• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.6
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• pp.1395-1401
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• 2005

Mobile manipulator is a robot that has mobility and manipulability with the combination of the task robot and mobile robot. One of the most important feature of the Mobile Manipulator is redundant freedom. Using the redundant freedom, Mobile Manipulator can move various mode, perform dexterous motion. It can have the wider workspace and better performance in avoidance of singularity and obstacle than the fixed base structured robot. Cooperation control using the Mobile Manipulator improves the performance of the robot with redundant freedom in workspace. In this paper, configuration control of the Mobile Manipulator has been studied using Task Segment and TOMM(Task-Oriented Manipulability Measure). For verifying the proposed algorithm, we implemented a mobile manipulator, PURL-II, which is composed of a mobile robot with 3DOF and a task robot with SDOF.

• Journal of KIISE
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• v.45 no.3
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• pp.288-293
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• 2018

There have recently been several studies investigating how to apply a privacy preserving technique to publish data. Differential privacy can protect personal information regardless of an attacker's background knowledge by adding probabilistic noise to the original data. To perform differentially private k-means clustering, the existing algorithm builds a differentially private histogram and performs the k-means clustering. Since it constructs an equi-width histogram without considering the distribution of data, there are many buckets to which noise should be added. We propose a k-means clustering algorithm using a quad-tree that captures the distribution of data by using a small number of buckets. Our experiments show that the proposed algorithm shows better performance than the existing algorithm.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.27 no.7A
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• pp.668-675
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• 2002

This paper proposes pre-distorter combined LUT with 2ιpartition interpolation method to reduce nonlinear distortion which was caused by high PAPR and to update LUT quickly. Pre-distorted gain and phase can be found by using LUT which consisted of AM/AM and AM/PM value, and OFDM signal amplitude. The proposed 2ιpartition interpolation can accurately find predistorted gain and phase using bit shift and add component instead of increasing size of LUT which requires increasing the amount of computation. The performance of the proposed method was measured by the difference between HPA input and output characteristics by the LUT size, constellation, SER performance by the HPA, and LUT update error by the HPA characteristic changes. As a result, it is shown that when the size of the LUT is 32 and 64 for 16-QAM and 64-QAM, nonlinear distortion nearly didn't occurred.

• The KIPS Transactions:PartD
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• v.11D no.2
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• pp.269-280
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• 2004

The Pyramid-Technique is based on mapping n-dimensional space data into one-dimensional data and expresses it as a B+-tree. By solving the problem of search time complexity the pyramid technique also prevents the effect of "phenomenon of dimensional curse" which is caused by treatment of hypercube range query in n-dimensional data space. The SPY-TEC applies the space division strategy in pyramid method and uses spherical range query suitable for similarity search so that Improves the search performance. However, nearest neighbor query is more efficient than range query because it is difficult to specify range in similarity search. Previously proposed index methods perform well only in the specific distribution of data. In this paper, we propose an efficient searching technique for nearest neighbor object using PdR-Tree suggested to improve the search performance for high dimensional data such as multimedia data. Test results, which uses simulation data with various distribution as well as real data, demonstrate that PdR-Tree surpasses both the Pyramid-Technique and SPY-TEC in views of search performance.rformance.

• Proceedings of the Korea Water Resources Association Conference
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• 2019.05a
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• pp.136-136
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• 2019

