• The Journal of Korea Robotics Society
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• v.7 no.2
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• pp.150-159
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• 2012

In this paper, we propose a cost-aware Rapidly-exploring Random Tree (RRT) path planning algorithm for mobile robots. A mobile robot is presented with a cost map of the field of interest and assigned to move from one location to another. As a robot moves, the robot is penalized by the cost at its current location according to the cost map. The overall cost of the robot is determined by the trajectory of the robot. The goal of the proposed cost-aware RRT algorithm is to find a trajectory with the minimal cost. The cost map of the field can represent environmental parameters, such as temperature, humidity, chemical concentration, wireless signal strength, and stealthiness. For example, if the cost map represents packet drop rates at different locations, the minimum cost path between two locations is the path with the best possible communication, which is desirable when a robot operates under the environment with weak wireless signals. The proposed cost-aware RRT algorithm extends the basic RRT algorithm by considering the cost map when extending a motion segment. We show that the proposed algorithm gives an outstanding performance compared to the basic RRT method. We also demonstrate that the use of rejection sampling can give better results through extensive simulation.

• The Korean Journal of Applied Statistics
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• v.27 no.7
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• pp.1229-1241
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• 2014

Most of sampling surveys have outliers and non-response missing values simultaneously. In that case, due to the effect of outliers, the result of imputation is not good enough to meet a given precision. To overcome this situation, outlier treatment should be conducted before imputation. In this paper in order for reducing the effect of outlier, we study outlier imputation methods and outlier weight adjustment methods. For the outlier detection, the method suggested by She and Owen (2011) is used. A small simulation study is conducted and for real data analysis, Monthly Labor Statistic and Briquette Consumption Survey Data are used.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.7 s.178
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• pp.1801-1809
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• 2000

A study on the topology optimization of Hard-Disk-Driver(HDD) actuator arm in free vibration is presented. The purpose of this research is to increasse the natural frequency of the first lateral mode of the HDD actuator arm under the constraint of total moment of inertia, so as to facilitate the position control of high speed actuator am. The first lateral mode is an important factor in the position control process. Thus the topology optimization for 2-D model of the HDD actuator arm is considered. A new objective function corresponding to multieigenvalue optimization is suggested to improve the solution of the eigenvalue optimization problem. The material density of the structure is treated as the design variable and the intermediate density is penalized. The effects of different element types and material property functions on the final topology are studied. When the problem is discretized using 8-node element of a uniform density, the smoothly-varying density field is obtained without checker-board patterns incurred. As a result of the study an improved design of the HDD actuator arm is suggested. Dynamic characteristics of the suggested design are compared computationally with those of the old design. With the same amount of the moment of inertia, the natural frequency of the first lateral mode or the suggested design is subsequently increased over the existing one.

• Journal of Communications and Networks
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• v.9 no.1
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• pp.56-66
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• 2007

Mobile ad-hoc networks (MANETs) have attracted great research interest in recent years. Among many issues, lack of motivation for participating nodes to collaborate forms a major obstacle to the adoption of MANETs. Many contemporary collaboration enforcement techniques employ reputation mechanisms for nodes to avoid and penalize malicious participants. Reputation information is propagated among participants and updated based on complicated trust relationships to thwart false accusation of benign nodes. The aforementioned strategy suffers from low scalability and is likely to be exploited by adversaries. In this paper, we propose a novel approach to address these problems. With the proposed technique, no reputation information is propagated in the network and malicious nodes cannot cause false penalty to benign hosts. Nodes classify their one-hop neighbors through direct observation and misbehaving nodes are penalized within their localities. Data packets are dynamically rerouted to circumvent selfish nodes. As a result, overall network performance is greatly enhanced. This approach significantly simplifies the collaboration enforcement process, incurs low overhead, and is robust against various malicious behaviors. Simulation results based on different system configurations indicate that the proposed technique can significantly improve network performance with very low communication cost.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.453-462
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• 2016

This paper proposes a torque control method for surface mounted permanent magnetic synchronous motor (PMSM) driven by a 2-level voltage source driven inverter, which has fast torque response and small torque ripple. The proposed torque control method follows the finite control set model predictive control (FCS-MPC) strategy. A reference state is derived at each time step for the given time varying torque reference and the cost index is defined so that the tracking error for this reference state should be penalized. The choice of an optimal output voltage vector is made first from the 6 possible active voltage vectors of the 2-level voltage source inverter. Then a modulation factor for the chosen optimal voltage vector is obtained so that the torque ripple can be reduced further. It is shown that the proposed FCS-MPC control method yields fast torque tracking response and small torque ripple through simulation and experiments.

