• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.3
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• pp.388-397
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• 2009

There are many tasks which require robotic manipulators interaction with environment. It consists of three control problems, i.e., position control, impact control and force control. The position control means the way of reaching to the environment. The moment of touching to the environment yields the impact control problem and the force control is to maintain the desired force trajectory after the impact with the environment. These three control problems occur in sequence, so each control algorithm can be developed independently. Especially for redundant manipulators, each of these three control problems has been important independent research topic. For example, joint torque minimization and impulse minimization are typical techniques for such control problems. The three control problems are considered as a single task in this paper. The position control strategy is developed to improve the performance of the task, i.e., minimization of the individual joint torques and impulse. Therefore, initial conditions of the impact control problem are optimized at the previous position control algorithm. Such a control strategy yields improved result of the impact control. Similarly, the initial conditions for the force control problem are indirectly optimized by the previous position control and impact control strategies. The force control algorithm uses the individual joint torque minimization concept. It also minimizes the force disturbances. The simulation results show the proposed control strategy works well.

• Journal of KIISE:Software and Applications
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• v.29 no.4
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• pp.270-277
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• 2002

Text filtering is a task of deciding whether a document has relevance to a specified topic. As Internet and Web becomes wide-spread and the number of documents delivered by e-mail explosively grows the importance of text filtering increases as well. The aim of this paper is to improve the accuracy of text filtering systems by using machine learning techniques. We apply AdaBoost algorithms to the filtering task. An AdaBoost algorithm generates and combines a series of simple hypotheses. Each of the hypotheses decides the relevance of a document to a topic on the basis of whether or not the document includes a certain word. We begin with an existing AdaBoost algorithm which uses weak hypotheses with their output of 1 or -1. Then we extend the algorithm to use weak hypotheses with real-valued outputs which was proposed recently to improve error reduction rates and final filtering performance. Next, we attempt to achieve further improvement in the AdaBoost's performance by first setting weights randomly according to the continuous Poisson distribution, executing AdaBoost, repeating these steps several times, and then combining all the hypotheses learned. This has the effect of mitigating the ovefitting problem which may occur when learning from a small number of data. Experiments have been performed on the real document collections used in TREC-8, a well-established text retrieval contest. This dataset includes Financial Times articles from 1992 to 1994. The experimental results show that AdaBoost with real-valued hypotheses outperforms AdaBoost with binary-valued hypotheses, and that AdaBoost iterated with random weights further improves filtering accuracy. Comparison results of all the participants of the TREC-8 filtering task are also provided.

• Journal of the Institute of Electronics Engineers of Korea TE
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• v.39 no.2
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• pp.34-43
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• 2002

In this paper, with the reference of the pulse wave acquired by the pulse-checking device, it is measured the impedance on the key measuring points of the 12 kyungmaks of the human body's left and right by using 24-channels Yangdorak machine. Then, based on the Fuzzy theory, this study diagnosed the each meridian's strength and weakness. After that, both the strengthening and weakening stimulus of magnetic fields are applied to the dominant direction to find out how the degree of strength and weakness of the meridian changed. Ultimately, the magnetic therapy that can stimulate the magnetic field at the time of diagnosis and thereby balancing the interactive of five-system(O-hang) have been materialized. For the stimulation of magnetic fields, a stimulating device which can change the direction and time on a specific part of the key measuring points of the limbs of 24 kyungmaks have been developed and used. The therapeutic methods are as follows. First, the strength and weakness of the meridian have been determined. Second, both the extremely weak meridian of Yin(Shade) and Yang(Shine), and the extremely strong meridian of Yin and Yang were adjusted by applying appropriate ascending and descending stimuli respectively. All these adjusting processes can now be carried out automatically on a personal computer(PC). 

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.2
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• pp.821-828
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• 2011

This paper developed the algorithm for improving the performance the auto pilot in the autonomous vehicle system consisting of the Track keeping control, the Automatic steering, and the Automatic mooring control. The automatic steering is the control device that could save the voyage distance and cost of fuel by reducing the unnecessary burden of driving due to the continuous artificial navigation, and avoiding the route deviation. During the step of the ship autonomic navigation control, since the wind power or the tidal force could make the ship deviate from the fixed course, the automatic steering calculates the difference between actual sailing line and the set course to keep the ship sailing in the vicinity of intended course. first, we could get the transfer function for the modeling of ship according to the Nomoto model. Considering the maneuverability, we propose it as linear model with only 4 degree of freedoms to present the heading angle response to the input of rudder angle. In this paper, the model of ship is derived from the simplified Nomoto model. Since the proposed model considers the maximum angle and rudder rate of the ship auto pilot and also designs the Fuzzy controller based on existing PID controller, the performance of the steering machine is well improved.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.14 no.5
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• pp.349-361
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• 2021