원형 실린더를 주변 흐름에 관한 연구는 오랜 기간 유체역학 전 영역에서 모형실험이나 수치모형으로 광범위하게 연구되었다. 이 흐름은 하천의 교각이나, 바다의 시추선과 같은 수공구조물 주변에서 관측된다. 난류와 와류가 공존하는 복잡한 특성 때문에, 이 흐름은 수공학에서 유사이송, 세굴, 오염물 확산 등에 영향을 준다. 본 연구는 실험실 수로에 설치된 원형 실린더(D=9cm) 후방의 근접 와류 구간에서(x/D<5) 유속을 ADV로 측정한 후, 난류 특성을 Power Spectral Estimation(PSE)와 Singular Spectral Analysis(SSA) 방법으로 연구하였다. PSE는 샘플 스펙트럼의 한계를 보완하고자 자료를 분할하고, window 함수를 적용하여 ensemble 평균을 구하는 경험적 방법이다. PSE를 이용하여 스펙트럼을 계산한 결과, 주 흐름 및 횡방향 흐름은 Inertial subrange에서 Kolmogorov의 가정과 일치하는 추세를 보였다. 그러나 수심방향 흐름의 스펙트럼은 -5/3보다 빠르게 감소하는 추세를 보였다. Inertial subrange 스펙트럼에서 난류 에너지 소산율은 원형 실린더에서 멀어짐에 따라 감소하는 추세를 보였고, 주 흐름방향과 횡방향 흐름은 비슷한 크기를 보였다. 난류 에너지 소산율과 동점성계수를 이용하여 Kolmogorov 길이, 유속, 시간 스케일을 계산했다. 난류의 운동에너지를 계산하기 위해 Triple decomposition 방법 중 하나인 SSA를 적용하였다. SSA는 유속행렬을 이용하여 고윳값과 고유벡터를 계산하고, 유속에서 기여도가 큰 부분을 추출하는 방법이다. SSA를 통해 실린더 후방 흐름에서 와류 성분과 난류 성분을 나누었다. 횡방향 흐름은 강한 와류로 큰 기여도를 갖는 고유벡터가 나타났지만, 주 흐름과 수심방향 흐름은 상대적으로 낮은 기여도를 갖는 고유벡터가 나타났다. 와류를 제외한 흐름에서 난류 운동에너지는 실린더와 멀어짐에 따라 감소하고, 흐름 중앙에서(y/D=0) 가장 큰 값을 보였다.

• The Korean Journal of Applied Statistics
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• v.24 no.2
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• pp.359-371
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• 2011

Edge detection in images is an important step in image segmentation and object recognition as preprocessing for image processing. This paper presents a new edge detection using local histogram analysis based on wavelet transform. In this work, the wavelet transform uses three components (horizontal, vertical and diagonal) to find the magnitude of the gradient vector, instead of the conventional approach in which tw components are used. We compare the magnitude of the gradient vector with the threshold that is obtained from a local histogram analysis to conclude that an edge is present or not. Some experimental results for our edge detector with a Sobel, Canny, Scale Multiplication, and Mallat edge detectors on sample images are given and the performances of these edge detectors are compared in terms of quantitative and qualitative measures. Our detector performs better than the other wavelet-based detectors such as Scale Multiplication and Mallat detectors. Our edge detector also preserves a good performance even if the Sobel and Canny detector are sharply low when the images are highly corrupted.

• Journal of The Korean Society of Grassland and Forage Science
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• v.28 no.3
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• pp.237-244
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• 2008

This study was conducted to investigate the effects of the cropping system of forage crops and application of cattle slurry on productivity of forage crops and soil fertility. The field experiments were conducted on the silt clay loam at Gongiam, Kwangju, Kyung-gi province in Korea for two years. This study was arranged in split plot design with three replicates. Main plots were the cropping systems, such as single crop and mixed crops. Subplots were the application rate of cattle slurry, such as 0, 150 and 300 kg N/ha. The yields of dry matter (DM) and nitrogen (N) were hardly influenced by the cropping system, whereas DM and N yields enhanced as increasing the rates of cattle slurry application (p<0.05). The contents of crude protein (CP) and total digestible nutrients (TDN) were hardly influenced by the cropping system, whereas CP content increased as increasing the rates of cattle slurry application (p<0.05). TDN was not differentially influenced by cattle slurry application. Neutral detergent fiber (NDF) and acid detergent fiber (ADF) contents were hardly influenced by the cropping system and application of cattle slurry. Organic matter (OM) content in soil samples collected at the end of the experiment were remarkably higher than those in the beginning of the experiment. The OM content of soil was significantly increased by application of cattle slurry (p<0.05).

• Proceedings of the Korea Concrete Institute Conference
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• 2008.11a
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• pp.777-780
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• 2008

According to the recent tendency that the buildings in the downtown are gradually Manhattanized, the very thick massive concrete is selected as the foundation of architectures. By the way, because this mass concrete cannot be simultaneously pour in a great quantity due to the circumstance at the field, not only the questions on the unification between the concretes pour on the upper layer and the lower layer are presented but also the cracks by the internal force from the difference of hydration exothermic period are occurred, which are pointed out as the problems. Thus, this study performed Mock-up test to apply the hydration heat controlling method of massive concrete for horizontal partition pouring construction to the building sites for the purpose of securing the stability on the cracks by the internal force from the difference of hydration exothermic period on the upper layer and the lower layer of massive concrete and checked the efficiency. As the results of test, in case of setting time difference method by super retarder with 2 layers and 4 layers, the effect that temperature gaps between upper part and lower part were lowered and the possibility of crack occurrence was decreased as the peak time of the heat of hydration became delayed to the latter term could be confirmed.

