• 로봇학회논문지
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• 제19권2호
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• pp.188-195
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• 2024

This paper proposes a photorealistic real-time dense 3D mapping system that utilizes a neural network-based image enhancement method and mesh-based map representation. Due to the characteristics of the underwater environment, where problems such as hazing and low contrast occur, it is hard to apply conventional simultaneous localization and mapping (SLAM) methods. At the same time, the behavior of Autonomous Underwater Vehicle (AUV) is computationally constrained. In this paper, we utilize a neural network-based image enhancement method to improve pose estimation and mapping quality and apply a sliding window-based mesh expansion method to enable lightweight, fast, and photorealistic mapping. To validate our results, we utilize real-world and indoor synthetic datasets. We performed qualitative validation with the real-world dataset and quantitative validation by modeling images from the indoor synthetic dataset as underwater scenes.

• Korean Journal of Radiology
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• 제24권3호
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• pp.247-258
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• 2023

Objective: To localize the neuroanatomical substrate of rapid eye movement sleep behavior disorder (RBD) and to investigate the neuroanatomical locational relationship between RBD and α-synucleinopathy neurodegenerative diseases. Materials and Methods: Using a systematic PubMed search, we identified 19 patients with lesions in different brain regions that caused RBD. First, lesion network mapping was applied to confirm whether the lesion locations causing RBD corresponded to a common brain network. Second, the literature-based RBD lesion network map was validated using neuroimaging findings and locations of brain pathologies at post-mortem in patients with idiopathic RBD (iRBD) who were identified by independent systematic literature search using PubMed. Finally, we assessed the locational relationship between the sites of pathological alterations at the preclinical stage in α-synucleinopathy neurodegenerative diseases and the brain network for RBD. Results: The lesion network mapping showed lesions causing RBD to be localized to a common brain network defined by connectivity to the pons (including the locus coeruleus, dorsal raphe nucleus, central superior nucleus, and ventrolateral periaqueductal gray), regardless of the lesion location. The positive regions in the pons were replicated by the neuroimaging findings in an independent group of patients with iRBD and it coincided with the reported pathological alterations at post-mortem in patients with iRBD. Furthermore, all brain pathological sites at preclinical stages (Braak stages 1-2) in Parkinson's disease (PD) and at brainstem Lewy body disease in dementia with Lewy bodies (DLB) were involved in the brain network identified for RBD. Conclusion: The brain network defined by connectivity to positive pons regions might be the regulatory network loop inducing RBD in humans. In addition, our results suggested that the underlying cause of high phenoconversion rate from iRBD to neurodegenerative α-synucleinopathy might be pathological changes in the preclinical stage of α-synucleinopathy located at the regulatory network loop of RBD.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제8권7호
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• pp.2325-2349
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• 2014

Network virtualization technology plays a key role in cloud computing, which serves as an effective approach for provisioning a flexible and highly adaptable shared substrate network to satisfy the demands of various applications or services. Recently, the problem of mapping a virtual network (VN) onto a substrate network has been addressed by various algorithms. However, these algorithms are typically efficient for unicast service-oriented virtual networks, and generally not applicable to multicast service-oriented virtual networks (MVNs). Furthermore, the survivable MVN mapping (SMVNM) problem that considers the survivability of MVN has not been studied and is also the focus of this work. In this research, we discuss SMVNM problem under regional failures in the substrate network and propose an efficient algorithm for solving this problem. We first propose a framework and formulate the SMVNM problem with the objective of minimizing mapping cost by using mixed integer linear programming. Then we design an efficient heuristic to solve this problem and introduce several optimizations to achieve the better mapping solutions. We validate and evaluate our framework and algorithms by conducting extensive simulations on different realistic networks under various scenarios, and by comparing with existing approaches. Our simulation experiments and results show that our approach outperforms existing solutions.

• 전자공학회논문지B
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• 제28B권9호
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• pp.739-746
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• 1991

This paper develops a modified multilayer perceptron architecture which speeds up learning as well as the net's mapping accuracy. In Phase I, a cluster partitioning algorithm like the Kohonen's self-organizing feature map or the leader clustering algorithm is used as the front end that determines the cluster to which the input data belongs. In Phase II, this cluster selects a subset of the hidden layer nodes that combines the input and outputs nodes into a subnet of the full scale backpropagation network. The proposed net has been applied to two mapping problems, one rather smooth and the other highly nonlinear. Namely, the inverse kinematic problem for a 3-link robot manipulator and the 5-bit parity mapping have been chosen as examples. The results demonstrate the proposed net's superior accuracy and convergence properties over the original backpropagation network or its existing improvement techniques.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2016년도 춘계학술대회
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• pp.174-177
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• 2016

네트워크-온-칩 (Network-on-Chip, NoC)에서 임계경로 문제를 개선하기 위해 라우터에 라디오 주파수 (RF) 모듈을 집적하는 무선 네트워크-온-칩(Wireless Network-on-Chip, WNoC)은 코어와 무선 인터페이스 라우터 (Wireless Interface Router, WIR)의 매핑 정보에 따라 통신량이 많은 코어간의 임계경로가 변화하여 지연시간에 악영향을 줄 수 있다. 본 논문에서는 코어들이 서브넷을 구성하는 small world 구조 WNoC에서 지연시간을 최적화하기 위해 코어 간의 통신량을 고려한 유전알고리즘(Genetic Algorithm, GA) 기반 코어 및 WIR의 매핑 기법을 제안하였다. 제안한 기법이 통신량이 많은 코어간의 임계경로를 최적화할 수 있도록 하였다. 모의실험 결과를 통해 무작위 매핑과 비교하여 제안하는 기법이 $4{\times}4$ 메시 기반 small world 구조에서 지연시간을 평균 33% 감소시키는 것을 확인하였다.

