• The Journal of Korea Robotics Society
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• v.3 no.2
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• pp.117-122
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• 2008

This paper presents a multi-robot localization based on multidimensional scaling (MDS) in spite of the existence of incomplete and noisy data. While the traditional algorithms for MDS work on the full-rank distance matrix, there might be many missing data in the real world due to occlusions. Moreover, it has no considerations to dealing with the uncertainty due to noisy observations. We propose a robust MDS to handle both the incomplete and noisy data, which is applied to solve the multi-robot localization problem. To deal with the incomplete data, we use the Nystr$\ddot{o}$m approximation which approximates the full distance matrix. To deal with the uncertainty, we formulate a Bayesian framework for MDS which finds the posterior of coordinates of objects by means of statistical inference. We not only verify the performance of MDS-based multi-robot localization by computer simulations, but also implement a real world localization of multi-robot team. Using extensive empirical results, we show that the accuracy of the proposed method is almost similar to that of Monte Carlo Localization(MCL).

• Annual Conference on Human and Language Technology
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• 2019.10a
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• pp.93-96
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• 2019

최근 딥러닝 모델을 다양한 도메인에 적용하여 뛰어난 성능을 보여주고 있다. 하지만 딥러닝 모델은 정답으로 제시된 결과가 정상적으로 예측된 결과인지, 단순히 오버피팅에 의해 예측된 결과인지를 구분하기 어렵다. 이러한 불확실성(Uncertainty)을 측정 할 수 없다는 문제점을 해결하기 위해서 본 논문에서는 베이지안 딥러닝 방법 중 하나인 변분추론(Variational Inference)과 몬테카를로 Dropout을 오픈도메인(Open-Domain) 태스크에 적용하고, 예측 결과에 대한 불확실성을 측정하여 예측결과에 영향을 주는 모델의 성능을 측정해 효과성을 보인다.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.2
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• pp.323-338
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• 1994

This paper outlines a framework for performing intelligent sensor validation for a diagnostic expert system while reasoning under uncertainty. The emphasis is on the algorithmic preprocess technique. A companion paper focusses on heuristic post-processing. Sensor validation plays a vital role in the ability of the overall system to correctly detemine the state of a plant monitored by imperfect sensors. Especially, several theoretical developments were made in understanding uncertain sensory data in statistical aspect. Uncertain information in sensory values is represented through probability assignments on three discrete states, "high", "normal", and "low", and additional sensor confidence measures in Algorithmic Sv.Upper and lower warning limits are generated from the historical learning sets, which represents the borderlines for heat rate degradation generated in the Algorithmic SV initiates a historic data base for better reference in future use. All the information generated in the Algorithmic SV initiate a session to differentiate the sensor fault from the process fault and to make an inference on the system performance. This framework for a diagnostic expert system with sensor validation and reasonig under uncertainty applies in HEATXPRT$^{TM}$, a data-driven on-line expert system for diagnosing heat rate degradation problems in fossil power plants.

• Proceedings of the Korea Water Resources Association Conference
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• 2010.05a
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• pp.1385-1389
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• 2010

수자원 계획에 있어서 강우 또는 홍수빈도분석시 주로 사용되는 확률의 개념은 상대빈도에 대한 극한으로 확률을 정의하는 빈도학파적 확률관점에 속하며, 확률모델에서 미지의 매개변수들은 고정된 상수로 간주된다. 따라서 확률은 객관적이고 매개변수들은 고정된 값을 가지기 때문에 이러한 매개변수들에 대한 확률론적 설명은 매우 어렵다. 본 연구에서는 강우빈도해석에서 확률분포의 매개변수에 대한 불확실성을 정량화하기 위하여 베이지안 MCMC 및 Metropolis-Hastings 알고리즘을 이용한 불확실성 평가모델을 구축하였다. 그리고 베이지안 MCMC 및 Metropolis-Hastings 알고리즘의 적용을 통하여 확률강우량 산정시 확률분포의 매개변수에 대한 통계학적 특성 및 불확실성 구간을 정량화하였으며, 이를 바탕으로 홍수위험평가 및 의사결정과정에서 불확실성 및 위험도를 충분히 설명할 수 있는 프레임워크 구성을 위한 기초를 마련할 수 있었다.

• Proceedings of the Korea Water Resources Association Conference
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• 2010.05a
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• pp.1390-1394
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• 2010

Dempster-Shafer 이론은 미지의 매개변수 추정시 베이지안 기법의 제약을 완화시키기 위한 베이지안 접근법의 일반화로 해석될 수 있으며, 상호배타적인 싱글톤에만 확률이 할당되는 것이 아니라 가능한 결과의 부분집합들이 기본확률할당을 위한 대상으로 고려된다. 베이지안 접근은 우연적 불확실성 및 지식의 불확실성을 효율적으로 구분할 수 없으며, 특정도가 낮고 애매한 증거들을 다룰 수 없는 반면, Dempster-Shafer 증거추론은 이러한 문제들을 효율적으로 평가할 수 있다. 따라서 본 논문에서는 홍수위험평가 및 수자원 계획 수립시 가장 기본이 되는 강우빈도해석에서 확률분포의 매개변수에 대한 불확실성 고려한 확률강우량의 산정 및 불확실성의 영향을 평가하기 위하여 Dempster-Shafer 이론을 이용하여 불확실성을 고려한 강우빈도해석모델 구축 및 적용을 통해 홍수위험평가 및 수자원 계획 등에 있어서 불확실성 표현 및 처리기법을 제시하였다.

