• International Journal of Control, Automation, and Systems
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• 제4권5호
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• pp.575-591
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• 2006

In a previous research, we presented the Grid Method and confirmed it as a systematic and efficient problem formulation method for the task-oriented design of robot kinematics. However, our previous research was limited in two ways. First, it gave only a local optimum due to its use of a local optimization technique. Second, it used constant weights for a cost function chosen by the manual weights tuning algorithm, thereby showing low efficiency in finding an optimal solution. To overcome these two limitations, therefore, this paper presents a global optimization technique and an adaptive weights tuning algorithm to solve a formulated problem using the Grid Method. The efficiencies of the proposed algorithms have been confirmed through the kinematic design examples of various robot manipulators.

• Journal of information and communication convergence engineering
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• 제13권2호
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• pp.123-131
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• 2015

Training neural networks is a complex task with great importance in the field of supervised learning. In the training process, a set of input-output patterns is repeated to an artificial neural network (ANN). From those patterns weights of all the interconnections between neurons are adjusted until the specified input yields the desired output. In this paper, a new hybrid algorithm is proposed for global optimization of connection weights in an ANN. Dynamic swarms are shown to converge rapidly during the initial stages of a global search, but around the global optimum, the search process becomes very slow. In contrast, the gradient descent method can achieve faster convergence speed around the global optimum, and at the same time, the convergence accuracy can be relatively high. Therefore, the proposed hybrid algorithm combines the dynamic particle swarm optimization (DPSO) algorithm with the backpropagation (BP) algorithm, also referred to as the DPSO-BP algorithm, to train the weights of an ANN. In this paper, we intend to show the superiority (time performance and quality of solution) of the proposed hybrid algorithm (DPSO-BP) over other more standard algorithms in neural network training. The algorithms are compared using two different datasets, and the results are simulated.

• 한국군사과학기술학회지
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• 제17권6호
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• pp.711-717
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• 2014

Global path planning for autonomous driving of unmanned ground vehicle is essential. When setting global path planning, its accuracy and effectiveness is increased if useful information such as terrain type of driving route has been reflected on global path planning. As a method to reflect the terrain type, there is a method to perform global path planning by applying the weight to each terrain type. At this time, how to assign appropriate weights corresponding to the terrain type is more important than anything. In this paper, we proposed a method to determine the weight for terrain type that may affect the results of global path planning. Moreover, we presented effective operation method and design results(GUI) to check the possibility of the use of the proposed method.

• 한국수자원학회논문집
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• 제52권1호
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• pp.61-70
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• 2019

실제증발산 자료를 융합하기 위한 Modified Kling-Gupta efficiency Fusion (KGF)방법을 제시하였고, 인공위성 및 재분석 증발산 자료인 Global Land Data Assimilation System (GLDAS), Global Land Evaporation Amsterdam Model (GLEAM), MODIS Global Evapotranspiration Project (MOD16)를 활용하여 Simple Taylor skill's Score (STS)와 비교하였다. 한반도와 중국의 세가지 land cover type(i.e., cropland, grassland, forest)을 가진 flux tower에서 비교 검증을 실시하였다. 실제증발산의 융합 방법인 STS와 KGF로 계산된 가중치의 결과를 확인하면, cropland와 grassland에서 재분석 자료(GLDAS, GLEAM)가 높은 가중치 영향을 나타내지만, forest에서 융합 방법에 따라 가중치 영향이 다르게 나타났다. 전반적으로 실제증발산 융합 방법 적용 결과의 비교에서는 cropland에서는 융합에 사용된 자료에 비하여 높은 개선이 이뤄지지 않았지만, grassland와 forest 에서는 개선이 이뤄졌다. 두 방법 중 KGF의 결과가 STS의 결과에 비하여 약간 개선되는 결과를 나타내었다.

• 지능정보연구
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• 제22권2호
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• pp.1-11
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• 2016

Entani and Tanaka(2007)는 불확실한 데이터를 처리하기에 적합한 구간 평가결과를 얻는 새로운 방법을 제시하였다. 무엇보다 그들의 방법은 구간 데이터를 정규화하여 redundant 데이터를 제거하는데 특징이 있다. 더 나가 정규화된 구간데이터를 활용하여 계층분석과정(AHP)에서 최종 구간 우선순위벡터를 도출한다. 이 논문에서는 구간 데이터의 정규화 목적을 달성하기 위해 구간 데이터의 꼭지점을 구하는 쉽고 간편한 휴리스틱 방법을 제시한다. 한편 간단한 검사법을 활용하여 정규화된 데이터를 활용하여 최종 구간 우선순위벡터를 도출하는 방법을 제시하고자 한다. 아울러 Entani and Tanaka(2007)가 제시한 대안간 지배관계 규명 방법을 확장한 지배관계 규명 방법을 제시하고자 한다.

