering (KRISO) has developed a test module that can vertically ascend and descend with a buoyancy engine to verify the performance of the developed buoyancy engine. The independent test module has been tested in the Ocean Engineering Basin(C.M.Lee et al., 2023). After that, more tests were performed in the Deep Ocean Engineering Basin and at sea. In the 50-meter depth pit test of the Deep Ocean Engineering Basin, there were no problems with the ascent and descent operations, but the buoyancy engine was not properly maintained due to various problems in the independent test module, resulting in a difference between the calculated results using the solution of the equations of motion and the actual measurement results. The East Sea test was conducted at a depth of approximately 110 meters north-east of Pohang, with a dive to 100 meters. The difference between the pressure sensor value and the calculated value was observed, but after checking the results of the underwater position tracking device(USBL, Ultra Short Base Line system), it was estimated that the difference was caused by the influence of the current.

• International journal of advanced smart convergence
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• v.13 no.2
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• pp.222-228
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• 2024

The purpose of this study was to investigate the effect of 8 weeks of forestry exercise on the quality of life and physical self-concept of breast cancer survivors. The subjects of this study were eight breast cancer survivors 6 months after mastectomy. The forest combined exercise program consisted of aerobic exercise through forest walking and resistance exercise using elastic bands. The forest combined exercise was conducted twice for 8 weeks. Forest trekking consisted of a 2km walking speed and resistance exercise consisted of three levels of sets and intensity. The format was divided into gradual increases. The exercise time was 40 to 60 minutes for forest trekking, 20 to 30 minutes for descent, and 40 to 60 minutes for resistance exercise, for a total of 120 to 130 minutes per day. Breast cancer survivors' quality of life was measured using a questionnaire, and changes in quality of life were measured using a t-test (α=.05). Physical self-concept was assessed through in-depth interviews. There was no statistically significant difference in quality of life before and after 8 weeks of combined forestry exercise, but there was a slight tendency to increase in the area of physical well-being. Physical self-concept showed positive changes in motivation, physical strength improvement, health promotion, physical competence, and self-confidence through the forest composite exercise. Therefore, the forest composite exercise is believed to have a positive effect on the physical self-concept of breast cancer survivors.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.18 no.7
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• pp.2027-2046
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• 2024

Reconfigurable Intelligent Surface (RIS) is an innovative technique to precisely control the phase of incident signals with the help of low-cost passive reflective elements. It shows excellent potential in the sixth generation of mobile communication systems, which not only extends wireless coverage but also boosts channel capacity. Considering that multipath propagation and a high number of antennas are involved in RIS in assisted mega multiple-input multiple-output (MIMO) systems, it suffers from severe channel fading and multipath effects, which in turn lead to signal instability and degradation of transmission performance. To overcome this obstacle, this essay suggests an improved gradient optimization algorithm to dynamically and optimally adjust the phase of the reflective elements to counteract channel fading and multipath effects as a strategy. In order to overcome the optimization problem of falling into local minima, this paper proposes an adaptive learning rate algorithm based on Adagrad improvement, which searches for the global optimal solution more efficiently and improves the robustness of the optimization algorithm. The suggested technique helps to enhance the estimate of channel efficiency of RIS-assisted large MIMO systems, according to simulation results.

• Journal of the Korean Society for Railway
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• v.17 no.3
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• pp.171-177
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• 2014

PWM converter trains exhibit excellent load characteristics in comparison with conventional phase-controlled trains with low power factors, as they can be operated at power factors which are close to unity by means of a voltage vector control method. However, in the case of a high track density or extended feeding, significant line losses and voltage drops can occur. Instead of operating these trains at a fixed unity power factor, this paper suggests a continuous optimal power factor control scheme for each train in an effort to minimize line losses and improve voltage drops according to varying load conditions. The proposed method utilizes the steepest descent algorithm targeting each car in the same feeding section to establish the optimized reactive power compensation levels that can minimize the reactive power loss of the feeder. The results from a simulation of a sample system show that voltage drops can be improved and line losses decreased.

