• Proceedings of the KIEE Conference
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• 1987.11a
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• pp.425-429
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• 1987

This paper describes a collision avoidance method for planning safe trajectories for multi-robot system in common work space. Usually objects have been approximated to convex polyhedra in most previous researches, but in case using such the approximation method it is difficult to represent objects analytically in terms of functions and also to describe tile relationship between the objects. In this paper, in order to solve such problems a modeling method which approximates objects to cylinder ended by hemispheres and or sphere is used and the maximum distance functions is defined which call be calculated simply. Using an objective function with inequality constraints which are related to minimum distance functions, work range and maximum allowable angular velocities of the robots, tile collision avoidance for two robots is formulated to a constrained function optimization problem. With a view to solve tile problem a penalty function having simple form is defined and used. A simple numerical example involving two PUMA-type robots is described.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.13 no.3
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• pp.169-180
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• 2009

A discontinuous Galerkin method with interior penalty terms is presented for linear Sobolev equation. On appropriate finite element spaces, we apply a symmetric interior penalty Galerkin method to formulate semidiscrete approximate solutions. To deal with a damping term $\nabla{\cdot}({\nabla}u_t)$ included in Sobolev equations, which is the distinct character compared to parabolic differential equations, we choose special test functions. A priori error estimate for the semidiscrete time scheme is analyzed and an optimal $L^\infty(L^2)$ error estimation is derived.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2007.04a
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• pp.471-474
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• 2007

A domain/boundary decomposition technique is applied to carry out efficient finite element analyses of 3-D contact problems. Appropriate penalty functions are selected for connecting an interface and contact interfaces with neighboring subdomains that satisfy continuity constraints. As a consequence, all the effective stiffness matrices have positive definiteness, and computational efficiency can be improved to a considerable degree. If necessary, any complex-shaped 3-D domain can be divided into several simple-shaped subdomains without considering the conformity of meshes along the interface. With a set of numerical examples, the basic characteristics of computational efficiency are investigated carefully.

• Steel and Composite Structures
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• v.33 no.2
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• pp.163-180
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• 2019

A semi analytical method is employed to analyze free vibration characteristics of uniform and stepped functionally graded circular cylindrical shells under complex boundary conditions. The analytical model is established based on multi-segment partitioning strategy and first-order shear deformation theory. The displacement functions are handled by unified Jacobi polynomials and Fourier series. In order to obtain continuous conditions and satisfy complex boundary conditions, the penalty method about spring technique is adopted. The solutions about free vibration behavior of functionally graded circular cylindrical shells were obtained by approach of Rayleigh-Ritz. To confirm the dependability and validity of present approach, numerical verifications and convergence studies are conducted on functionally graded cylindrical shells under various influencing factors such as boundaries, spring parameters et al. The present method apparently has rapid convergence ability and excellent stability, and the results of the paper are closely agreed with those obtained by FEM and published literatures.

• Communications for Statistical Applications and Methods
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• v.29 no.4
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• pp.441-451
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• 2022

In the era of bigdata, scalability is a crucial issue in learning models. Among many others, the Alternating Direction of Multipliers (ADMM, Boyd et al., 2011) algorithm has gained great popularity in solving large-scale problems efficiently. In this article, we propose applying the ADMM algorithm to solve the least square problem penalized by the pairwise-difference penalty, frequently used to identify group structures among coefficients. ADMM algorithm enables us to solve the high-dimensional problem efficiently in a unified fashion and thus allows us to employ several different types of penalty functions such as LASSO, Elastic Net, SCAD, and MCP for the penalized problem. Additionally, the ADMM algorithm naturally extends the algorithm to distributed computation and real-time updates, both desirable when dealing with large amounts of data.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.59 no.1
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• pp.44-54
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• 2023

In this study, the second-order Nomoto's nonlinear expansion model was implemented as a Tagaki-Sugeno fuzzy model based on the heading angular velocity to design the automatic steering system of a ship considering nonlinear elements. A Tagaki-Sugeno fuzzy PID controller was designed using the applied fuzzy membership functions from the Tagaki-Sugeno fuzzy model. The linear models and fuzzy membership functions of each operating point of a given nonlinear expansion model were simultaneously tuned using a genetic algorithm. It was confirmed that the implemented Tagaki-Sugeno fuzzy model could accurately describe the given nonlinear expansion model through the Zig-Zag experiment. The optimal parameters of the sub-PID controller for each operating point of the Tagaki-Sugeno fuzzy model were searched using a genetic algorithm. The evaluation function for searching the optimal parameters considered the route extension due to course deviation and the resistance component of the ship by steering. By adding a penalty function to the evaluation function, the performance of the automatic steering system of the ship could be evaluated to track the set course without overshooting when changing the course. It was confirmed that the sub-PID controller for each operating point followed the set course to minimize the evaluation function without overshoot when changing the course. The outputs of the tuned sub-PID controllers were combined in a weighted average method using the membership functions of the Tagaki-Sugeno fuzzy model. The proposed Tagaki-Sugeno fuzzy PID controller was applied to the second-order Nomoto's nonlinear expansion model. As a result of examining the transient response characteristics for the set course change, it was confirmed that the set course tracking was satisfactorily performed.

