• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.920-923
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• 1996

This paper presents a new algorithm for the self-localization of a mobile robot using perspective invariant(Cross Ratio). Most of conventional model-based self-localization methods have some problems that data structure building, map updating and matching processes are very complex. Use of the simple cross ratio can be effective to the above problems. The algorithm is based on two basic assumptions that the ground plane is flat and two parallel walls are available. Also it is assumed that an environmental map is available for matching between the scene and the model. To extract an accurate steering angle for a mobile robot, we take advantage of geometric features such as vanishing points(V.P). Point features for computing cross ratios are extracted robustly using a vanishing point and the intersection points between floor and the vertical lines of door frames. The robustness and feasibility of our algorithms have been demonstrated through experiments in indoor environments using an indoor mobile robot, KASIRI-II(KAist SImple Roving Intelligence).

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 Ⅳ
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• pp.2104-2107
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• 2003

In this paper, we propose the method Model based Non-Rigid Moving Object Tracking. Motion based method becomes difficult to predict precisely when motion gets larger, so that we can solve such difficultly with regarding the moving object as a model. In the model based method, it should be concerned about setting initial model and updating its model in each frame. We used SNAKE in a way to set the initial model, and also proposed a modified SNAKE to handle the previous SNAKE problems. Moreover, with the elliptical setting, we made the initializing process automatically which is highly subject to change in measuring the performance of SNAKE. We used the Hausdorff distance to identify models in each frame. Through our experiments, our Proposed algorithm does effective work in Non-Rigid Moving Object Tracking.

• 대한기계학회논문집A
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• 제24권5호
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• pp.1271-1280
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• 2000

A sensor placement technique to identify structural parameter was developed. Experimental results must be acquired to identify unknown dynamic characteristics of a targeting structure for the comparison between analytical model and real structure. If the experimental environment was not equipped itself properly, it can be happened that some valuable information are distorted or ill-condition can be occurred. In this work the index to determine exciting points was derived from the criterion of maximizing parameter sensitivity matrix and that to choose measurement points was from that of preserving the invariant of sensitivity matrix. This idea was applied to a compressor hull structure to verify its performance. The result shows that the selection of measurement and excitation points using suggested criteria improve the ill-conditioning problem of inverse type problems such , as model updating.

• ETRI Journal
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• 제40권1호
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• pp.111-121
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• 2018

To find the emerging patterns (EPs) in streaming transaction data, the streaming is first divided into some time windows containing a number of transactions. Itemsets are generated from transactions in each window, and then the emergence of itemsets is evaluated between two windows. In the tilted-time windows model (TTWM), it is assumed that people need support data with finer accuracy from the most recent windows, while accepting coarser accuracy from older windows. Therefore, a limited array's elements are used to maintain all support data in a way that condenses old windows by merging them inside one element. The capacity of elements that accommodates the windows inside is modeled using a particular number sequence. However, in a stream, as new data arrives, the current array updating mechanisms lead to many null elements in the array and cause data incompleteness and inaccuracy problems. Two models derived from TTWM, logarithmic TTWM and Fibonacci windows model, also inherit the same problems. This article proposes a novel push-front Fibonacci windows model as a solution, and experiments are conducted to demonstrate its superiority in finding more EPs compared to other models.

• 제어로봇시스템학회논문지
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• 제12권12호
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• pp.1215-1219
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• 2006

Scheduling plays an important role in the process management in terms of providing profit-maximizing operation sequence of multiple orders and estimating completion times of them. In order to takes its full potential, varying conditions should be properly reflected in computing the schedule. The adjustment of scheduling decisions has to be made frequently in response to the occurrence of variations. It is often challenging because their model has to be adjusted and their solutions have to be computed within short time period. This paper employs Model Predictive Control(MPC) principles for updating the process condition in the scheduling model. The solutions of the resulting problems considering variations are computed using parametric programming techniques. The key advantage of the proposed framework is that repetition of solving similar programming problems with decreasing dimensionis avoided and all potential schedules are obtained before the execution of the actual processes. Therefore, the proposed framework contributes to constructing a robust decision-support tool in the face of varying environment. An example is solved to illustrate the potential of the proposed framework with remarks on potential wide applications.

• Smart Structures and Systems
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• 제25권4호
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• pp.487-499
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• 2020

