• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.2A
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• pp.144-153
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• 2006

In this paper, we propose an efficient video data transmission protocol using the cross-layer approach in ad hoc networks. Due to node movement, the MANET is frequently changing path and each path has different transmission rate so that it has low performance when transmitters select a constant transmission late at the encoding time. Because MANET is running limited energy, efficient energy management is important because it increases network life time and network throughput. Therefore we need an effective video transmission method that considers physical layer channelstatistics, node's energy status, and network topology changes at the same time unlike the OSI recommendation protocol in that each layer isindependent and hard to transmit adaptively video data according to the network conditions. Therefore, in this paper we propose a cross-layer effective video transmission protocol and mechanism that can select an optimal path using multilayer information such as node's residual energy, channel condition and hop counts and can determine the adequate coding rate adaptively.

• Proceedings of the Korea Society for Simulation Conference
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• 2001.10a
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• pp.321-324
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• 2001

The robot soccer simulation game is a dynamic multi-agent environment. In this paper we suggest a new reinforcement learning approach to each agent's dynamic positioning in such dynamic environment. Reinforcement Beaming is the machine learning in which an agent learns from indirect, delayed reward an optimal policy to choose sequences of actions that produce the greatest cumulative reward. Therefore the reinforcement loaming is different from supervised teaming in the sense that there is no presentation of input-output pairs as training examples. Furthermore, model-free reinforcement loaming algorithms like Q-learning do not require defining or loaming any models of the surrounding environment. Nevertheless it can learn the optimal policy if the agent can visit every state-action pair infinitely. However, the biggest problem of monolithic reinforcement learning is that its straightforward applications do not successfully scale up to more complex environments due to the intractable large space of states. In order to address this problem, we suggest Adaptive Mediation-based Modular Q-Learning(AMMQL) as an improvement of the existing Modular Q-Learning(MQL). While simple modular Q-learning combines the results from each learning module in a fixed way, AMMQL combines them in a more flexible way by assigning different weight to each module according to its contribution to rewards. Therefore in addition to resolving the problem of large state space effectively, AMMQL can show higher adaptability to environmental changes than pure MQL. This paper introduces the concept of AMMQL and presents details of its application into dynamic positioning of robot soccer agents.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2568-2574
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• 2005

Control architecture of the action based robot engineering can be divided into two types of deliberate type - and reactive type- controller. Typical deliberate type, slow in reaction speed, is well suited for the realization of the higher intelligence with its capability to forecast on the basis of environmental model according to time flow, while reactive type is suitable for the lower intelligence as it fits to the realization of speedy reactive action by inputting the sensor without a complete environmental model. Looking at the environments in the application areas in which robots are actually used, we can see that they have been mostly covered by the uncertain and unknown dynamic changes depending on time and place, the previously known knowledge being existed though. It may cause, therefore, any deterioration of the robot performance as well as further happen such cases as the robots can not carry out their desired performances, when any one of these two types is solely engaged. Accordingly this paper aims at suggesting Goal-oriented Geometric Model(GGM) Based Intelligent System Architecture which leads the actions of the robots to perform their jobs under variously changing environment and applying the suggested system structure to the navigation issues of the robots. When the robots do perform navigation in human life changing in a various manner with time, they can appropriately respond to the changing environment by doing the action with the recognition of the state. Extending this concept to cover the highest hierarchy without sticking only to the actions of the robots can lead us to apply to the algorithm to perform various small jobs required for the carrying-out of a large main job.

• Korean Journal of Ichthyology
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• v.22 no.4
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• pp.217-224
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• 2010

An investigation was carried out to obtain basic information needed to develop methods for artificial propagation and conservation of the mottled skate Raja pulchra, an important food resource in western Korea that has declined from overfishing. In this paper we provide evidence of multiple spawning and describe properties of the ovary, and morphology of the egg capsule and the fully-formed offspring. The vitellogenic follicles in the ovary was $179.8{\pm}57.1$ (54~247) and can be classified into five size groups, which the last group of ova are considered as the moving to the capsule gland where fertilization and encapsulation of ova take place. The morphology of the egg capsule of R. pulchra is unique among the species of the family Rajidae and showed multi-embryo characteristics, having two to six yolks in each capsule. The adaptive morphological changes of larvae developing inside the egg capsule are described based on specimens extracted from the capsule.

• The korean journal of orthodontics
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• v.14 no.1
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• pp.53-65
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• 1984

The purpose of this study was to investigate the histopathological change and adaptation process of the mandibular joint of the rat by muscle alteration. For this study, one hundred and twenty eight rats of 25 - and 60 - day old of age were used. Unilateral and bilateral detachment, with anterior positioning of the Masseter muscle, was performed under anesthesia. The animal was sacrified 10, 20, 50, 80 days postoperatively. This alteration in muscle function led to change in neuromuscular activity and demonstrated the adaptive nature of the condyle cartilage to functional demand. The results were as follows : 1. In the right muscle detached group, operated at 25 days of age, marked decrease on the chondroblastic zone was found in the condyle head on the right side of animals examined 10 days postoperatively. Comparing with the control group, no difference was found on the chondroblastic zone in the condylar head of animals examined 20, 50 and 80 days postoperatively. 2. In the bilateral muscle detached group, operated at 25 days of age, the chondroblastic zone was slightly decreased in the anterior parts of condylar head of animals examined 10 days postoperatively. 3. In the unilateral and bilateral muscle detached group, operated at 60 days of age, no significant change was found in the mandibular joint regardless of the post operative experimental periods. 4. Under Toluidine blue staining, slightly decreased metachromasia was found in the condyle head on the right side of unilateral experimental animals, operated at 25 days of age and examined 10 days postoperatively. 5. Under Masson's trichrome staining, increased metachromasia was found in the condyle head on the right side of unilateral experimental animals, operated at 25 days of age and examined 10 days postoperatively. In summary, the condyle of the rat could respond to changes in neuromuscular activity depend on the level of maturation of the tissue, because the endochondral bone formation of the condyle of the rat was almost ended within 3 months.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.46 no.2
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• pp.71-77
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• 2009