• Radiation Oncology Journal
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• v.16 no.3
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• pp.337-345
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• 1998

Purpose : To obtain the uniform dose at limited depth to entire surface of the body, the dose characteristics of degraded electron beam of the large target-skin distance and the dose distribution of the six-dual electron fields were investigated Materials and Method : The experimental dose distributions included the depth dose curve, spatial dose and attenuated electron beam were determined with 300 cm of target-skin distance (TSD) and full collimator size (35*35 $cm^2$ on TSD 100 cm) in 4 MeV electron beam energy. Actual collimated field size of 105 cm * 105 cm at the distance of 300 cm could include entire hemibody. A patient was standing on step board with hands up and holding the pole to stabilize his/her positions for the six-dual fields technique. As a scatter-degrader, 0.5 cm of acrylic plate was inserted at 20 cm from the body surface on the electron beam path to induce ray scattering and to increase the skin dose. Results : The full width at half maximum(FWHM) of dose profile was 130 cm in large field of 105*105 $cm^2$ The width of $100\pm10\%$ of the resultant dose from two adjacent fields which were separated at 25 cm from field edge for obtaining the dose unifomity was extended to 186 cm. The depth of maximum dose lies at 5 mm and the 80$\%$ depth dose lies between 7 and 8 mm for the degraded electron beam by using the 0.5 cm thickness of acrylic absorber. Total skin electron beam irradiation (TSEBI) was carried out using the six dual fields has been developed at Stanford University. The dose distribution in TSEBI showed relatively uniform around the flat region of skin except the protruding and deeply curvatured portion of the body, which showed excess of dose at the former and less dose at the latter. Conclusion : The percent depth dose, profile curves and superimposed dose distribution were investigated using the degraded electron beam through the beam absorber. The dose distribution obtained by experiments of TSEBI showed within$\pm10\%$ difference except the protruding area of skin which needs a shield and deeply curvatured region of skin which needs boosting dose.

• Journal of Intelligence and Information Systems
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• v.16 no.3
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• pp.77-97
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• 2010

Market timing is an investment strategy which is used for obtaining excessive return from financial market. In general, detection of market timing means determining when to buy and sell to get excess return from trading. In many market timing systems, trading rules have been used as an engine to generate signals for trade. On the other hand, some researchers proposed the rough set analysis as a proper tool for market timing because it does not generate a signal for trade when the pattern of the market is uncertain by using the control function. The data for the rough set analysis should be discretized of numeric value because the rough set only accepts categorical data for analysis. Discretization searches for proper "cuts" for numeric data that determine intervals. All values that lie within each interval are transformed into same value. In general, there are four methods for data discretization in rough set analysis including equal frequency scaling, expert's knowledge-based discretization, minimum entropy scaling, and na$\ddot{i}$ve and Boolean reasoning-based discretization. Equal frequency scaling fixes a number of intervals and examines the histogram of each variable, then determines cuts so that approximately the same number of samples fall into each of the intervals. Expert's knowledge-based discretization determines cuts according to knowledge of domain experts through literature review or interview with experts. Minimum entropy scaling implements the algorithm based on recursively partitioning the value set of each variable so that a local measure of entropy is optimized. Na$\ddot{i}$ve and Booleanreasoning-based discretization searches categorical values by using Na$\ddot{i}$ve scaling the data, then finds the optimized dicretization thresholds through Boolean reasoning. Although the rough set analysis is promising for market timing, there is little research on the impact of the various data discretization methods on performance from trading using the rough set analysis. In this study, we compare stock market timing models using rough set analysis with various data discretization methods. The research data used in this study are the KOSPI 200 from May 1996 to October 1998. KOSPI 200 is the underlying index of the KOSPI 200 futures which is the first derivative instrument in the Korean stock market. The KOSPI 200 is a market value weighted index which consists of 200 stocks selected by criteria on liquidity and their status in corresponding industry including manufacturing, construction, communication, electricity and gas, distribution and services, and financing. The total number of samples is 660 trading days. In addition, this study uses popular technical indicators as independent variables. The experimental results show that the most profitable method for the training sample is the na$\ddot{i}$ve and Boolean reasoning but the expert's knowledge-based discretization is the most profitable method for the validation sample. In addition, the expert's knowledge-based discretization produced robust performance for both of training and validation sample. We also compared rough set analysis and decision tree. This study experimented C4.5 for the comparison purpose. The results show that rough set analysis with expert's knowledge-based discretization produced more profitable rules than C4.5.