• The Transactions of the Korea Information Processing Society
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• v.7 no.1
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• pp.313-320
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• 2000

PEM algorithm cannot expend repeated algorithm, if penalty function is transcendental function. However, OSL algorithm has an advantage that repeated algorithm is easily derived, even though penalty function which has a complicated transcendental function. In spite of this advantage, this algorithm is restricted in convergence region of smoothing constant which increase penalized log-likelihood, so we cannot get the optimal image restoration because it cannot provide us with a various smoothing constant value for the digital image restoration. In this paper, in order to resolve the disadvantage of OSL algorithm, we would like to suggest the algorithm with smoothing constant enlarge the tolerance limit range of convergence and to find not only properties of its convergence but also usefulness of suggested algorithm through digital image simulation.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.5
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• pp.1503-1515
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• 2023

This paper considers the jointly active and passive beamforming design in the IRS-aided MISO downlink vehicle communication system where both V2I and V2V communication paradigms coexist. We formulate the problem as an optimization problem aiming to minimize the total transmit power of the base station subject to SINR requirements of both V2I and V2V users, total transmit power of base station and IRS's phase shift constraints. To deal with this non-convex problem, we propose a method which can alternately optimize the active beamforming at the base station and the passive beamforming at the IRS. By using first-order Taylor expansion, matrix analysis theory and penalized convex-concave process method, the non-convex optimization problem with coupled variables is converted into two decoupled convex sub-problems. The simulation results show that the proposed alternate optimization algorithm can significantly decrease the total transmit power of the vehicle base station.

• International conference on construction engineering and project management
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• 2013.01a
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• pp.596-601
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• 2013

In the current pavement construction practice, the state agencies traditionally determine the quality of the as-constructed pavement mix based on individual mixture material parameters (e.g., air voids, cement or asphalt content, aggregate gradation, etc.) and consider these parameters as key variables to influence payment schedule to the contractors and the present and future quality of the as-constructed mixture. A set of empirically pre-determined pay adjustment schedule for each parameter that was differently developed and being used by the individual agencies is then applied to a given project, in order to judge whether each parameter conforms to the designated specifications and consequently the contractor may either be rewarded or penalized in accordance with the payment schedule. With an improved quality assurance system, the Performance Related Specification, the individual parameters are not utilized as a direct judgment factor; rather, they become independent variables within a performance prediction function which is directly used to predict the performance. The quantified performance based on the prediction model is then applied to evaluate the pavement quality. This paper presents the brief history of the quality assurance in asphalt pavement construction including the Performance Related Specifications, statistical performance models in terms of fatigue and rutting distresses, as an example of the performance prediction models, and envisions the possibilities as to how this Performance Related Specification could be utilized in other infrastructures construction quality assurance.

• Genomics & Informatics
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• v.17 no.4
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• pp.47.1-47.12
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• 2019

The achievements of genome-wide association studies have suggested ways to predict diseases, such as type 2 diabetes (T2D), using single-nucleotide polymorphisms (SNPs). Most T2D risk prediction models have used SNPs in combination with demographic variables. However, it is difficult to evaluate the pure additive contribution of genetic variants to classically used demographic models. Since prediction models include some heritable traits, such as body mass index, the contribution of SNPs using unmatched case-control samples may be underestimated. In this article, we propose a method that uses propensity score matching to avoid underestimation by matching case and control samples, thereby determining the pure additive contribution of SNPs. To illustrate the proposed propensity score matching method, we used SNP data from the Korea Association Resources project and reported SNPs from the genome-wide association study catalog. We selected various SNP sets via stepwise logistic regression (SLR), least absolute shrinkage and selection operator (LASSO), and the elastic-net (EN) algorithm. Using these SNP sets, we made predictions using SLR, LASSO, and EN as logistic regression modeling techniques. The accuracy of the predictions was compared in terms of area under the receiver operating characteristic curve (AUC). The contribution of SNPs to T2D was evaluated by the difference in the AUC between models using only demographic variables and models that included the SNPs. The largest difference among our models showed that the AUC of the model using genetic variants with demographic variables could be 0.107 higher than that of the corresponding model using only demographic variables.

• Journal of the Korean Dietetic Association
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• v.20 no.4
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• pp.247-256
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• 2014

This study compared the perception, necessity, and satisfaction of free school foodservice among parents of students with and without access to free school foodservice. The sample included parents of students with access to free school foodservice (FSF group, 250 parents) or paid school foodservice (PSF group, 250 parents) in Taean, Chungnam. With regard to perception of school foodservice, 30% of PSF parents responded that it is a necessary part of school education, whereas 52% of FSF parents considered it as a part of national welfare service; this difference was significant (P<0.001). In terms of positive remarks, most parents in the PSF group highlighted convenience whereas the FSF group answered that their children were penalized; this difference was significant (P<0.001). In addition, 94% of PSF parents and 96.8% of FSF parents indicated that school foodservice is necessary. In terms of the perception of the free school foodservice, more FSF parents (96.4%) than PSF parents (84.4%) answered that they knew free school foodservice well; this difference was significant (P<0.001). With regard to target recipients of the free school foodservice, most parents in the PSF group said that needy students should be selected, whereas the FSF group said that all students should be eligible; this difference was significant (P<0.001). Acceptance of free school foodservice in the FSF group (34.4%) was significantly higher than that in the PSF group (23.2%). Satisfaction with free school foodservice was 3.5 points in the FSF group, which was significantly higher than the 2.9 points in the PSF group (P<0.001). In summary, parents of students with access to free school foodservice showed more positive perception and higher satisfaction than parents of students with paid school foodservice. This study recommends that parents' suggestions be considered and further perception and responses on free school foodservice be investigated.