• 한국통신학회논문지
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• 제41권6호
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• pp.672-677
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• 2016

인터넷의 발전은 네트워크 기술과 응용의 확장적 배치와 더불어 성공적으로 고무되어 왔다. 하지만, 요즘에는 인터넷의 사용은 심각한 트래픽 과부하를 야기 시킨다. 따라서, 우리는 효율적인 자원 할당을 위해 네트워크 가상화의 지속적인 연구와 발전이 필요하다. 본 논문은 Piecewise Linear 비용함수를 이용한 비용 최소화 가상 네트워크 매핑 알고리즘을 제안 한다. 노드 매핑에는 선형 프로그래밍을 이용한 알고리즘과 D-VINE을 이용하였고, 링크 매핑에는 선형 프로그래밍 솔루션을 기반으로 최단 경로 알고리즘을 이용하였다. 이와 같은 방법으로 네트워크상에서 Linear와 Tree 구조로 형성된 VN request의 도착률에 따른 평균 비용을 ViNEYard와 비교 분석하였다. 시뮬레이션 구현을 통해 우리의 알고리즘이 ViNEYard 을 사용할 때 보다 발생하는 평균 비용이 낮음을 확인할 수 있었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.874-879
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• 1992

It is shown that there exists a nonlinear mappping which transforms features and their changes to the desired camera motion without measurement of the relative distance between the camera and the part, and the nonlinear mapping can eliminate several difficulties encountered when using the inverse of the feature Jacobian as in the usual feature-based visual feedback controls. And instead of analytically deriving the closed form of such a nonlinear mapping, a fuzzy membership function (FMF) based neural network is then proposed to approximate the nonlinear mapping, where the structure of proposed networks is similar to that of radial basis function neural network which is known to be very useful in function approximations. The proposed FMF network is trained to be capable of tracking moving parts in the whole work space along the line of sight. For the effective implementation of proposed IMF networks, an image feature selection processing is investigated, and required fuzzy membership functions are designed. Finally, several numerical examples are illustrated to show the validities of our proposed visual servoing method.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제9권1호
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• pp.68-86
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• 2015

Future wireless network aims to integrate different radio access networks (RANs) to provide a seamless access and service continuity. In this paper, a new resource denotation method is proposed in the WLAN and LTE heterogeneous networks based on a concept of spectral bandwidth mapping. This method simplifies the denotation of system resources and makes it possible to calculate system residual capacity, upon which an economic model-based network selection algorithm is designed in both under-loaded and over-loaded scenarios in the heterogeneous networks. The simulation results show that this algorithm achieves better performance than the utility function-based access selection (UFAS) method proposed in [12] in increasing system capacity and system revenue, achieving load balancing and reducing the new call blocking probability in the heterogeneous networks.

• 한국통신학회논문지
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• 제27권11C호
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• pp.1040-1045
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• 2002

This paper focuses on a hash-based, distributed Wet caching network that eliminates inter-cache communication. An agent program on cache servers, a mapping program on the DNS server, and other components comprised in a distributed Web caching network were modified and developed to implement a so-called "consistent" hashing. Also, a dynamic load balancing algorithm is proposed to address the load-balancing problem that is a key performance issue on distributed architectures. This algorithm effectively balances the load among cache servers by distributing the calculated amount of mapping items that have higher popularity than others. Therefore, this developed network can resolve the imbalanced load that is caused by a variable page popularity, a non-uniform distribution of a hash-based mapping, and a variation of cache servers.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제11권11호
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• pp.5392-5418
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• 2017

The primary aim of this paper is to propose a non-linear regression based technique for mapping different network Quality of Service (QoS) factors to an integrated end-user Quality of Experience (QoE) or Mean Opinion Score (MOS) value for an online video streaming service on a mobile phone. We use six network QoS factors for finding out the user QoE. The contribution of this paper is threefold. First, we investigate the impact of the network QoS factors on the perceived video quality. Next, we perform an individual mapping of the significant network QoS parameters obtained in stage 1 to the user QoE based upon a non-linear regression method. The optimal QoS to QoE mapping function is chosen based upon a decision variable. In the final stage, we evaluate the integrated QoE of the system by taking the combined effect of all the QoS factors considered. Extensive subjective tests comprising of over 50 people across a wide variety of video contents encoded with H.265/HEVC and VP9 codec have been conducted in order to gather the actual MOS data for the purpose of QoS to QoE mapping. Our proposed hybrid model has been validated against unseen data and reveals good prediction accuracy.