• Journal of the Korea Safety Management & Science
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• v.23 no.4
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• pp.93-104
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• 2021

In this paper, we propose a method for diagnosing overload and working load of collaborative robots through performance analysis of machine learning algorithms. To this end, an experiment was conducted to perform pick & place operation while changing the payload weight of a cooperative robot with a payload capacity of 10 kg. In this experiment, motor torque, position, and speed data generated from the robot controller were collected, and as a result of t-test and f-test, different characteristics were found for each weight based on a payload of 10 kg. In addition, to predict overload and working load from the collected data, machine learning algorithms such as Neural Network, Decision Tree, Random Forest, and Gradient Boosting models were used for experiments. As a result of the experiment, the neural network with more than 99.6% of explanatory power showed the best performance in prediction and classification. The practical contribution of the proposed study is that it suggests a method to collect data required for analysis from the robot without attaching additional sensors to the collaborative robot and the usefulness of a machine learning algorithm for diagnosing robot overload and working load.

• Proceedings of the KSRS Conference
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• v.1
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• pp.500-503
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• 2006

To adjust the discrepancy between Light Detection and Ranging (LIDAR) strips, previous researches generally have been conducted using conjugate features, which are called feature-based approaches. However, irrespective of the type of features used, the adjustment process relies upon the existence of suitable conjugate features within the overlapping area and the ability of employed methods to detect and extract the features. These limitations make the process complex and sometimes limit the applicability of developed methodologies because of a lack of suitable features in overlapping areas. To address these drawbacks, this paper presents a methodology using area-based algorithms. This approach is based on the scheme that discrepancies make complex the local height variations of LIDAR data whithin overlapping area. This scheme can be helpful to determine an appropriate transformation for adjustment in the way that minimizes the geographical complexity. During the process, the contour tree (CT) was used to represent the geological characteristics of LIDAR points in overlapping area and the Iterative Closest Points (ICP) algorithm was applied to automatically determine parameters of transformation. After transformation, discrepancies were measured again and the results were evaluated statistically. This research provides a robust methodology without restrictions involved in methods that employ conjugate features. Our method also makes the overall adjustment process generally applicable and automated.

• Journal of Korea Spatial Information System Society
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• v.10 no.3
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• pp.1-18
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• 2008

Because we can usually get many information through analyzing trajectories of moving objects on spatial networks, efficient trajectory index structures are required to achieve good retrieval performance on their trajectories. However, there has been little research on trajectory index structures for spatial networks such as FNR-tree and MON-tree. Also, because FNR-tree and MON-tree store the segment unit of moving objects, they can't support the trajectory of whole moving objects. In this paper, we propose an efficient trajectory index structures based on signatures on a spatial network, named SigMO-Tree. For this, we divide moving object data into spatial and temporal attributes, and design an index structure which supports not only range query but trajectory query by preserving the whole trajectory of moving objects. In addition, we divide user queries into trajectory query based on spatio-temporal area and similar-tralectory query, and propose query processing algorithms to support them. The algorithm uses a signature file in order to retrieve candidate trajectories efficiently Finally, we show from our performance analysis that our trajectory index structure outperforms the existing index structures like FNR-Tree and MON-Tree.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.16 no.12
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• pp.3815-3835
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• 2022

Density-based outlier detection is one of the hot issues in data mining. A point is determined as outlier on basis of the density of points near them. The existing density-based detection algorithms have high time complexity, in order to reduce the time complexity, a new outlier detection algorithm DODMD (Density-based Outlier Detection in Multidimensional Datasets) is proposed. Firstly, on the basis of ZH-tree, the concept of micro-cluster is introduced. Each leaf node is regarded as a micro-cluster, and the micro-cluster is calculated to achieve the purpose of batch filtering. In order to obtain n sets of approximate outliers quickly, a greedy method is used to calculate the boundary of LOF and mark the minimum value as LOF_min. Secondly, the outliers can filtered out by LOF_min, the real outliers are calculated, and then the result set is updated to make the boundary closer. Finally, the accuracy and efficiency of DODMD algorithm are verified on real dataset and synthetic dataset respectively.

• Journal of KIISE:Databases
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• v.31 no.6
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• pp.664-674
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• 2004

The trajectory preservation property that stores only one trajectory in a leaf node is the most important feature of an index structure, such as the TB-tree for retrieving object's moving paths in the spatio-temporal space. It performs well in trajectory-related queries such as navigational queries and combined queries. But, the MBR of non-leaf nodes in the TB-tree have large amounts of dead space because trajectory preservation is achieved at the sacrifice of the spatial locality of trajectories. As dead space increases, the overlap between nodes also increases, and, thus, the classical range query cost increases. We present a new split policy and entry relocation policies, which have no deterioration of the performance for trajectory-related queries, for improving the performance of range queries. To maximally reduce the dead space of a non-leaf node's MBR, the Maximal Area Reduction (MAR) policy is used as a split policy for non-leaf nodes. The entry relocation policy induces entries in non-leaf nodes to exchange each other for the purpose of reducing dead spaces in these nodes. We propose two algorithms for the entry relocation policy, and evaluate the performance studies of new algorithms comparing to the TB-tree under a varying set of spatio-temporal queries.

