• Journal of Communications and Networks
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• v.9 no.3
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• pp.296-311
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• 2007

Mobile multi-robot teams are useful in many critical applications such as search and rescue. Explicit communication among robots in such mobile multi-robot teams is useful for the coordination of such teams as well as exchanging data. Since many applications for mobile robots involve scenarios in which communication infrastructure may be damaged or unavailable, mobile robot teams frequently need to communicate with each other via ad hoc networking. In such scenarios, low-overhead and energy-efficient routing protocols for delivering messages among robots are a key requirement. Two important primitives for communication are essential for enabling a wide variety of mobile robot applications. First, unicast communication (between two robots) needs to be provided to enable coordination and data exchange. Second, in many applications, group communication is required for flexible control, organization, and management of the mobile robots. Multicast provides a bandwidth-efficient communication method between a source and a group of robots. In this paper, we first propose and evaluate two unicast routing protocols tailored for use in ad hoc networks formed by mobile multi-robot teams: Mobile robot distance vector (MRDV) and mobile robot source routing (MRSR). Both protocols exploit the unique mobility characteristics of mobile robot networks to perform efficient routing. Our simulation study show that both MRDV and MRSR incur lower overhead while operating in mobile robot networks when compared to traditional mobile ad hoc network routing protocols such as DSR and AODV. We then propose and evaluate an efficient multicast protocol mobile robot mesh multicast (MRMM) for deployment in mobile robot networks. MRMM exploits the fact that mobile robots know what velocity they are instructed to move at and for what distance in building a long lifetime sparse mesh for group communication that is more efficient. Our results show that MRMM provides an efficient group communication mechanism that can potentially be used in many mobile robot application scenarios.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.23 no.4
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• pp.13-30
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• 2020

This study aims to analyze the qualitative and quantitative effects of environmental policies in terms of green space management using logistic regression model(LRM). Landsat satellite imageries in 1985, 1992, 2000, 2008, and 2015 are classified using a hybrid-classification method. Based on these classified maps, logistic regression model having a deforestation tendency of the past is built. Binary green space change map is used for the dependent variable and four explanatory variables are used: distance from green space, distance from settlements, elevation, and slope. The green space map of 2008 and 2015 is predicted using the constructed model. The conservation effect of Ulsan's environmental policies is quantified through the numerical comparison of green area between the predicted and real data. Time-series analysis of green space showed that restoration and destruction of green space are highly related to human activities rather than natural land transition. The effect of green space management policy was spatially-explicit and brought a significant increase in green space. Furthermore, as a result of quantitative analysis, Ulsan's environmental policy had effects of conserving and restoring 111.75㎢ and 175.45㎢ respectively for the periods of eight and fifteen years. Among four variables, slope was the most determinant factor that accounts for the destruction of green space in the city. This study presents logistic regression model as a way of evaluating the effect of environmental policies that have been practiced in the city. It has its significance in that it allows us a comprehensive understanding of the effect by considering every direct and indirect effect from other domains, such as air and water, on green space. We conclude discussing practicability of implementing environmental policy in terms of green space management with the focus on a non-statutory plan.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.1 no.3
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• pp.69-76
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• 2008

This paper concerns Fuzzy Radial Basis Function Neural Network (FRBFNN) and automatic rule generation of extraction of the FRBFNN by means of mountain clustering. In the proposed network, the membership functions of the premise part of fuzzy rules do not assume any explicit functional forms such as Gaussian, ellipsoidal, triangular, etc., so its resulting fitness values (degree of membership) directly rely on the computation of the relevant distance between data points. Also, we consider high-order polynomial as the consequent part of fuzzy rules which represent input-output characteristic of sup-space. The number of clusters and the centers of clusters are automatically generated by using mountain clustering method based on the density of data. The centers of cluster which are obtained by using mountain clustering are used to determine a degree of membership and weighted least square estimator (WLSE) is adopted to estimate the coefficients of the consequent polynomial of fuzzy rules. The effectiveness of the proposed model have been investigated and analyzed in detail for the representative nonlinear function.

