• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.9 no.3
• /
• pp.206-212
• /
• 2009

This paper presents an optimized integrated task planning and control approach for manipulating a nonholonomic robot by mobile manipulators. Then, we derive a kinematics model and a mobility of the mobile manipulator(M2) platform considering it as the combined system of the manipulator and the mobile robot. to improve task execution efficiency utilizing the redundancy, optimal trajectory of the mobile manipulator(M2) platform are maintained while it is moving to a new task point. A cost function for optimality can be defined as a combination of the square errors of the desired and actual configurations of the mobile robot and of the task robot. In the combination of the two square errors, a newly defined mobility of a mobile robot is utilized as a weighting index. With the aid of the gradient method, the cost function is minimized, so the path trajectory that the M2 platform generates is optimized. The simulation results of the 2 ink planar nonholonomic M2 platform are given to show the effectiveness of the proposed algorithm.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.25 no.8B
• /
• pp.1469-1476
• /
• 2000

We have to consider the drain current as consisting of two components the vertical electric field and the longitudinal electric field because the drain current is almost totally due to the presence of drift in strong inversion of n-MOS FET. Especially the mobility of electrons in the inversion layer is smaller than the bulk mobility because the vertical electric field component that is generated by the effect of the gate voltage is perpendicular to the direction of normal current flow. By the multi-box segmentation technical method that are proposed in this paper we calculated the inversion layer depth and analyzed the vertical electric field component which has an large influence on mobility model.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.36 no.12A
• /
• pp.984-993
• /
• 2011

In this paper, we present a new method for efficient mobility management in infrastructure-based ad hoc networks. This type of network inherently takes the tree topology model in which an Internet gateway (IG) becomes a root. Accordingly, the nodes near the IG process get much more number of messages, thereby causing a bottleneck phenomenon that degrades network performance. This problem is known as a funneling effect. We present a method to maximize message aggregation in which the nodes in the networks form tree topology and perform skewed time synchronization according to the depths of the nodes during the tree construction process. We proved by resorting to simulation that the funneling effect is alleviated and network performance is improved greatly.

• Advances in biomechanics and applications
• /
• v.1 no.1
• /
• pp.15-22
• /
• 2014

Computed tomography (CT) is being utilized in orthopaedics and related research to estimate bone strength. These applications benefit from calibration of Hounsfield units to mineral density typical of long bone, up to $1750mg/cm^3$. This study describes a method for establishing repeatable calibration of Hounsfield units to density, and determines the effects of imaging medium on calibration accuracy. Four hydroxyapatite standards were imaged in air on 7 occasions over 19 weeks using a helical multi-slice CT scanner. Each standard was scanned 5 times in different media: porcine soft tissue, water, and air. Calibrated densities were highly repeatable (CV<3.5%). No difference in density was observed between water and soft tissue conditions (p>0.08). This work provides a model for determining repeatable scanner-specific density calibration, demonstrates that the linear relationship between Hounsfield units and density extends to values typical of cortical bone, and supports the practice of imaging calibration standards in an environment similar to that of the target bone.

• Korean Journal of Remote Sensing
• /
• v.39 no.4
• /
• pp.459-466
• /
• 2023

In the last decade, artificial intelligence's dramatic advancement with the development of various deep learning techniques has significantly contributed to remote sensing fields and satellite image applications. Among many prominent areas, super-resolution research has seen substantial growth with the release of several benchmark datasets and the rise of generative adversarial network-based studies. However, most previously published remote sensing benchmark datasets represent spatial resolution within approximately 10 meters, imposing limitations when directly applying for super-resolution of small objects with cm unit spatial resolution. Furthermore, if the dataset lacks a global spatial distribution and is specialized in particular land covers, the consequent lack of feature diversity can directly impact the quantitative performance and prevent the formation of robust foundation models. To overcome these issues, this paper proposes a method to generate benchmark datasets by simulating the modulation transfer functions of the sensor. The proposed approach leverages the simulation method with a solid theoretical foundation, notably recognized in image fusion. Additionally, the generated benchmark dataset is applied to state-of-the-art super-resolution base models for quantitative and visual analysis and discusses the shortcomings of the existing datasets. Through these efforts, we anticipate that the proposed benchmark dataset will facilitate various super-resolution research shortly in Korea.

• ETRI Journal
• /
• v.45 no.4
• /
• pp.650-665
• /
• 2023

A novel smart metering technique capable of anomaly detection was proposed for real-time home power management system. Smart meter data generated in real-time were obtained from 900 households of single apartments. To detect outliers and missing values in smart meter data, a deep learning model, the autoencoder, consisting of a graph convolutional network and bidirectional long short-term memory network, was applied to the smart metering technique. Power management based on the smart metering technique was executed by multi-objective optimization in the presence of a battery storage system and an electric vehicle. The results of the power management employing the proposed smart metering technique indicate a reduction in electricity cost and amount of power supplied by the grid compared to the results of power management without anomaly detection.

