• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.64-69
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• 2007

Motion control of the system is a position control of motor. Motion control of an uncertain robot system is considered as one of the most important and fundamental research directions in the robotics. Some distinguished works using linear control, adaptive control, robust control strategies based on computed torque methodology have been reported. However, it is generally recognized within the control community that these strategies suffer from the following problems : the exact robot dynamics are needed and hard to implement, the adaptive control cannot guarantee the performance during the transient period for adaptation under the variation, the robust control algorithms such as the sliding mode control need information on the bounds of the possible uncertainty and disturbance. And it produces a large control input as well. In this dissertation, a motion control for the unmanned intelligent robot system using disturbance observer is studied. This system is affected with an impact vibration disturbance. This paper describes a stable motion control of the system with the consideration of external disturbance. To obtain the stable motion independently against the external disturbance, the disturbance rejection is strongly required. To address the above issue, this paper presents a Disturbance OBserver(DOB) control algorithm. The validity of the suggested DOB robust control scheme is confirmed by several computer simulation results. And the experiments with a motor system is performed to give the validity of applicability in the industrial field. This results make the easier implementation of the controller possible in the field.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.3A
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• pp.368-376
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• 2006

This paper describes a Fcore_GenSim(Parameterized FFT Core Generation & Simulation Program), which can be used as an essential If(Intellectual Property) in various OFDM modem designs. The Fcore_Gensim is composed of two parts, a parameterized core generator(PFFT_CoreGen) that generates Verilog-HDL models of FFT cores, and a fixed-point FFT simulator(FXP_FFTSim) which can be used to estimate the SQNR performance of the generated cores. The parameters that can be specified for core generation are FFT length in the range of 64 ~2048-point and word-lengths of input/output/internal/twiddle data in the range of 8-b "24-b with 2-b step. Total 43,659 FFT cores can be generated by Fcore_Gensim. In addition, CBFP(Convergent Block Floating Point) scaling can be optionally specified. To achieve an optimized hardware and SQNR performance of the generated core, a hybrid structure of R2SDF and R2SDC stages and a hybrid algorithm of radix-2, radix-2/4, radix-2/4/8 are adopted according to FFT length and CBFP scaling.

• Journal of Veterinary Clinics
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• v.33 no.2
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• pp.107-112
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• 2016

The objective of this study was to determine potential contributing factors associated with biosecurity level of farrow-to-finish pig farms and to develop a classification tree model to explore how these factors related to each other based on prediction model. To this end, the author analyzed data (n = 193) extracted from a cross-sectional study of 344 farrow-to-finish farms which was conducted between March and September 2014 aimed to explore swine disease status at farm level. Standardized questionnaires with information about basic demographical data and management practices were collected in each farm by on-site visit of trained veterinarians. For the classification of the data sets regarding biosecurity level as a dependent variable and predictor variables, Chi-squared Automatic Interaction Detection (CHAID) algorithm was applied for modeling classification tree. The statistics of misclassification risk was used to evaluate the fitness of the model in terms of prediction results. Categorical multivariate input data (40 variables) was used to construct a classification tree, and the target variable was biosecurity level dichotomized into low versus high. In general, the level of biosecurity was lower in the majority of farms studied, mainly due to the limited implementation of on-farm basic biosecurity measures aimed at controlling the potential introduction and transmission of swine diseases. The CHAID model illustrated the relative importance of significant predictors in explaining the level of biosecurity; maintenance of medical records of treatment and vaccination, use of dedicated clothing to enter the farm, installing fence surrounding the farm perimeter, and periodic monitoring of the herd using written biosecurity plan in place. The misclassification risk estimate of the prediction model was 0.145 with the standard error of 0.025, indicating that 85.5% of the cases could be classified correctly by using the decision rule based on the current tree. Although CHAID approach could provide detailed information and insight about interactions among factors associated with biosecurity level, further evaluation of potential bias intervened in the course of data collection should be included in future studies. In addition, there is still need to validate findings through the external dataset with larger sample size to improve the external validity of the current model.