• Journal of the Institute of Convergence Signal Processing
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• v.20 no.3
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• pp.138-144
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• 2019

In a modern society, people are concerned seriously about their travel destinations depending on time, economic problem. In this paper, we propose an non-hierarchical clustering based hybrid recommendation using context knowledge. The proposed method is personalized way of recommended knowledge about preferred travel places according to the user's location, place, and weather. Based on 14 attributes from the data collected through the survey, users with similar characteristics are grouped using a non-hierarchical clustering based hybrid recommendation. This makes more accurate recommendation by weighting implicit and explicit data. The users can be recommended a preferred travel destination without spending unnecessary time. The performance evaluation uses accuracy, recall, F-measure. The evaluation result was shown 0.636 accuracy, 0.723 recall, and 0.676 F-measure.

• Journal of KIISE:Software and Applications
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• v.30 no.11
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• pp.1054-1061
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• 2003

Q-Learning, a representative algorithm of reinforcement learning, experiences repeatedly until estimation values about all state-action pairs of state space converge and achieve optimal policies. When the state space is high dimensional or continuous, complex reinforcement learning tasks involve very large state space and suffer from storing all individual state values in a single table. We introduce Q-Map that is new function approximation method to get classified policies. As an agent learns on-line, Q-Map groups states of similar situations and adapts to new experiences repeatedly. State-action pairs necessary for fine control are treated in the form of rule. As a result of experiment in maze environment and mountain car problem, we can achieve classified knowledge and extract easily rules from Q-Map

• Earthquakes and Structures
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• v.13 no.4
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• pp.377-386
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• 2017

Earthquake-induced pounding damages to building structures were repeatedly observed in many previous major earthquakes. Extensive researches have been carried out in this field. Previous studies mainly focused on the regular shaped buildings and each building was normally simplified as a single-degree-of-freedom (SDOF) system or a multi-degree-of-freedom (MDOF) system by assuming the masses of the building lumped at the floor levels. The researches on the pounding responses between irregular asymmetric buildings are rare. For the asymmetric buildings subjected to earthquake loading, torsional vibration modes of the structures are excited, which in turn may significantly change the structural responses. Moreover, contact element was normally used to consider the pounding phenomenon in previous studies, which may result in inaccurate estimations of the structural responses since this method is based on the point-to-point pounding assumption with the predetermined pounding locations. In reality, poundings may take place between any locations. In other words, the pounding locations cannot be predefined. To more realistically consider the arbitrary poundings between asymmetric structures, detailed three-dimensional (3D) finite element models (FEM) and arbitrary pounding algorithm are necessary. This paper carries out numerical simulations on the pounding responses between a symmetric rectangular-shaped building and an asymmetric L-shaped building by using the explicit finite element code LS-DYNA. The detailed 3D FEMs are developed and arbitrary 3D pounding locations between these two buildings under bi-directional earthquake ground motions are investigated. Special attention is paid to the relative locations of two adjacent buildings. The influences of the left-and-right, fore-and-aft relative locations and separation gap between the two buildings on the pounding responses are systematically investigated.

• Geomechanics and Engineering
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• v.2 no.1
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• pp.1-18
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• 2010