• Journal of Positioning, Navigation, and Timing
• /
• v.12 no.4
• /
• pp.379-389
• /
• 2023

According to the Korea Urban Air Mobility (K-UAM) Concept of Operation (ConOps), the Global Navigation Satellite System (GNSS) is recommended as the primary navigation system and the performance specification will be implemented considering the standard of Performance Based Navigation (PBN). However, by taking into account the characteristics of an urban environment and the concurrent operations of multiple UAM aircraft, the current PBN standards for civil aviation seem difficult to be directly applied to an UAM aircraft. Therefore, by referring to technical documents published in the literature, this paper examines the feasibility of applying the proposed performance requirements to K-UAM, which follows the recommendation of navigation performance requirements for K-UAM. In accordance with the UAM ConOps, the UAM aircraft is anticipated to maintain low altitude during approach and landing phases. Subsequently, the navigation performance degradation could occur in the urban environment, and the primary degradation factor is identified as multipath error. For this reason, to ensure the safety and reliability of the K-UAM aircraft, it is necessary to analyze the degree of performance degradation related to the urban environment and then propose an alternative aid to enhance the navigation performance. To this end, the aim of this paper is to model the multipath effects of the GNSS in an urban environment and to carry out the simulation studies using the real GNSS datasets. Finally, the initial navigation performance requirement is proposed based on the results of the numerical simulation for the K-UAM.

• The Transactions of the Korea Information Processing Society
• /
• v.5 no.10
• /
• pp.2627-2640
• /
• 1998

In this paper, we analyze the performance of the virtual cell system[1] for the transmission of IP datagrams in mobile computer communications. A virtual cell consistsof a group of physical cells shose base stationsl are implemented b recote bridges and interconnected via high speed datagram packet switched networks. Host mobility is supported at the data link layer using the distributed hierachical location information of mobile hosts. Given mobility and communication ptems among physical cells, the problem of deploying virtual cells is equivalent to the optimization cost for the entire system where interclster communication is more expesive than intracluster communication[2]. Once an iptimal partitionof disjoint clusters is obtained, we deploy the virtual cell system according to the topology of the optimal partition such that each virtual cell correspods to a cluser. To analyze the performance of the virtual cell system, we adopt a BCMP open multipel class queueing network model. In addition to mobility and communication patterns, among physical cells, the topology of the virtual cell system is used to determine service transition probabilities of the queueing network model. With various system parameters, we conduct interesting sensitivity analyses to determine network design tradeoffs. The first application of the proposed model is to determine an adequate network bandwidth for base station networking such that the networks would not become an bottleneck. We also evaluate the network vlilization and system response time due to various types of messages. For instance, when the mobile hosts begin moving fast, the migration rate will be increased. This results of the performance analysis provide a good evidence in demonsratc the sysem effciency under different assumptions of mobility and communication patterns.

• International Journal of Oral Biology
• /
• v.35 no.4
• /
• pp.159-167
• /
• 2010

To provide a basis for studying the pharmacological actions of tetracaine HCl, we analyzed the membrane activities of this local anesthetic. The n-(9-anthroyloxy) stearic and palmitic acid (n-AS) probes (n = 2, 6, 9, 12 and 16) have been used previously to examine fluorescence polarization gradients. These probes can report the environment at a graded series of depths from the surface to the center of the membrane bilayer structure. In a dosedependent manner, tetracaine HCl decreased the anisotropies of 6-AS, 9-AS, 12-AS and 16-AP in the hydrocarbon interior of synaptosomal plasma membrane vesicles isolated from bovine cerebral cortex (SPMV), and liposomes derived from total lipids (SPMVTL) and phospholipids (SPMVPL) extracted from the SPMV. However, this compound increased the anisotropy of 2-AS at the membrane interface. The magnitude of the membrane rotational mobility reflects the carbon atom numbers of the phospholipids comprising SPMV, SPMVTL and SPMVPL and was in the order of the 16, 12, 9, 6, and 2 positions of the aliphatic chains. The sensitivity of the effects of tetracaine HCl on the rotational mobility of the hydrocarbon interior or surface region was dependent on the carbon atom numbers in the descending order 16-AP, 12-AS, 9-AS, 6-AS and 2-AS and on whether neuronal or model membranes were involved in the descending order SPMV, SPMVPL and SPMVTL.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.11 no.2
• /
• pp.261-267
• /
• 2011

One of powerful software paradigms for distributed systems is a mobile agent system. Since the usage of mobile agent systems is increased, a software development model to construct softwares efficiently for these systems is needed. Currently, UML is a widely used software development model. However, existing UML can not describe the necessary mobility of the mobile agent based software systems in explicit way. In this paper, the interaction diagrams of UML(sequence diagrams and communication diagrams) are extended and used to express the mobility of the mobile agents including the functions of platforms of mobile agent systems in three ways. For a case study, we applied the extended diagrams to a distributed file searching using mobile agents, and we confirmed these diagrams can describe the function and mobility of mobile agents very well.