• Korean Journal of Remote Sensing
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• v.39 no.6_1
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• pp.1185-1193
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• 2023

The increasing interest in soil moisture data from satellite imagery for applications in hydrology, meteorology, and agriculture has led to the development of methods to produce variable-resolution soil moisture maps. Research on accurate soil moisture estimation using satellite imagery is essential for remote sensing applications. The purpose of this study is to generate a soil moisture estimation map for a test area using KOMPSAT-3/3A and KOMPSAT-5 SAR imagery and to quantitatively compare the results with soil moisture data from the Soil Moisture Active Passive (SMAP) mission provided by NASA, with a focus on accuracy validation. In addition, the Korean Environmental Geographic Information Service (EGIS) land cover map was used to determine soil moisture, especially in agricultural and forested regions. The selected test area for this study is the western part of Jeju, South Korea, where input data were available for the soil moisture estimation algorithm based on the Water Cloud Model (WCM). Synthetic Aperture Radar (SAR) imagery from KOMPSAT-5 HV and Sentinel-1 VV were used for soil moisture estimation, while vegetation indices were calculated from the surface reflectance of KOMPSAT-3 imagery. Comparison of the derived soil moisture results with SMAP (L-3) and SMAP (L-4) data by differencing showed a mean difference of 4.13±3.60 p% and 14.24±2.10 p%, respectively, indicating a level of agreement. This research suggests the potential for producing highly accurate and precise soil moisture maps using future South Korean satellite imagery and publicly available data sources, as demonstrated in this study.

• Journal of Korea Society of Industrial Information Systems
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• v.28 no.5
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• pp.1-14
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• 2023

Soybeans are one of the world's top five staple crops and a major source of plant-based protein. Due to their susceptibility to climate change, which can significantly impact grain production, the National Agricultural Science Institute is conducting research on crop phenotypes through growth analysis of various soybean varieties. While the process of capturing growth progression photos of soybeans is automated, the verification, recording, and analysis of growth stages are currently done manually. In this paper, we designed and trained a YOLOv5s model to detect soybean leaf objects from image data of soybean plants and a Convolution Neural Network (CNN) model to judgement the unfolding status of the detected soybean leaves. We combined these two models and implemented an algorithm that distinguishes layers based on the coordinates of detected soybean leaves. As a result, we developed a program that takes time-series data of soybeans as input and performs growth analysis. The program can accurately determine the growth stages of soybeans up to the second or third compound leaves.

• Korean Journal of Remote Sensing
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• v.37 no.5_1
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• pp.989-998
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• 2021

In the utilization of optical satellite imagery, which is greatly affected by clouds, periodic composite technique is a useful method to minimize the influence of clouds. Recently, a technique for selecting the optimal pixel that is least affected by the cloud and shadow during a certain period by directly inputting cloud and cloud shadow information during period compositing has been proposed. Accurate extraction of clouds and cloud shadowsis essential in order to derive optimal composite results. Also, in the case of an surface targets where spectral information is important, such as crops, the loss of spectral information should be minimized during cloud-free compositing. In thisstudy, clouds using two spectral indicators (Haze Optimized Tranformation and MeanVis) were used to derive a detection technique with low loss ofspectral information while maintaining high detection accuracy of clouds and cloud shadowsfor cabbage fieldsin the highlands of Gangwon-do. These detection results were compared and analyzed with cloud and cloud shadow information provided by Sentinel-2A/B. As a result of analyzing data from 2019 to 2021, cloud information from Sentinel-2A/B satellites showed detection accuracy with an F1 value of 0.91, but bright artifacts were falsely detected as clouds. On the other hand, the cloud detection result obtained by applying the threshold (=0.05) to the HOT showed relatively low detection accuracy (F1=0.72), but the loss ofspectral information was minimized due to the small number of false positives. In the case of cloud shadows, only minimal shadows were detected in the Sentinel-2A/B additional layer, but when a threshold (= 0.015) was applied to MeanVis, cloud shadowsthat could be distinguished from the topographically generated shadows could be detected. By inputting spectral indicators-based cloud and shadow information,stable monthly cloud-free composited vegetation index results were obtained, and in the future, high-accuracy cloud information of Sentinel-2A/B will be input to periodic cloud-free composite for comparison.