• Journal of the Korean Society of Propulsion Engineers
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• v.22 no.2
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• pp.131-137
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• 2018

This paper analyzes the probability of failure for the equivalence ratio error. The control error of the equivalence ratio is affected by the aleatory and epistemic uncertainties. In general, reliability analysis techniques are easily incorporated to handle the aleatory uncertainty. However, the epistemic uncertainty requires a new approach, as it does not provide an uncertainty distribution. The Bayesian inference incorporates the reliability analysis results to handle both uncertainties. The result gives a distribution of failure probability, whose equivalence ratio does not meet the requirement. This technique can be useful in the analysis of most engineering systems, where the aleatory and epistemic uncertainties exist simultaneously.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.9
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• pp.837-843
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• 2001

In this work, we propose a new method of extracting and weighting representative keywords(RKs) from a few documents that might interest a user. In order to extract RKs, we first extract candidate terms and them choose a number of terms called initial representative keywords (IRKs) from them through fuzzy inference. Then, by expanding and reweighting IRKs using term co-occurrence similarity, the final RKs are obtained. Performance of our approach is heavily influenced by effectiveness of selection method of IRKs so that we choose fuzzy inference because it is more effective in handling the uncertainty inherent in selecting representative keywords of documents. The problem addressed in this paper can be viewed as the one of calculating center of document vectors. So, to show the usefulness of our approach, we compare with two famous methods - Rocchio and Widrow-Hoff - on a number of documents collections. The result show that our approach outperforms the other approaches.

• Journal of KIISE:Software and Applications
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• v.31 no.12
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• pp.1569-1580
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• 2004

One commonly used approach to deal with uncertainty is Bayesian network which represents joint probability distributions of domain. There are some attempts to team the structure of Bayesian networks automatically and recently many researchers design structures of Bayesian network using evolutionary algorithm. However, most of them use the only one fittest solution in the last generation. Because it is difficult to combine all the important factors into a single evaluation function, the best solution is often biased and less adaptive. In this paper, we present a method of generating diverse Bayesian network structures through fitness sharing and combining them by Bayesian method for adaptive inference. In order to evaluate performance, we conduct experiments on learning Bayesian networks with artificially generated data from ASIA and ALARM networks. According to the experiments with diverse conditions, the proposed method provides with better robustness and adaptation for handling uncertainty.

• Smart Structures and Systems
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• v.30 no.6
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• pp.583-599
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• 2022

In this paper, a multi-objective wireless sensor network configuration optimization method is proposed. The proposed method aims to determine the optimal information and lifespan wireless sensor network for structural health monitoring of large-scale infrastructures. In particular, cluster-based wireless sensor networks with multi-type of sensors are considered. To optimize the lifetime of the wireless sensor network, a cluster-based network optimization algorithm that optimizes the arrangement of cluster heads and base station is developed. On the other hand, based on the Bayesian inference, the uncertainty of the estimated parameters can be quantified. The coefficient of variance of the estimated parameters can be obtained, which is utilized as a holistic measure to evaluate the estimation accuracy of sensor configurations with multi-type of sensors. The proposed method provides the optimal wireless sensor network configuration that satisfies the required estimation accuracy with the longest lifetime. The proposed method is illustrated by designing the optimal wireless sensor network configuration of a cable-stayed bridge and a space truss.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2000.05a
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• pp.47-50
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• 2000

In this paper, an optimal identification method using Multi-FNN(Fuzzy-Neural Network) is proposed for model ins of nonlinear complex system. In order to control of nonlinear process with complexity and uncertainty of data, proposed model use a HCM clustering algorithm which carry out the input-output data preprocessing function and Genetic Algorithm which carry out optimization of model. The proposed Multi-FNN is based on Yamakawa's FNN and it uses simplified inference as fuzzy inference method and Error Back Propagation Algorithm as learning rules. HCM clustering method which carry out the data preprocessing function for system modeling, is utilized to determine the structure of Multi-FNN by means of the divisions of input-output space. Also, the parameters of Multi-FNN model such as apexes of membership function, learning rates and momentum coefficients are adjusted using genetic algorithms. Also, a performance index with a weighting factor is presented to achieve a sound balance between approximation and generalization abilities of the model, To evaluate the performance of the proposed model, we use the time series data for gas furnace and the numerical data of nonlinear function.