• Journal of the Korean Society for Precision Engineering
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• v.14 no.3
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• pp.147-155
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• 1997

Optimal trajectory for a robot manipulator minimizing actuator torques or energy consumptions ina fixed traveling time is obtained in the presence of obstacles. All joint displacements are represented in finite terms of Fourier cosine series and the coefficients of the series are obtained optimally by nonlinear programming. Thus, the geometric path need not be prespecified and the full dynamic model is employed. To avoid the obstacles, the concept of the penalty area is newly introduced and this penalty area is includ- ed in the performance index with an appropriate weighting coefficient. This optimal trajectory will be useful as a geometric path in the minimum-time trajectory planning problem.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1996.04a
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• pp.30-35
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• 1996

Penalty technique perhaps is the most common technique used in the genetic algorithms for constrained optimization problems. In recent years, several techniques have been proposed in the area of evolutionary computation. However, there is no general guideline on designing penalty function and constructing an efficient penalty function is quite problem-dependent. The purpose of the paper is to give a tutorial survey of recent works on penalty techniques used in genetic algorithms and to give a better classification on exisitng works, which may be helpful for revealing the intrinsic relationship among them and for providing some hints for further studies on penalty techniques.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.406-412
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• 1996

Optimal trajectory for a robot manipulator minimizing actuator torques or energy consumption in a fixed traveling time is obtained in the presence of obstacles. All joint displacements are represented in finite terms of Fourier cosine series and the coefficients of the series are obtained optimally by nonlinear programming. Thus, the geometric path need not be prespecified and the full dynamic model is employed. To avoid the obstacles, the concept of penalty area is newly introduced and this penalty area is included in the performance index with an appropriate weighting coefficient. This optimal trajectory will be useful as a geometric path in the minimum-time trajectory planning problem.

• Communications for Statistical Applications and Methods
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• v.20 no.6
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• pp.481-490
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• 2013

Classification is an important research area as data can be easily obtained even if the number of predictors becomes huge. The support vector machine(SVM) is widely used to classify a subject into a predetermined group because it gives sound theoretical background and better performance than other methods in many applications. The SVM can be viewed as a penalized method with the hinge loss function and penalty functions. Instead of $L_2$ penalty function Fan and Li (2001) proposed the smoothly clipped absolute deviation(SCAD) satisfying good statistical properties. Despite the ability of SVMs, they have drawbacks of non-robustness when there are outliers in the data. We develop a robust SVM method using a weight function with the SCAD penalty function based on the local quadratic approximation. We compare the performance of the proposed SVM with the SVM using the $L_1$ and $L_2$ penalty functions.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.9 no.3
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• pp.12-19
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• 2010

In road network, especially in urban area, inefficiency of travel time is caused by signal control and turn maneuver at intersection and this inefficiency has substantial effects on travel time. When searching for the shortest path, this inefficiency which is caused by turn maneuver must be considered. Therefore, travel time, vehicle volume and delay for each link were calculated by using simulation package, PARAMICS V5.2 for adaptation of turn penalty at 16 intersections of Gangnam-gu. Turn penalty was calculated respectively for each intersection. Within the same intersection, turn penalty differs by each approaching road and turn direction so the delay was calculated for each approaching road and turn direction. Shortest path dealing with 16 intersections searched by Dijkstra algorithm using travel time as cost, considering random turn penalty, and algorithm considering calculated turn penalty was compared and analyzed. The result shows that by considering turn penalty searching the shortest path can decrease the travel time can be decreased. Also, searching the shortest path which considers turn penalty can represent reality appropriately and the shortest path considering turn penalty can be utilized as an alternative.