• Journal of Preventive Medicine and Public Health
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• 제56권4호
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• pp.291-302
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• 2023

Objectives: Disability weights require regular updates, as they are influenced by both diseases and societal perceptions. Consequently, it is necessary to develop an up-to-date list of the causes of diseases and establish a survey panel for estimating disability weights. Accordingly, this study was conducted to calculate, assess, modify, and validate disability weights suitable for Korea, accounting for its cultural and social characteristics. Methods: The 380 causes of disease used in the survey were derived from the 2019 Global Burden of Disease Collaborative Network and from 2019 and 2020 Korean studies on disability weights for causes of disease. Disability weights were reanalyzed by integrating the findings of an earlier survey on disability weights in Korea with those of the additional survey conducted in this study. The responses were transformed into paired comparisons and analyzed using probit regression analysis. Coefficients for the causes of disease were converted into predicted probabilities, and disability weights in 2 models (model 1 and 2) were rescaled using a normal distribution and the natural logarithm, respectively. Results: The mean values for the 380 causes of disease in models 1 and 2 were 0.488 and 0.369, respectively. Both models exhibited the same order of disability weights. The disability weights for the 300 causes of disease present in both the current and 2019 studies demonstrated a Pearson correlation coefficient of 0.994 (p=0.001 for both models). This study presents a detailed add-on approach for calculating disability weights. Conclusions: This method can be employed in other countries to obtain timely disability weight estimations.

• Journal of Electrical Engineering and Technology
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• 제10권3호
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• pp.1188-1200
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• 2015

A unified numerical method for computing the quadrature weights, integration matrix, and differentiation matrix is newly developed in this study. For this purpose, a spline-like interpolation using piecewise continuous polynomials is converted into a global spline interpolation formula, with which the quadrature formulas can be derived from integration and differentiation of the transformed function in an exact manner. To prove the usefulness of the suggested approach, both the Lagrange and tension spline interpolations are represented in exactly the same form as global spline interpolation. The applicability of the proposed method on arbitrary nodes is illustrated using two different sets of nodes. A series of validations using three test functions is conducted to show the flexibility in selecting computational nodes with the present method.

• 전자공학회논문지CI
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• 제46권1호
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• pp.136-143
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• 2009

일반적으로 전역적인 방법의 스테레오 매칭은 보다 높은 정확도의 변위 정보(disparity information)를 추정하는데 반해 지역적인 방법은 비교적 낮은 정확도를 가지지만 전역적인 방법보다 단순하고 빠른 방법이라고 알려져 있다. 하지만 최근 이미지의 영역 분할 방법이나 적응적 가중치를 이용한 방법 등 지역적인 방법에서 보다 정확한 결과를 얻을 수 있는 방법들이 제시되고 있다. 일반적으로 보다 빠른 스테레오 매칭을 위해 전역적인 방법보다 지역적인 방법을 주로 사용하지만 최근 제시된 지역적인 방법들은 보다 정확한 변위 정보가 추정 가능한 만큼 높은 계산적 비용이 요구되고 또한 사용되는 윈도우의 크기에 비례하여 계산 비용이 기하급수적으로 증가하는 문제점을 갖는다. 본 논문에서는 Bilateral 필터에서 사용되는 가중치와 유사하게 픽셀간 거리의 차이와 밝기 값의 차이에 따른 지역적 가중치를 이용한 스테레오 방법을 제안하고 지역적 가중치가 균등하게 정의되었을 경우 상수 시간 O(1) 내에 스테레오 매칭을 수행하는 방법을 제안한다. 본 논문에서 제안하는 방법은 실험을 통하여 기존의 우수한 방법과 비교하여 정확성 측면에서 크게 떨어지지 않으면서도 윈도우의 크기에 무관하게 상수시간의 수행 속도를 가짐을 보인다.

• 한국식품영양학회지
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• 제30권4호
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• pp.696-702
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• 2017

Metabolic syndrome, including obesity, glucose intolerance and elevated blood pressure, is related to type 2 diabetes and cardiovascular disease. Previous studies have reported the anti-oxidative, anti-inflammatory and anti-diabetic effects of purple corn extract. We investigated the efficacy of purple corn extract (PC) against high-fat diet (HFD)-induced obesity and glucose intolerance, and examined the underlying mechanisms by analyzing expression of proteins and genes involved in glucose regulation and macrophage infiltration. C57BL/6 mice were fed with normal chow diet (ND), or HFD treated with distilled water (DW, control) or PC, for 10 weeks. Although body weights were similar in the HFD-fed groups, we observed a decrease in the liver and epididymal adipose tissue (EAT) weights, and enhanced glucose tolerance test (GTT) results in the PC group, as compared with DW group. Liver showed increased Akt phosphorylation in the PC-treated mice; however, no changes were observed in the EAT, for all groups. In PC-treated mice, decreased macrophage infiltration was seen in the EAT, with a reduced expression of macrophage marker genes. Finally, proinflammatory cytokine gene expressions were decreased by PC in the EAT, and a modest trend for downregulation was observed in the liver. Hence, we conclude that PC may decrease glucose intolerance by increasing the phosphorylation of Akt and reducing the macrophage infiltration into the EAT.

• 로봇학회논문지
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• 제2권1호
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• pp.29-39
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• 2007

We present an implementation of particle filter algorithm for global localization and kidnap recovery of mobile robot. Firstly, we propose an algorithm for efficient particle initialization using sonar line features. And then, the average likelihood and entropy of normalized weights are used as a quality measure of pose estimation. Finally, we propose an active kidnap recovery by adding new particle set. New and independent particle set can be initialized by monitoring two quality measures. Added particle set can re-estimate the pose of kidnapped robot. Experimental results demonstrate the capability of our global localization and kidnap recovery algorithm.