• Journal of Korean Society of Forest Science
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• v.110 no.2
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• pp.155-164
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• 2021

Many studies have been conducted on developing automatic plant identification algorithms using machine learning to various plant features, such as leaves and flowers. Unlike other plant characteristics, barks show only little change regardless of the season and are maintained for a long period. Nevertheless, barks show a complex shape with a large variation depending on the environment, and there are insufficient materials that can be utilized to train algorithms. Here, in addition to the previously published bark image dataset, BarkNet v.1.0, images of barks were collected, and a dataset consisting of 53 tree species that can be easily observed in Korea was presented. A convolutional neural network (CNN) was trained and tested on the dataset, and the factors that interfere with the model's performance were identified. For CNN architecture, VGG-16 and 19 were utilized. As a result, VGG-16 achieved 90.41% and VGG-19 achieved 92.62% accuracy. When tested on new tree images that do not exist in the original dataset but belong to the same genus or family, it was confirmed that more than 80% of cases were successfully identified as the same genus or family. Meanwhile, it was found that the model tended to misclassify when there were distracting features in the image, including leaves, mosses, and knots. In these cases, we propose that random cropping and classification by majority votes are valid for improving possible errors in training and inferences.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.14 no.1
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• pp.51-59
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• 2014

This paper suggests a method of lessening number of a graph's edges population in order to rapidly obtain the minimum spanning tree. The present minimum spanning tree algorithm works on all the edges of the graph. However, the suggested algorithm reduces the edges population size by means of applying a method of deleting maximum weight edges in advance from vertices with more than 2 valencies. Next, it applies a stopping criterion which ideally terminates Borůvka, Prim, Kruskal and Reverse-Delete algorithms for reduced edges population. On applying the suggested algorithm to 9 graphs, it was able to minimize averagely 83% of the edges that do not become MST. In addition, comparing to the original graph, edges are turned out to be lessened 38% by Borůvka, 37% by Prim, 39% by Kruskal and 73% by Reverse-Delete algorithm, and thereby the minimum spanning tree is obtained promptly.

• The KIPS Transactions:PartD
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• v.13D no.5 s.108
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• pp.651-660
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• 2006

Algorithms for mining association rules based on the Apriori algorithm use the hash tree data structure for storing and counting supports of the candidate frequent itemsets and the most part of the execution time is consumed for searching in the hash tree. The DHP(Direct Hashing and Pruning) algorithm makes efforts to reduce the number of the candidate frequent itemsets to save searching time in the hash tree. For this purpose, the DHP algorithm does preparative simple counting supports of the candidate frequent itemsets. At this time, the DHP algorithm uses the direct hash table to reduce the overhead of the preparative counting supports. This paper proposes and evaluates an efficient hashing mechanism for the direct hash table $H_2$ which is for pruning in phase 2 and the hash tree $C_k$, which is for counting supports of the candidate frequent itemsets in all phases. The results showed that the performance improvement due to the proposed hashing mechanism was 82.2% on the maximum and 18.5% on the average compared to the conventional method using a simple mod operation.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.8
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• pp.2188-2208
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• 2023

Quality of Service (QoS) is a critical feature of Wireless Sensor Networks (WSNs) with routing algorithms. Data packets are moved between cluster heads with QoS using a number of energy-efficient routing techniques. However, sustaining high scalability while increasing the life of a WSN's networks scenario remains a challenging task. Thus, this research aims to develop an energy-balancing component that ensures equal energy consumption for all network sensors while offering flexible routing without congestion, even at peak hours. This research work proposes a Gravitational Blackhole Search Optimised splay tree routing framework. Based on the splay tree topology, the routing procedure is carried out by the suggested method using three distinct steps. Initially, the proposed GBSO decides the optimal route at initiation phases by choosing the root node with optimum energy in the splay tree. In the selection stage, the steps for energy update and trust update are completed by evaluating a novel reliance function utilising the Parent Reliance (PR) and Grand Parent Reliance (GPR). Finally, in the routing phase, using the fitness measure and the minimal distance, the GBSO algorithm determines the best route for data broadcast. The model results demonstrated the efficacy of the suggested technique with 99.52% packet delivery ratio, a minimum delay of 0.19 s, and a network lifetime of 1750 rounds with 200 nodes. Also, the comparative analysis ensured that the suggested algorithm surpasses the effectiveness of the existing algorithm in all aspects and guaranteed end-to-end delivery of packets.

• International Journal of Aeronautical and Space Sciences
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• v.17 no.4
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• pp.565-578
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• 2016

A probabilistic based systems approach is addressed in this study for the reliability prediction of solid rocket motors (SRM). To achieve this goal, quantitative Failure Modes, Effects and Criticality Analysis (FMECA) approach is employed to determine the reliability of components, which are integrated into the Fault Tree Analysis (FTA) to obtain the system reliability. The quantitative FMECA is implemented by burden and capability approach when they are available. Otherwise, the semi-quantitative FMECA is taken using the failure rate handbook. Among the many failure modes in the SRM, four most important problems are chosen to illustrate the burden and capability approach, which are the rupture, fracture of the case, and leak due to the jointed bolt and O-ring seal failure. Four algorithms are employed to determine the failure probability of these problems, and compared with those by the Monte Carlo Simulation as well as the commercial code NESSUS for verification. Overall, the study offers a comprehensive treatment of the reliability practice for the SRM development, and may be useful across the wide range of propulsion systems in the aerospace community.