A novel phase-locked loop(PLL) architecture with multiple charge pumps for fast locking has been proposed. The proposed PLL has three charge pumps. The effective capacitance and resistance of the loop filter can be scaled up/down according to the locking status by controlling the direction and magnitude of each charge pump current. The fast locking PLL that changes its loop bandwidth through controlling charge pumps depending on locking status has been designed. The capacitor usually occupying the larger portion of the chip is also minimized with the proposed scheme. Therefore, the PLL size of $990{\mu}m\;{\times}\;670{\mu}m$ including resistors and capacitors at the bandwidth of 29.9KHz has been achieved. It has been fabricated with 3.3V $0.35{\mu}m$ CMOS process. The locking time is less than $6{\mu}s$ with the measured phase noise of -90.45dBc/Hz @1MHz at 851.2MHz output frequency.

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.12
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• pp.265-274
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• 2012

In this paper, we propose a method for preceding vehicle detection and tracking with motion estimation by radar-vision sensor fusion. The motion estimation proposed results in not only correction of inaccurate lateral position error observed on a radar target, but also adaptive detection and tracking of a preceding vehicle by compensating the changes in the geometric relation between the ego-vehicle and the ground due to the driving. Furthermore, the feature-based motion estimation employed to lessen computational burden reduces the number of deployment of the vehicle validation procedure. Experimental results prove that the correction by the proposed motion estimation improves the performance of the vehicle detection and makes the tracking accurate with high temporal consistency under various road conditions.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.465-470
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• 2012

This paper proposes a distributed autonomous control method of swarm robot behavior strategy based on artificial immune system and an optimization strategy for artificial immune system. The behavior strategies of swarm robot in the system are depend on the task distribution in environment and we have to consider the dynamics of the system environment. In this paper, the behavior strategies divided into dispersion and aggregation. For applying to artificial immune system, an individual of swarm is regarded as a B-cell, each task distribution in environment as an antigen, a behavior strategy as an antibody and control parameter as a T-cell respectively. The executing process of proposed method is as follows: When the environmental condition changes, the agent selects an appropriate behavior strategy. And its behavior strategy is stimulated and suppressed by other agent using communication. Finally much stimulated strategy is adopted as a swarm behavior strategy. In order to decide more accurately select the behavior strategy, the optimized parameter learning procedure that is represented by stimulus function of antigen to antibody in artificial immune system is required. In this paper, particle swarm optimization algorithm is applied to this learning procedure. The proposed method shows more adaptive and robustness results than the existing system at the viewpoint that the swarm robots learning and adaptation degree associated with the changing of tasks.

• Journal of Broadcast Engineering
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• v.25 no.3
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• pp.353-361
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• 2020

VVC (Versatile Video Coding) is a new video compression technique that is being standardized, and it supports HD / UHD / 8K video, and High Dynamic Range (HDR) video with a goal of approximately 2 times higher coding efficiency than the conventional HEVC. It also aims to support a variety of functionalities such as screen content coding, adaptive resolution changes, and independent sub-pictures. In this paper, we investigate the signaling process of intra prediction mode first, and develop an effective coding method of the chroma intra prediction mode. In case of the DM mode, the proposed method simplifies the prediction mode of the chorma intra prediction mode when referring to the angular mode of the luminance block. It can improve coding efficiency of the chroma intra prediction mode, and the proposed process can also consider the size of the block in order to further improve its coding efficiency.

• Molecules and Cells
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• v.43 no.4
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• pp.331-339
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• 2020

Genetic modifications in noncoding regulatory regions are likely critical to human evolution. Human-accelerated noncoding elements are highly conserved noncoding regions among vertebrates but have large differences across humans, which implies human-specific regulatory potential. In this study, we found that human-accelerated noncoding elements were frequently coupled with DNase I hypersensitive sites (DHSs), together with monomethylated and trimethylated histone H3 lysine 4, which are active regulatory markers. This coupling was particularly pronounced in fetal brains relative to adult brains, non-brain fetal tissues, and embryonic stem cells. However, fetal brain DHSs were also specifically enriched in deeply conserved sequences, implying coexistence of universal maintenance and human-specific fitness in human brain development. We assessed whether this coexisting pattern was a general one by quantitatively measuring evolutionary rates of DHSs. As a result, fetal brain DHSs showed a mixed but distinct signature of regional conservation and outlier point acceleration as compared to other DHSs. This finding suggests that brain developmental sequences are selectively constrained in general, whereas specific nucleotides are under positive selection or constraint relaxation simultaneously. Hence, we hypothesize that human- or primate-specific changes to universally conserved regulatory codes of brain development may drive the accelerated, and most likely adaptive, evolution of the regulatory network of the human brain.