• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.413-418
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• 2012

This paper presents a multi-robot path planner for environment exploration and monitoring. Robotics systems are being widely used as data measurement tools, especially in dangerous environment. For large scale environment monitoring, multiple robots are required in order to save time. The path planner should not only consider the collision avoidance but efficient coordination of robots for optimal measurements. Nonlinear spring force based planning algorithm is integrated with the spatial gradient following path planner. Perturbation/Correlation based estimation of spatial gradient is applied. An algorithm of tuning the stiffness for robot coordination is presented. The performance of the proposed algorithm is discussed with simulation results.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.57-58
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• 2006

Ad hoc MAC protocols using directional antennas can be used to improve the network capacity by improving spatial reuse. But, the directional MAC protocols have the problem of deafness and have a poor throughput performance. The dual-channel DMAC protocol has been proposed to mitigate deafness and improve spatial reuse. In this paper, we propose a dual-channel DMAC protocol using the omnidirectional antenna for an out-of-band tone and directional antennas for control/data channels. In the proposed MAC protocol, an omnidirectional out-of-band tone mitigates deafness and directional antennas used in control/data channels improve spatial reuse and reduce interference packets. The throughput performance of the proposed MAC protocol is confirmed by computer simulations using Qualnet ver. 3.8 simulator.

• The Journal of the Acoustical Society of Korea
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• v.31 no.4
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• pp.214-224
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• 2012

The objective of this paper is to design multichannel spherical loudspeaker array by considering various positioning methods such as Gaussian grid, Lebedev grid and packing method. For the spatial sound manipulation, which is to make desired sound field by controling multiple sound sources, the Kirchhoff- Helmholtz integral states that sound fields can be reproduced in terms of infinite control sources on the integral surface. But since we cannot control infinite number of sources for the implementation, we have to allocate finite number of sound sources which can approximately act as infinite number of sources. To manipulate sound field inside of a sphere (which is typical example of three dimensional array) by controlling sound sources on the surface, three methods of allocating sound sources, which are Gaussian grid, Lebedev grid and packing method, are reviewed. For each geometry, the performances of manipulation rendered by time-reversal operator and higher-order ambisonics are compared.

• Journal of radiological science and technology
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• v.46 no.1
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• pp.29-36
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• 2023

To have highly reliable diagnostic performance of it, this study comparatively analyzed spatial resolution of SPECT images and interrelationship depending on the changes of system uniformity of ga㎜a camera through phantom analysis. This study chose 6 kinds of results from quality control (uniformity) of triple head SPECT scanner operated in an university hospital in Seoul for six months. Then, study measured spatial resolutions (FWHM) of the images restructured by injecting radiopharmaceuticals to Jaszczak phantom, and doing SPECT scanning under the same conditions as clinical ones using the analytical program (image J). Quality controls performed by the experimental institution showed that differential uniformity of UFOV ranged from 2.76% to 7.61% (4.46±2.07), and integral uniformity of UFOV ranged from 1.98% to 5.42% (3.01±1.43). Meanwhile, Quantitative analysis evaluations of phantom images depending on the changes of uniformity of SPECT scanner detector showed that as the uniformity values of UFOV and CFOV decreased, FWHM values of phantom images decreased from 8.5 ㎜ to 5.8 ㎜. That is, it was quantitatively identified that the higher uniformity of detector is, the better spatial resolution of images gets (P<0.05). It is very important to perform continuous and consistent quality control of the nuclear medicinal system, and users should be clearly conscious of it.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.64.3-64
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• 2001

In this paper, an estimation scheme with the IMM algorithm to estimate radome slope and target states is used to reduce the radome induced miss distance effectively in spatial active homing engagements of an anti-air missile. The filter algorithm in conjunction with proportional navigation guidance is tested by a series of simulation runs.

• Journal of Korean Association for Spatial Structures
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• v.21 no.4
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• pp.73-80
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• 2021

A mid-story isolation system was proposed for seismic response reduction of high-rise buildings and presented good control performance. Control performance of a mid-story isolation system was enhanced by introducing semi-active control devices into isolation systems. Seismic response reduction capacity of a semi-active mid-story isolation system mainly depends on effect of control algorithm. AI(Artificial Intelligence)-based control algorithm was developed for control of a semi-active mid-story isolation system in this study. For this research, an practical structure of Shiodome Sumitomo building in Japan which has a mid-story isolation system was used as an example structure. An MR (magnetorheological) damper was used to make a semi-active mid-story isolation system in example model. In numerical simulation, seismic response prediction model was generated by one of supervised learning model, i.e. an RNN (Recurrent Neural Network). Deep Q-network (DQN) out of reinforcement learning algorithms was employed to develop control algorithm The numerical simulation results presented that the DQN algorithm can effectively control a semi-active mid-story isolation system resulting in successful reduction of seismic responses.

• Journal of Korean Association for Spatial Structures
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• v.22 no.2
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• pp.39-46
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• 2022

Recently, machine learning is widely used to solve optimization problems in various engineering fields. In this study, machine learning is applied to development of a control algorithm for a smart control device for reduction of seismic responses. For this purpose, Deep Q-network (DQN) out of reinforcement learning algorithms was employed to develop control algorithm. A single degree of freedom (SDOF) structure with a smart tuned mass damper (TMD) was used as an example structure. A smart TMD system was composed of MR (magnetorheological) damper instead of passive damper. Reward design of reinforcement learning mainly affects the control performance of the smart TMD. Various hyper-parameters were investigated to optimize the control performance of DQN-based control algorithm. Usually, decrease of the time step for numerical simulation is desirable to increase the accuracy of simulation results. However, the numerical simulation results presented that decrease of the time step for reward calculation might decrease the control performance of DQN-based control algorithm. Therefore, a proper time step for reward calculation should be selected in a DQN training process.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2007.04a
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• pp.47-50
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• 2007

Since world coordinate system is entirely used because of the revision of land surveying law, it is needed that transformation of coordinates of geo-spatial information established by korea coordinate system to be performed. It is required, however, to have a plan for transformation of world coordinate system because the coordinate system is not unified due to the geo-spatial information system using dualistic control data of both old and new data of korea coordinate system. For this purpose, in this study, I have calculated coordinate transformation coefficient per control data of korea coordinate system and proposed a plan of transforming a dualistic coordinate system which is based on control data of korea coordinate system effectively into world coordinate system through verification of accuracy of transformation per control data.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.4
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• pp.449-454
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• 2010

The force control of a constrained flexible manipulators has been one of the major research topics. However, a little effort has been devoted for the relation between friction force and elastic deflection of end-effector for a constrained flexible manipulator. So, the aim of this paper is to clarify the friction mechanism of a constrained spatial multi-link flexible manipulator by changing the material and connected method of end-effector. In this study, a concise hybrid position/force control scheme is applied to the control of a flexible manipulator, and the experimental results for the constrained vertical motion and constrained horizontal motion is presented. Finally a comparison between these results are presented to show the reduction of vibration of link and friction force.

• ETRI Journal
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• v.25 no.2
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• pp.140-143
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• 2003

In this paper, we present a probabilistic approach to determining whether extracted facial features from a video sequence are appropriate for creating a 3D face model. In our approach, the distance between two feature points selected from the MPEG-4 facial object is defined as a random variable for each node of a probability network. To avoid generating an unnatural or non-realistic 3D face model, automatically extracted 2D facial features from a video sequence are fed into the proposed probabilistic network before a corresponding 3D face model is built. Simulation results show that the proposed probabilistic network can be used as a quality control agent to verify the correctness of extracted facial features.