• Journal of Digital Convergence
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• v.11 no.9
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• pp.341-348
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• 2013

The present study aims to analyze kickers' strategic actions for finishing in penalty shoot-outs among youth soccer players ultimately to increase success rates of shoot-outs and to score a victory. Subjects were experienced 271 soccer players attending high schools located around the capital area. To determine any difference in strategic actions for finishing in penalty shoot-outs among the subjects, frequency analysis or chi-square was used for the analysis. The analysis found the following points: First, the success or failure rates of kickers in penalty shoot-outs were found to depend on subjects' experiences as soccer players. Second, in terms of kickers' shooting qualities, they were found to shoot on goal regardless of shooting positions. Third, an important factor to enhance the shoot-outs probability was found to be a strategic action through the eyes. Fourth, in view of the strategic actions prior to kickers' shooting, goalies were found to check out kickers' positions first and estimate the directions and qualities of shooting via kickers' body actions and eye lines.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.32A no.12
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• pp.108-114
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• 1995

Recently, along wtih the advance of high-performance system, synchronous DRAM's (SDRAM's) which provide consecutive data output synchronized with an external clock signal, have been reported. However, in the conventional SDRAM's which utilize a multi-stage serial pipelined scheme, the column path is divided into multi-stages depending on CAS latency N. Thus, as the operating speed and CAS latency increase, new stages must be added, thereby causing a large area penalty due to additinal latches and I/O lines. In the proposed register-based parallel pipelined scheme, (N-1) registers are located between the read data bus line pair and the data output buffer and the coming data are sequentially stored. Since the column data path is not divided and the read data is directly transmitted to the registers, the busrt read operation can easily be achieved at higher frequencies without a large area penalty and degradation of internal timing margin. Simulation results for 0.32um-Tech. 4-Bank 64M SDRAM show good operation at 200MHz and an area increment is less than 0.1% when CAS latency N is increased from 3 to 4.. This pipelined scheme is more advantageous as the operating frequency increases.

• Journal of Advanced Marine Engineering and Technology
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• v.31 no.6
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• pp.715-722
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• 2007

Experiments were conducted for the investigation of pressure drop inside horizontal micro-fin tubes during the condensation of R-22 and ternary refrigerant. R-407C(HFC-32/125/134a 23/25/62 wt%) as a substitute of R-22. The condenser is a double-tube and counterflow type heat exchanger which is consisted with micro-fin tubes having 60 fins with a length of 4000mm, outer diameter of 9.53mm and fin height of 0.2mm. The mass velocity varied from 102.1 to $301.0kg/(m^2{\cdot}s)$ and inlet quality was fixed as 1.0. From the experimental results. the pressure drop for R-407C was considerably higher than that for R-22. The value of PF(penalty factor) for both of refrigerants was not bigger than the ratio of micro-fin tube area to smooth tube area. Based on the experimental data. correlation was Proposed for the prediction of frictional pressure drop during the condensation of R-22 and R-407C inside horizontal micro-fin tubes.

• Journal of the Korea Society for Simulation
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• v.16 no.3
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• pp.1-9
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• 2007

Travel time between two points depends upon whether it is a rush hour or not in metropolitan area. It is true that there is big differences on the time required to get through the area whether going in busy morning or near noon. Another issue is that there exist many delivery points which closely located each other; so no need to consider traveling hours among these points. We designed an efficient procedure to reduce the complexity by considering closely located delivery points as one big delivery point. A computer simulation model is constructed for comparison purposes of the developed heuristic with the optimum solution.

• Journal of Korean Society of Transportation
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• v.6 no.1
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• pp.55-64
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• 1988

Prior to using any computer model, the program-embedded palameters showing significant differences from real world should be calibrated. This is especially true when the model is expected to be used fro various roadway and traffic condition. The calibration of TRANSYT model was conducted for the parameters of start-up delay, and lag, stop penalty(K), platoon dispersion factor, and saturation flow rate. The values of the parameters were obtained by theoretical methods from actual field measurements for discharging and arrival pattern. The sites elected for the study was an intersection of Dongil-Ro and Hwarang-Ro, and a 334 meter downstrean section from the intersection stop line on westbound Hwarang-Ro. The study results showed that the start-up delay was 2.6 sec, end lag was 1.0 sec, saturation flow rate was 2287 pcphgpl, platoon dispersion factor was 0.2-03, and stop penalty(K) was 32. However, since these parameters re apt to depend on traffic and roadway condition, it is doubtful whether the obtained values will be applicable to the area-wide situation other than this particular site.