This paper proposes a novel approach to model updating for a large-scale cable-stayed bridge based on ambient vibration tests coupled with a hybrid metaheuristic search algorithm. Vibration measurements are carried out under excitation sources of passing vehicles and wind. Based on the measured structural dynamic characteristics, a finite element (FE) model is updated. For long-span bridges, ambient vibration test (AVT) is the most effective vibration testing technique because ambient excitation is freely available, whereas a forced vibration test (FVT) requires considerable efforts to install actuators such as shakers to produce measurable responses. Particle swarm optimization (PSO) is a famous metaheuristic algorithm applied successfully in numerous fields over the last decades. However, PSO has big drawbacks that may decrease its efficiency in tackling the optimization problems. A possible drawback of PSO is premature convergence leading to low convergence level, particularly in complicated multi-peak search issues. On the other hand, PSO not only depends crucially on the quality of initial populations, but also it is impossible to improve the quality of new generations. If the positions of initial particles are far from the global best, it may be difficult to seek the best solution. To overcome the drawbacks of PSO, we propose a hybrid algorithm combining GA with an improved PSO (HGAIPSO). Two striking characteristics of HGAIPSO are briefly described as follows: (1) because of possessing crossover and mutation operators, GA is applied to generate the initial elite populations and (2) those populations are then employed to seek the best solution based on the global search capacity of IPSO that can tackle the problem of premature convergence of PSO. The results show that HGAIPSO not only identifies uncertain parameters of the considered bridge accurately, but also outperforms than PSO, improved PSO (IPSO), and a combination of GA and PSO (HGAPSO) in terms of convergence level and accuracy.

• 대한전기학회논문지:전력기술부문A
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• 제54권2호
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• pp.79-87
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• 2005

At present Cournot model is one of the most commonly used theories to analyze the gaming situation in oligopoly market. But there exist several problems to apply this model to electricity market. The representative one is to obtain the inverse demand curve able to be induced from the relationship between market price and demand response. In Cournot model, each player offers their generation quantity to accomplish maximum profit, which is accomplished by reducing their quantity compared with available total capacity. As stated above, to obtain the probable Cournot equilibrium to reflect real market situation, we have to induce the correct demand function first of all. Usually the correlation between price and demand appears on the long-term basis through the statistical data analysis (for example, regression analysis) or by investigating consumer utility functions of several consumer groups classified as residential, industrial, and commercial. However, the elasticity has a tendency to change continuously according to the total market demand size or the level of market price. Therefore it should be updated as trading period passes by. In this paper we propose a method for inducing and updating this price elasticity of demand function for more realistic market equilibrium.

• KIEE International Transactions on Power Engineering
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• 제5A권4호
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• pp.403-411
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• 2005

At present, the Cournot model is one of the most commonly used theories to analyze the gaming situation in an oligopoly type market. However, several problems exist in the successful application of this model to the electricity market. The representative one is obtaining the inverse demand curve able to be induced from the relationship between market price and demand response. In the Cournot model, each player offers their generation quantity to obtain maximum profit, which is accomplished by reducing their quantity compared with available total capacity. As stated above, to obtain the probable Cournot equilibrium to reflect the real market situation, we have to induce the correct demand function first of all. Usually the correlation between price and demand appears over the long-term through statistical data analysis (for example, regression analysis) or by investigating consumer utility functions of several consumer groups classified as residential, industrial, and commercial. However, the elasticity has a tendency to change continuously according to the total market demand size or the level of market price. Therefore it should be updated as the trading period passes by. In this paper we propose a method for inducing and updating this price elasticity of demand function for more realistic market equilibrium.

• Smart Structures and Systems
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• 제32권1호
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• pp.9-21
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• 2023

The parameters of civil engineering structures have time-variant characteristics during their service. When extremely large external excitations, such as earthquake excitation to buildings or overweight vehicles to bridges, apply to structures, sudden or gradual damage may be caused. It is crucially necessary to detect the occurrence time and severity of the damage. The unscented Kalman filter (UKF), as one efficient estimator, is usually used to conduct the recursive identification of parameters. However, the conventional UKF algorithm has a weak tracking ability for time-variant structural parameters. To improve the identification ability of time-variant parameters, an adaptive UKF with forgetting factor (AUKF-FF) algorithm, in which the state covariance, innovation covariance and cross covariance are updated simultaneously with the help of the forgetting factor, is proposed. To verify the effectiveness of the method, this paper conducted two case studies as follows: the identification of time-variant parameters of a simply supported bridge when the vehicle passing, and the model updating of a six-story concrete frame structure with field test during the Yangbi earthquake excitation in Yunnan Province, China. The comparison results of the numerical studies show that the proposed method is superior to the conventional UKF algorithm for the time-variant parameter identification in convergence speed, accuracy and adaptability to the sampling frequency. The field test studies demonstrate that the proposed method can provide suggestions for solving practical problems.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 추계학술대회 논문집 전력기술부문
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• pp.168-170
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• 2005

At present Cournot model is one of the most commonly used theories to analyze the gaming situation in oligopoly market. But there exist several problems to apply this model to electricity market. The representative one is to obtain the inverse demand curve able to be induced from the relationship between market price and demand response. In Cournot model, each player offers their generation quantity to accomplish maximum profit, which is accomplished by reducing their quantity compared with available total capacity. As stated above, to obtain the probable Cournot equilibrium to reflect real market situation, we have to induce the correct demand function first of all. Usually the correlation between price and demand appears on the long-term basis through the statistical data analysis (for example, regression analysis) or by investigating consumer utility functions of several consumer groups classified as residential, industrial, and commercial. However, the elasticity has a tendency to change continuously according to the total market demand size or the level of market price. Therefore it should be updated as trading period passes by. In this paper we propose a method for inducing and updating this price elasticity of demand function for more realistic market equilibrium