• The KIPS Transactions:PartB
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• v.19B no.1
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• pp.27-30
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• 2012

One of the most fundamental functions required for an intelligent agent is to estimate its current position based upon uncertain sensor data. In this paper, we explain the implementation of a robot localization system using Particle filters, which are the most effective one of the probabilistic localization methods, and then present the result of experiments for evaluating the performance of our system. Through conducting experiments to compare the effect of the noise-free model with that of the noisy state transition model considering inherent errors of robot actions, we show that it can help improve the performance of the Particle filter localization to apply a state transition model closely approximating the uncertainty of real robot actions.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.12
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• pp.5685-5700
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• 2018

Cyber intelligence, surveillance, and reconnaissance (ISR) has become more important than traditional military ISR. An agent used in cyber ISR resides in an enemy's networks and continually collects valuable information. Thus, this agent should be able to determine what is, and is not, useful in a short amount of time. Moreover, the agent should maintain a classification rate that is high enough to select useful data from the enemy's network. Traditional feature selection algorithms cannot comply with these requirements. Consequently, in this paper, we propose an effective hybrid feature selection method derived from the filter and wrapper methods. We illustrate the design of the proposed model and the experimental results of the performance comparison between the proposed model and the existing model.

• International Journal of Naval Architecture and Ocean Engineering
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• v.8 no.3
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• pp.243-251
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• 2016

Autonomous Underwater Vehicles (AUVs) generally work in complex marine environments. Any fault in AUVs may cause significant losses. Thus, system reliability and automatic fault diagnosis are important. To address the actuator failure of AUVs, a fault diagnosis method based on the Gaussian particle filter is proposed in this study. Six free-space motion equation mathematical models are established in accordance with the actuator configuration of AUVs. The value of the control (moment) loss parameter is adopted on the basis of these models to represent underwater vehicle malfunction, and an actuator failure model is established. An improved Gaussian particle filtering algorithm is proposed and is used to estimate the AUV failure model and motion state. Bayes algorithm is employed to perform robot fault detection. The sliding window method is adopted for fault magnitude estimation. The feasibility and validity of the proposed method are verified through simulation experiments and experimental data.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.7
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• pp.629-635
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• 2016

This paper presents a method for predicting and tracking the irregular motion of bio-systems, - such as petals of flowers, butterflies or seeds of dandelion - based on the particle filtering theory. In bio-inspired system design, the ability to predict the dynamic motion of particles through adequate, experimentally verified models is important. The modeling of petal particle systems falling in air was carried out using the Bayesian probability rule. The experimental results show that the suggested method has good predictive power in the case of random disturbances induced by the turbulence of air.

• ETRI Journal
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• v.41 no.3
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• pp.358-370
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• 2019

The main aim of this study is to select the optimal set of genes from microarray cancer datasets that contribute to the prediction of specific cancer types. This study proposes the enhancement of the feature selection filter algorithm based on Joe's normalized mutual information and its use for gene selection. The proposed algorithm is implemented and evaluated on seven benchmark microarray cancer datasets, namely, central nervous system, leukemia (binary), leukemia (3 class), leukemia (4 class), lymphoma, mixed lineage leukemia, and small round blue cell tumor, using five well-known classifiers, including the naive Bayes, radial basis function network, instance-based classifier, decision-based table, and decision tree. An average increase in the prediction accuracy of 5.1% is observed on all seven datasets averaged over all five classifiers. The average reduction in training time is 2.86 seconds. The performance of the proposed method is also compared with those of three other popular mutual information-based feature selection filters, namely, information gain, gain ratio, and symmetric uncertainty. The results are impressive when all five classifiers are used on all the datasets.

• Journal of IKEEE
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• v.23 no.4
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• pp.1393-1399
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• 2019

With the rapid growth of the Internet, millions of indiscriminate advertising SMS are sent every day because of the convenience of sending and receiving data. Although we still use methods to block spam words manually, we have been actively researching how to filter spam in a various ways as machine learning emerged. However, spam words and patterns are constantly changing to avoid being filtered, so existing machine learning mechanisms cannot detect or adapt to new words and patterns. Recently, the concept of Lifelong Learning emerged to overcome these limitations, using existing knowledge to keep learning new knowledge continuously. In this paper, we propose a method of spam filtering system using ensemble techniques of naive bayesian which is most commonly used in document classification and LLML(Lifelong Machine Learning). We validate the performance of lifelong learning by applying the model ELLA and the Naive Bayes most commonly used in existing spam filters.

• The Journal of Korea Robotics Society
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• v.4 no.1
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• pp.25-33
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• 2009

One of the main problems of topological localization in a real indoor environment is variations in the environment caused by dynamic objects and changes in illumination. Another problem arises from the sense of topological localization itself. Thus, a robot must be able to recognize observations at slightly different positions and angles within a certain topological location as identical in terms of topological localization. In this paper, a possible solution to these problems is addressed in the domain of global topological localization for mobile robots, in which environments are represented by their visual appearance. Our approach is formulated on the basis of a probabilistic model called the Bayes filter. Here, marginalization of dynamics in the environment, marginalization of viewpoint changes in a topological location, and fusion of multiple visual features are employed to measure observations reliably, and action-based view transition model and action-associated topological map are used to predict the next state. We performed experiments to demonstrate the validity of our proposed approach among several standard approaches in the field of topological localization. The results clearly demonstrated the value of our approach.

• Journal of Sensor Science and Technology
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• v.31 no.2
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• pp.96-101
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• 2022

As the elderly population gradually increases, the risk of fatal fall accidents among the elderly is increasing. One way to cope with a fall accident is to determine the fall direction before impact using a wearable inertial measurement unit (IMU). In this context, a previous study proposed a method of classifying fall directions using a support vector machine with sensor velocity, acceleration, and tilt angle as input parameters. However, in this method, the IMU signals are processed through several processes, including a Kalman filter and the integration of acceleration, which involves a large amount of computation and error factors. Therefore, this paper proposes a machine learning-based method that classifies the fall direction before impact using IMU raw signals rather than processed data. In this study, we investigated the effects of the following two factors on the classification performance: (1) the usage of processed/raw signals and (2) the selection of machine learning techniques. First, as a result of comparing the processed/raw signals, the difference in sensitivities between the two methods was within 5%, indicating an equivalent level of classification performance. Second, as a result of comparing six machine learning techniques, K-nearest neighbor and naive Bayes exhibited excellent performance with a sensitivity of 86.0% and 84.1%, respectively.

• Journal of Intelligence and Information Systems
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• v.15 no.1
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• pp.51-64
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• 2009

A location tracking sensor such as GPS, INS, Radar, and optical equipments is used in tracking Maneuvering Targets with a multi-sensor, and such systems are used to track, detect, and control UAV, guided missile, and spaceship. Until now, Most of the studies related to tracking Maneuvering Targets are on fusing multiple Radars, or adding a supplementary sensor to INS and GPS. However, A study is required to change the degree of application in fusions since the system property and error property are different from sensors. In this paper, we perform the error analysis of the sensor properties by adding a ground radar to GPS and INS for improving the tracking performance by multi-sensor fusion, and suggest the tracking algorithm that improves the precision and stability by changing the sensor probability of each sensor according to the error. For evaluation, we extract the altitude values in a simulation for the trajectory of UAV and apply the suggested algorithm to carry out the performance analysis. In this study, we change the weight of the evaluated values according to the degree of error between the navigation information of each sensor to improve the precision of navigation information, and made it possible to have a strong tracking which is not affected by external purposed environmental change and disturbance.