The analysis of structure response and design of buried structures subjected to dynamic destructive loads have been receiving increasing interest due to recent severe damage caused by strong earthquakes and terrorist attacks. For a comprehensive design of buried structures subjected to blast loads to be conducted, the whole system behaviour including simulation of the explosion, propagation of shock waves through the soil medium, the interaction of the soil with the buried structure and the structure response needs to be simulated in a single model. Such a model will enable more realistic simulation of the fundamental physical behaviour. This paper presents a complete model simulating the whole system using the finite element package ABAQUS/Explicit. The Arbitrary Lagrange Euler Coupling formulation is used to model the explosive charge and the soil region near the explosion to eliminate the distortion of the mesh under high deformation, while the conventional finite element method is used to model the rest of the system. The elasto-plastic Drucker-Prager Cap model is used to model the soil behaviour. The explosion process is simulated using the Jones-Wilkens-Lee equation of state. The Concrete Damage Plasticity model is used to simulate the behaviour of concrete with the reinforcement considered as an elasto-plastic material. The contact interface between soil and structure is simulated using the general Mohr-Coulomb friction concept, which allows for sliding, separation and rebound between the buried structure surface and the surrounding soil. The behaviour of the whole system is evaluated using a numerical example which shows that the proposed model is capable of producing a realistic simulation of the physical system behaviour in a smooth numerical process.

• Geomechanics and Engineering
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• v.27 no.5
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• pp.497-509
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• 2021

A large deformation FEM (Finite Element Method) based numerical analysis has been performed to study the behaviour of the bell-shaped anchor embedded in undrained saturated (cohesive) soil with the help of finite element based software ABAQUS. A typical model anchor with bell-diameter of 0.125 m, embedded in undrained saturated soil with varying cohesive strength (from 5 kN/m² to 200 kN/m²) has been chosen for studying the characteristic behaviour of the bell-shaped anchor installed in cohesive soil. Breakout factors have been evaluated for each case and verified with the results of experimental model tests for three different types of soil samples. The maximum value of breakout factor was found as about 8.5 within a range of critical embedment ratio of 2.5 to 3. An explicit model has been developed to estimate the breakout factor (F_c) for uplift capacity of bell-shaped anchor within clay mass in terms of H/D ratio (embedment ratio). It was also found that, the ultimate uplift capacity of the anchor increases with the increase of the value of cohesive strength of the soil and H/D ratio. The empirical equation developed in the present investigation is usable within the range of cohesion value and H/D ratio from 5 kN/m² to 200 kN /m² and 0.5 to 3.0 respectively. The proposed model has been validated against data obtained from a series of model tests carried out in the present investigation. From the stress-profile analysis of the soil mass surrounding the anchor, occurrence of stress concentration is found to be generated at the joint of anchor shaft and bell. It was also found that the vertical and horizontal stresses surrounding the anchor diminish at about a distance of 0.3 m and 0.15 m respectively.

• Smart Media Journal
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• v.12 no.4
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• pp.27-40
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• 2023

Many researchers have investigated ways to enhance recommender systems by integrating heterogeneous data to address the data sparsity problem. However, only a few studies have successfully integrated heterogeneous data using knowledge graph. Additionally, most of the knowledge graphs built in these studies only incorporate explicit relationships between entities and lack additional information. Therefore, we propose a method for expanding knowledge graphs by using deep learning to model latent relationships between heterogeneous data from multiple knowledge bases. Our extended knowledge graph enhances the quality of entity features and ultimately increases the accuracy of predicted user preferences. Experiments using real music data demonstrate that the expanded knowledge graph leads to an increase in recommendation accuracy when compared to the original knowledge graph.

• Composites Research
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• v.21 no.3
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• pp.9-17
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• 2008

In this paper, the low velocity impact characteristics of filament winding CFRP pressure vessel was investigated using numerical and experimental methods. The cylinder part of CFRP vessel was impacted using triangular shape impactor which simulated the sharp edge of dropping tools and impact response behavior of CFRP was reviewed. The mechanical behavior, such as deformation and stress distribution, were also predicted by explicit finite element method and the validity of the model was investigated. For the quantitative evaluation of the residual strength of the pressure vessel after impact, a series of the ring specimens was cut from the impacted vessel and its burst pressure was measured by hydraulic pressure hoop tension test. As the results, the relationship between the residual strength degradation and the impact energy was successively obtained and a useful methodology to evaluate quantitatively the impact damage tolerance of CFRP pressure vessel was established.