With the development of technology and the advancement of weather forecasting models and prediction methods, higher performance weather forecasting software has been developed, and more precise and accurate weather forecasting is possible by performing software using supercomputers. In this paper, the weather forecast model used by six major countries is investigated and its characteristics are analyzed, and the Korea Meteorological Administration currently uses it in collaboration with the UK Meteorological Administration since 2012 and explains the GloSea However, the existing GloSea was conducted only on the Meteorological Administration supercomputer, making it difficult for various researchers to perform detailed research by specialized field. Therefore, this paper aims to establish a standard experimental environment in which the low-resolution version based on GloSea6 currently used in Korea can be used in local systems and test it to present the localization of low-resolution GloSea6 that can be performed in the laboratory environment. In other words, in this paper, the local portability of low-resolution Globe6 is verified by establishing a basic architecture consisting of a user terminal-calculation server-repository server and performing execution tests of the software.

• Journal of Intelligence and Information Systems
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• v.21 no.1
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• pp.119-142
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• 2015

With the explosive growth in the volume of information, Internet users are experiencing considerable difficulties in obtaining necessary information online. Against this backdrop, ever-greater importance is being placed on a recommender system that provides information catered to user preferences and tastes in an attempt to address issues associated with information overload. To this end, a number of techniques have been proposed, including content-based filtering (CBF), demographic filtering (DF) and collaborative filtering (CF). Among them, CBF and DF require external information and thus cannot be applied to a variety of domains. CF, on the other hand, is widely used since it is relatively free from the domain constraint. The CF technique is broadly classified into memory-based CF, model-based CF and hybrid CF. Model-based CF addresses the drawbacks of CF by considering the Bayesian model, clustering model or dependency network model. This filtering technique not only improves the sparsity and scalability issues but also boosts predictive performance. However, it involves expensive model-building and results in a tradeoff between performance and scalability. Such tradeoff is attributed to reduced coverage, which is a type of sparsity issues. In addition, expensive model-building may lead to performance instability since changes in the domain environment cannot be immediately incorporated into the model due to high costs involved. Cumulative changes in the domain environment that have failed to be reflected eventually undermine system performance. This study incorporates the Markov model of transition probabilities and the concept of fuzzy clustering with CBCF to propose predictive clustering-based CF (PCCF) that solves the issues of reduced coverage and of unstable performance. The method improves performance instability by tracking the changes in user preferences and bridging the gap between the static model and dynamic users. Furthermore, the issue of reduced coverage also improves by expanding the coverage based on transition probabilities and clustering probabilities. The proposed method consists of four processes. First, user preferences are normalized in preference clustering. Second, changes in user preferences are detected from review score entries during preference transition detection. Third, user propensities are normalized using patterns of changes (propensities) in user preferences in propensity clustering. Lastly, the preference prediction model is developed to predict user preferences for items during preference prediction. The proposed method has been validated by testing the robustness of performance instability and scalability-performance tradeoff. The initial test compared and analyzed the performance of individual recommender systems each enabled by IBCF, CBCF, ICFEC and PCCF under an environment where data sparsity had been minimized. The following test adjusted the optimal number of clusters in CBCF, ICFEC and PCCF for a comparative analysis of subsequent changes in the system performance. The test results revealed that the suggested method produced insignificant improvement in performance in comparison with the existing techniques. In addition, it failed to achieve significant improvement in the standard deviation that indicates the degree of data fluctuation. Notwithstanding, it resulted in marked improvement over the existing techniques in terms of range that indicates the level of performance fluctuation. The level of performance fluctuation before and after the model generation improved by 51.31% in the initial test. Then in the following test, there has been 36.05% improvement in the level of performance fluctuation driven by the changes in the number of clusters. This signifies that the proposed method, despite the slight performance improvement, clearly offers better performance stability compared to the existing techniques. Further research on this study will be directed toward enhancing the recommendation performance that failed to demonstrate significant improvement over the existing techniques. The future research will consider the introduction of a high-dimensional parameter-free clustering algorithm or deep learning-based model in order to improve performance in recommendations.