• Proceedings of the Korean Information Science Society Conference
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• 2003.04c
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• pp.449-451
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• 2003

패턴 분류 문제에서 수치적 속성일 경우 퍼지 적용은 효과적인 결과를 보인다는 것은 많은 연구를 통해 알려졌다. 하지만 퍼지를 적용한 패턴분류의 결과는 소속함수의 모양과 개수에 따라 크게 영향을 받는다는 문제점을 가지고 있다. 따라서 이러한 문제점은 퍼지를 쉽게 응용분야에 적용시키지 못하는 원인이 된다. 따라서 본 논문에서는 자동으로 소속함수를 정의할 수 있는 소속함수 학습 방법을 제안한다. 제안한 방법1)은 Penalty연산과 Reward연산을 통해 소속함수가 학습되고 Coverage연산을 통해 소속함수 개수가 학습된다. 제안된 방법의 가능성을 확인하기 위해 벤치마크 데이터 중 Iris, Appendicitis, Breast Cancer를 사용하여 기존 방법과 비교한다.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.56-60
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• 1992

This paper addresses the problem of designing a neural network based controller for a discrete-time nonlinear dynamical system. Using two multi-layered neural networks we first design an indirect controller the weights of which are updated by the informations obtained from system identification. The weight update is executed by parameter optimization method under Lagrangian formulation. For the nonlinear dynamical system, we define several cost functions and by computer simulations analyze the control performances of them and the effects of penalty-weighting values.

• Proceedings of the Korean Society of Crop Science Conference
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• 2017.06a
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• pp.110-110
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• 2017

Stomata are the main gateways for water and air transport between leaves and the environment. Inward-rectifying potassium channels regulate photo-induced stomatal opening. Rice contains three inward rectifying shaker-like potassium channel proteins, OsKAT1, OsKAT2 and OsKAT3. Among these, only OsKAT2 is specifically expressed in guard cells. Here, we investigated the functions of OsKAT2 in stomatal regulation using three dominant negative mutant proteins, OsKAT2(T235R), OsKAT2(T285A) and OsKAT2(T285D), which are altered in amino acids in the channel pore and at a phosphorylation site. Yeast complementation and patch clamp assays showed that all three mutant proteins lost channel activity. However, among plants overexpressing these mutant proteins, only plants overexpressing OsKAT2(T235R) showed significantly less water loss than the control. Moreover, overexpression of this mutant protein led to delayed photo-induced stomatal opening and increased drought tolerance. Our results indicate that OsKAT2 is an inward-rectifying shaker-like potassium channel that mainly functions in stomatal opening. Interestingly, overexpression of OsKAT2(T235R) did not cause serious defects in growth or yield in rice, suggesting that OsKAT2 is a potential target for engineering plants with improved drought tolerance without yield penalty.

• Proceedings of the Korea Water Resources Association Conference
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• 2015.05a
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• pp.219-219
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• 2015

Hwacheon Reservoir is one of the reservoirs, which are located on the North Han River in South Korea. Construction of this reservoir was started in 1939 and completed in 1944. At the upstream of this reservoir there are Peace Reservoir, which is located in South Korea and Imnam Reservoir, which is located in North Korea. After construction of Imnam Reservoir, inflow regularity of Hwacheon Reservoir was changed and inflow of Hwacheon Reservoir also, was decreased. Peace Reservoir is used to decrease flood and damage at downstream due to unexpected release from Imnam Reservoir. This reservoir also, has a special role to regulate inflow of Hwacheon Reservoir. Hwacheon Reservoir has an important role for hydropower generation and flood control. Capacity and maximum discharge capacity of Hwacheon Reservoir are 1018 million $m^3$ and $9500m^3/s$, respectively. This reservoir has four generators to produce power and it is one of the important reservoirs for hydropower generation in South Korea. Due to the important role of this reservoir in generating power, maximization of hydropower generation of this reservoir is important and necessary. For this purpose, HEC-ResPRM model was applied in this study. HEC-ResPRM is a useful and applicable model to operate reservoirs and it gives optimal value for release to maximize power by minimizing penalty functions. In this study, after running the model, amount of release was optimized and hydropower generation was maximized by allocating more water for hydropower release instead of spillway release. Also, the model increased release in dry period from October to June to prevent high amount of release in flood season from July to September.