• Tunnel and Underground Space
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• v.33 no.4
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• pp.281-298
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• 2023

Continuous research efforts are being devoted to unmanned mobile platforms for lunar exploration. There is an ongoing demand for real-time information processing to accurately determine the positioning and mapping of areas of interest on the lunar surface. To apply deep learning processing and analysis techniques to practical rovers, research on software integration and optimization is imperative. In this study, a foundational investigation has been conducted on real-time analysis of virtual lunar base construction site images, aimed at automatically quantifying spatial information of key objects. This study involved transitioning from an existing region-based object recognition algorithm to a boundary box-based algorithm, thus enhancing object recognition accuracy and inference speed. To facilitate extensive data-based object matching training, the Batch Hard Triplet Mining technique was introduced, and research was conducted to optimize both training and inference processes. Furthermore, an improved software system for object recognition and identical object matching was integrated, accompanied by the development of visualization software for the automatic matching of identical objects within input images. Leveraging satellite simulative captured video data for training objects and moving object-captured video data for inference, training and inference for identical object matching were successfully executed. The outcomes of this research suggest the feasibility of implementing 3D spatial information based on continuous-capture video data of mobile platforms and utilizing it for positioning objects within regions of interest. As a result, these findings are expected to contribute to the integration of an automated on-site system for video-based construction monitoring and control of significant target objects within future lunar base construction sites.

• Journal of Korea Water Resources Association
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• v.49 no.7
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• pp.589-597
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• 2016

In this study, we investigated the use of satellite-derived flow (SDF) signals and a data-based model for the estimation of outflow for the river reach where in situ measurements are either completely unavailable or are difficult to access for hydraulic and hydrology analysis such as the upper basin of Imjin River. It has been demonstrated by many studies that the SDF signals can be used as the river width estimates and the correlation between SDF signals and river width is related to the shape of cross sections. To extract the nonlinear relationship between SDF signals and river outflow, Artificial Neural Network (ANN) model with SDF signals as its inputs were applied for the computation of flow discharge at Imjin Bridge located in Imjin River. 15 pixels were considered to extract SDF signals and Partial Mutual Information (PMI) algorithm was applied to identify the most relevant input variables among 150 candidate SDF signals (including 0~10 day lagged observations). The estimated discharges by ANN model were compared with the measured ones at Imjin Bridge gauging station and correlation coefficients of the training and validation were 0.86 and 0.72, respectively. It was found that if the 1 day previous discharge at Imjin bridge is considered as an input variable for ANN model, the correlation coefficients were improved to 0.90 and 0.83, respectively. Based on the results in this study, SDF signals along with some local measured data can play an useful role in river flow estimation and especially in flood forecasting for data-scarce regions as it can simulate the peak discharge and peak time of flood events with satisfactory accuracy.

• Korean Journal of Remote Sensing
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• v.38 no.6_1
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• pp.1285-1300
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• 2022