• Journal of Chest Surgery
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• v.14 no.1
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• pp.49-59
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• 1981

This is one case report of surgically treated partial atrioventricular canal. The 22 year-old male patient had no definitive history of frequent respiratory infection and cyanosis in his early childhood. Since his age of 7 years, dyspnea was manifested on exertion. First appearance of congestive heart failure was at his age of 16 years old. The physical examination revealed that the neck veins were distended and heaving of precordium. A thrill was palpable on the left 3rd-4th intercostal space extending from the sternal border toward the apex and Grade IV/VI systolic ejection murmur was audible on it. Neither cyanosis nor clubbing was noted. Liver was palpable about 5 finger breadths. Chest X-ray revealed increased pulmonary vascularity and severe cardiomegaly (C-T ratio = 74%). EKG revealed LAD, clockwise rotation, LVH and trifascicular block. Echocardiogram showed paradoxical ventricular septal movement, narrowed left ventricular outflow tract and abnormal diastolic movement of the anterior leaflet of mitral valve. Right heart catheterization resulted in large left to right shunt (Qp : Qs = 5.7: 1), ASD and moderate pulfllonary hypertension. Finally, left ventriculogram revealed typical goose neck appearance of left ventrlcalar outflow tract. On Oct. 10, 1980, open heart surgery was performed. Operative findings were: 1. Large primum defect ($6{\times}5$ Cm in diameter) 2. Cleft on the anterior leaflet of mitral valve. 3. The upper portion of ventricular septum was descent but no interventricular communication. 4. Downward attachment of the atrioventricular valves on the ventricular muscular septum. 5. Medium sized secumdum defect ($2{\times}1$ Cm in diameter). The cleft was repaired with 4 interrupted sutures. The primum defect was closed with Teflon patch and the secundum defect was closed with direct suture closure. Postoperatively atrial flutter-fibrillation in EKG and Grade U/VI apical systolic murmur were found. The postoperative course was uneventful and discharged on 29th postoperative day in good general conditions.

• Atmosphere
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• v.19 no.1
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• pp.37-51
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• 2009

Kinematic characteristics of a heavy rainfall event occurred in Changma front are analyzed using synoptic weather charts, satellite imagery and NCEP(National Centers for Environmental Prediction) / NCAR(National Centers for Atmospheric Research) reanalysis data. The heavy rainfall is accompanied with mesoscale rain clouds developing over the Southwest region of Korea during the period from 0300 LST to 2100 LST 25 June 2006. The surface cyclone in the Changma front is generated and developed rapidly when it meets following vertical conditions: The maximum value of relative vorticity is appeared at 700 hPa and is extended gradually near the surface. It is thought that the vertical structure of relative vorticity is closely related with the descent of strong wind zone exceeding $10ms^{-1}$. The jet core at 200 hPa is shifted southward and extended downward and the low-level jet stream associated with upper-level jet stream appeared at 850 hPa. Kinematic features of heavy rainfall system at cyclone-generating point are as follows: In the generating stage of cyclone, the relative vorticity below 850 hPa increased and the convergence below 850 hPa and the divergence at 400 hPa are intensified by southward movement of jet core at 200 hPa. The heavy rainfall system seems to locate to the south of the exit region of upper-level jet streak; In the developing stage of cyclone, the relative vorticity below 850 hPa and the convergence near surface are further strengthened and upward vertical velocity between 850 hPa and 200 hPa is increased.

• Journal of the Institute of Electronics Engineers of Korea TE
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• v.39 no.3
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• pp.97-104
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• 2002

In this paper we describe the method which optimizes the partition of the input space by means of measure of fuzziness for fuzzy neural network. It covers its generation of fuzzy rules for input sub space. It verifies the performance of the system depended on the various time interval of the input. This method divides the input space into several fuzzy regions and assigns a degree of each of the generated rules for the partitioned subspaces from the given data using the Shannon function and fuzzy entropy function generating the optimal knowledge base without the irrelevant rules. In this scheme the basic idea of the fuzzy neural network is to realize the fuzzy rule base and the process of reasoning by neural network and to make the corresponding parameters of the fuzzy control rules be adapted by the steepest descent algorithm. According to the input interval the proposed inference procedure proves that the fast convergence of root mean square error (RMSE) owes to the optimal partition of the input space

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.10
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• pp.843-852
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• 2016

The autorotative flight of maple seeds(Acer palmatum) is numerically simulated based on the 3D geometry and the motion parameters of real seeds. The nominal values of the motion parameters are 1.26 m/s for descent velocity, 133.6 rad/s (1,276 rpm) for spinning rate, $19.4^{\circ}$ for coning angle, and $-1.5^{\circ}$ for pitch angle. A compact leading-edge vortex (LEV) positioned at the inner span of the seed blade causes a large suction pressure on its leeward surface. The suction pressure peaks occur near the leading region of inner span sections. The flow pattern characterized by the prominent LEV and the values of aerodynamic force coefficients obtained in the present study are in good agreement with experimental data measured for a dynamically-scaled robot maple seeds. A spiraling vortex developed in the leeward region advances toward the seed tip and merges with the tip-passing flow, which is considered to be a mechanism of maintaining stable and attached LEV for the autorotating maple seeds.