• Journal of Internet Computing and Services
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• v.17 no.1
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• pp.23-33
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• 2016

The current smart lighting is shaped to offer the lighting environment suitable for current context, after identifying user's action and location through a sensor. The sensor-based context awareness technology just considers a single user, and the studies to interpret many users' various context occurrences and conflicts lack. In existing studies, a fuzzy theory and algorithm including ReBa have been used as the methodology to solve context conflict. The fuzzy theory and algorithm including ReBa just avoid an opportunity of context conflict that may occur by providing services by each area, after the spaces where users are located are classified into many areas. Therefore, they actually cannot be regarded as customized service type that can offer personal preference-based context conflict. This paper proposes a priority-based LED lighting control system interpreting multiple context conflicts, which decides services, based on the granted priority according to context type, when service conflict is faced with, due to simultaneous occurrence of various contexts to many users. This study classifies the residential environment into such five areas as living room, 'bed room, study room, kitchen and bath room, and the contexts that may occur within each area are defined as 20 contexts such as exercising, doing makeup, reading, dining and entering, targeting several users. The proposed system defines various contexts of users using an ontology-based model and gives service of user oriented lighting environment through rule based on standard and context reasoning engine. To solve the issue of various context conflicts among users in the same space and at the same time point, the context in which user concentration is required is set in the highest priority. Also, visual comfort is offered as the best alternative priority in the case of the same priority. In this manner, they are utilized as the criteria for service selection upon conflict occurrence.

• Journal of Digital Contents Society
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• v.17 no.6
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• pp.581-592
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• 2016

WebRTC has quickly grown to be the world's advanced real-time communication in several platforms such as web and mobile. In spite of the advantage, the current technology in WebRTC does not handle a big-streaming efficiently between peers and a large amount request of users on the Signaling server. Therefore, in this paper, we put our work to handle the problem by delivering the flow of data with dynamical load balancing algorithms. We analyze the request source users and direct those streaming requests to a load balancing component. More specifically, the component determines an amount of the requested resource and available resource on the response server, then it delivers streaming data to the requesting user parallel or alternately. To show how the method works, we firstly demonstrate the load-balancing algorithm by using a network simulation tool OPNET, then, we seek to implement the method into an Ubuntu server. In addition, we compare the result of our work and the original implementation of WebRTC, it shows that the method performs efficiently and dynamically than the origin.

• Journal of Broadcast Engineering
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• v.14 no.2
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• pp.238-252
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• 2009

Due to the rapid increase of available contents via the convergence of broadcasting and internet, the efficient access to personally preferred contents has become an important issue. In this paper, for recommendation scheme for TV programs using a collaborative filtering technique is studied. For recommendation of user preferred TV programs, our proposed recommendation scheme consists of offline and online computation. About offline computation, we propose reasoning implicitly each user's preference in TV programs in terms of program contents, genres and channels, and propose clustering users based on each user's preferences in terms of genres and channels by dynamic fuzzy clustering method. After an active user logs in, to recommend TV programs to the user with high accuracy, the online computation includes pulling similar users to an active user by similarity measure based on the standard preference list of active user and filtering-out of the watched TV programs of the similar users, which do not exist in EPG and ranking of the remaining TV programs by proposed rank model. Especially, in this paper, the BM (Best Match) algorithm is extended to make the recommended TV programs be ranked by taking into account user's preferences. The experimental results show that the proposed scheme with the extended BM model yields 62.1% of prediction accuracy in top five recommendations for the TV watching history of 2,441 people.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.33 no.4
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• pp.1413-1424
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• 2013

Recently, the frequency of severe storms increases in Korea. Severe storms occurring in a short time cause huge losses of both life and property. A considerable research has been performed for the flood control system development based on an accurate stream discharge prediction. A physical model is mainly used for flood forecasting and warning. Physical rainfall-runoff models used for the conventional flood forecasting process require extensive information and data, and include uncertainties which can possibly accumulate errors during modelling processes. ANFIS, a data driven model combining neural network and fuzzy technique, can decrease the amount of physical data required for the construction of a conventional physical models and easily construct and evaluate a flood forecasting model by utilizing only rainfall and water level data. A data driven model, however, has a disadvantage that it does not provide the mathematical and physical correlations between input and output data of the model. The characteristics of a data driven model according to functional options and input data such as the change of clustering radius and training data length used in the ANFIS model were analyzed in this study. In addition, the applicability of ANFIS was evaluated through comparison with the results of HEC-HMS which is widely used for rainfall-runoff model in Korea. The neuro-fuzzy technique was applied to a Cheongmicheon Basin in the South Han River using the observed precipitation and stream level data from 2007 to 2011.