Turbidity, the measure of the cloudiness of water, is used as an important index for water quality management. The turbidity can vary greatly in small river systems, which affects water quality in national rivers. Therefore, the generation of high-resolution spatial information on turbidity is very important. In this study, a turbidity retrieval model using the Korea Multi-Purpose Satellite-3 and -3A (KOMPSAT-3/3A) images was developed for high-resolution turbidity mapping of Han River system based on eXtreme Gradient Boosting (XGBoost) algorithm. To this end, the top of atmosphere (TOA) spectral reflectance was calculated from a total of 24 KOMPSAT-3/3A images and 150 Landsat-8 images. The Landsat-8 TOA spectral reflectance was cross-calibrated to the KOMPSAT-3/3A bands. The turbidity measured by the National Water Quality Monitoring Network was used as a reference dataset, and as input variables, the TOA spectral reflectance at the locations of in situ turbidity measurement, the spectral indices (the normalized difference vegetation index, normalized difference water index, and normalized difference turbidity index), and the Moderate Resolution Imaging Spectroradiometer (MODIS)-derived atmospheric products(the atmospheric optical thickness, water vapor, and ozone) were used. Furthermore, by analyzing the KOMPSAT-3/3A TOA spectral reflectance of different turbidities, a new spectral index, new normalized difference turbidity index (nNDTI), was proposed, and it was added as an input variable to the turbidity retrieval model. The XGBoost model showed excellent performance for the retrieval of turbidity with a root mean square error (RMSE) of 2.70 NTU and a normalized RMSE (NRMSE) of 14.70% compared to in situ turbidity, in which the nNDTI proposed in this study was used as the most important variable. The developed turbidity retrieval model was applied to the KOMPSAT-3/3A images to map high-resolution river turbidity, and it was possible to analyze the spatiotemporal variations of turbidity. Through this study, we could confirm that the KOMPSAT-3/3A images are very useful for retrieving high-resolution and accurate spatial information on the river turbidity.

• Journal of Intelligence and Information Systems
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• v.25 no.1
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• pp.21-41
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• 2019

Thanks to the rapid development of information technologies, the data available on Internet have grown rapidly. In this era of big data, many studies have attempted to offer insights and express the effects of data analysis. In the tourism and hospitality industry, many firms and studies in the era of big data have paid attention to online reviews on social media because of their large influence over customers. As tourism is an information-intensive industry, the effect of these information networks on social media platforms is more remarkable compared to any other types of media. However, there are some limitations to the improvements in service quality that can be made based on opinions on social media platforms. Users on social media platforms represent their opinions as text, images, and so on. Raw data sets from these reviews are unstructured. Moreover, these data sets are too big to extract new information and hidden knowledge by human competences. To use them for business intelligence and analytics applications, proper big data techniques like Natural Language Processing and data mining techniques are needed. This study suggests an analytical approach to directly yield insights from these reviews to improve the service quality of hotels. Our proposed approach consists of topic mining to extract topics contained in the reviews and the decision tree modeling to explain the relationship between topics and ratings. Topic mining refers to a method for finding a group of words from a collection of documents that represents a document. Among several topic mining methods, we adopted the Latent Dirichlet Allocation algorithm, which is considered as the most universal algorithm. However, LDA is not enough to find insights that can improve service quality because it cannot find the relationship between topics and ratings. To overcome this limitation, we also use the Classification and Regression Tree method, which is a kind of decision tree technique. Through the CART method, we can find what topics are related to positive or negative ratings of a hotel and visualize the results. Therefore, this study aims to investigate the representation of an analytical approach for the improvement of hotel service quality from unstructured review data sets. Through experiments for four hotels in Hong Kong, we can find the strengths and weaknesses of services for each hotel and suggest improvements to aid in customer satisfaction. Especially from positive reviews, we find what these hotels should maintain for service quality. For example, compared with the other hotels, a hotel has a good location and room condition which are extracted from positive reviews for it. In contrast, we also find what they should modify in their services from negative reviews. For example, a hotel should improve room condition related to soundproof. These results mean that our approach is useful in finding some insights for the service quality of hotels. That is, from the enormous size of review data, our approach can provide practical suggestions for hotel managers to improve their service quality. In the past, studies for improving service quality relied on surveys or interviews of customers. However, these methods are often costly and time consuming and the results may be biased by biased sampling or untrustworthy answers. The proposed approach directly obtains honest feedback from customers' online reviews and draws some insights through a type of big data analysis. So it will be a more useful tool to overcome the limitations of surveys or interviews. Moreover, our approach easily obtains the service quality information of other hotels or services in the tourism industry because it needs only open online reviews and ratings as input data. Furthermore, the performance of our approach will be better if other structured and unstructured data sources are added.