• 로봇학회논문지
• /
• 제1권2호
• /
• pp.107-116
• /
• 2006

We propose a planning algorithm to automatically generate a robust behavior plan (RBP) with which mobile robots can achieve their task goal from any initial states under dynamically changing environments. For this, task description space (TDS) is formulated, where a redundant task configuration space and simulation model of physical space are employed. Successful task episodes are collected, where $A^*$ algorithm is employed. Interesting TDS state vectors are extracted, where occurrence frequency is used. Clusters of TDS state vectors are found by using state transition tuples and features of state transition tuples. From these operations, characteristics of successfully performed tasks by a simulator are abstracted and generalized. Then, a robust behavior plan is constructed as an ordered tree structure, where nodes of the tree are represented by attentive TDS state vector of each cluster. The validity of our method is tested by real robot's experimentation for a box-pushing-into-a-goal task.

• Journal of information and communication convergence engineering
• /
• 제5권3호
• /
• pp.209-214
• /
• 2007

In this paper, we proposed a new MANET (Mobile Ad hoc Networks) technology of routing protocol. The MANET has a mobility formation of mobile nodes in the wireless networks. Wireless network have two types architecture: the Tree based multicast and shared tree based. The two kind's architecture of general wireless networks have difficult to solve the problems existing in the network, such as connectivity, safety, and reliability. For this purpose, as using that ADDMRP (Ad hoc network Doppler effect-based for Dynamic Multicast Routing Protocol), this study gives the following suggestion for new topology through network durability and Omni-directional information. The proposed architectures have considered the mobility location, mobility time, density, velocity and simultaneous using node by Doppler effects and improved the performance.

• 한국전자거래학회지
• /
• 제9권1호
• /
• pp.83-104
• /
• 2004

최근 전자상거래시스템을 비롯하여 대용량 데이터의 저장과 검색을 요구하는 정보시스템들이 광범위하게 활용되고 있다. 이에 맞추어 클라이언트가 메타데이터를 직접 관리하며 데이터에 접근할 수 있는 SAN 환경의 리눅스클러스터 파일시스템이 연구되고 있으며, 파일의 빠른 검색을 위해 확장 해시 기반의 세미플랫 디렉토리 구조가 제안되었다[1]. 본 연구에서는 리눅스 환경에서 확장 해시 기반의 세미플랫 디렉토리를 설계 및 구현하였으며, 구현된 시스템의 실용성을 평가하기 위하여 B+ 트리 기반의 디렉토리 구조를 함께 구현하여 성능을 비교하였다. 디렉토리의 성능을 비교 분석한 결과, 파일의 삽입, 삭제, 검색 성능에서는 확장 해싱 기반의 디렉토리가 우수하였으나, 전체 파일의 목록을 정렬하는 데는 B+ 트리 기반의 디렉토리가 더 우수한 성능을 보였다.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2006년도 추계학술대회 논문집 전기기기 및 에너지변환시스템부문
• /
• pp.34-36
• /
• 2006

In this paper, we will treat the diagnosis problem to accurately determine fault types. The judgement of fault types is accomplished by observing the cluster newly formed with faults and clustering the input current waveforms to intrinsically show the conditions with the dignet that is a clustering algorithm. The types of input current waveforms are, however, constrained during normal operation, though it considers the load character. In case of faults. new clusters are generated outside the clusters. which appear during normal operation, because the input current waveforms of the induction motor are generated by the type which is not observed in case of faults. The diagnosis about the types of faults is essential to building a fault tree about the induction motor, and it removes the causes of the faults using a fuzzy logic. We, first, constitute a fault tree, which connects with the parts and the entire system of the induction motor, and investigate fault modes which can be generated from the fault tree and the relationship of the cause and the effect of each part (of the motor). Also, we distinguish the faults of each part by means of inducing the said of fuzzy relation equations encapsulating the relationship of the fault modes and each part.

• 제어로봇시스템학회논문지
• /
• 제11권10호
• /
• pp.851-856
• /
• 2005

The DNA and protein data of diverse species have been daily discovered and deposited in the public archives according to each established format. Database systems in the public archives provide not only an easy-to-use, flexible interface to the public, but also in silico analysis tools of unidentified sequence data. Of such in silico analysis tools, multiple sequence alignment [1] methods relying on pairwise alignment and Smith-Waterman algorithm [2] enable us to identify unknown DNA, protein sequences or phylogenetic relation among several species. However, in the existing multiple alignment method as the number of sequences increases, the runtime increases exponentially. In order to remedy this problem, we adopted a parallel processing suffix tree algorithm that is able to search for common subsequences at one time without pairwise alignment. Also, the cross-matching subsequences triggering inexact-matching among the searched common subsequences might be produced. So, the cross-matching masking process was suggested in this paper. To identify the function of the clusters generated by suffix tree clustering, BLAST was combined with a clustering tool. Our clustering and annotating tool is summarized as the following steps: (1) construction of suffix tree; (2) masking of cross-matching pairs; (3) clustering of gene sequences and (4) annotating gene clusters by BLAST search. The system was successfully evaluated with 22 gene sequences in the pyrubate pathway of bacteria, clustering 7 clusters and finding out representative common subsequences of each cluster

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제17권8호
• /
• pp.2188-2208
• /
• 2023

Quality of Service (QoS) is a critical feature of Wireless Sensor Networks (WSNs) with routing algorithms. Data packets are moved between cluster heads with QoS using a number of energy-efficient routing techniques. However, sustaining high scalability while increasing the life of a WSN's networks scenario remains a challenging task. Thus, this research aims to develop an energy-balancing component that ensures equal energy consumption for all network sensors while offering flexible routing without congestion, even at peak hours. This research work proposes a Gravitational Blackhole Search Optimised splay tree routing framework. Based on the splay tree topology, the routing procedure is carried out by the suggested method using three distinct steps. Initially, the proposed GBSO decides the optimal route at initiation phases by choosing the root node with optimum energy in the splay tree. In the selection stage, the steps for energy update and trust update are completed by evaluating a novel reliance function utilising the Parent Reliance (PR) and Grand Parent Reliance (GPR). Finally, in the routing phase, using the fitness measure and the minimal distance, the GBSO algorithm determines the best route for data broadcast. The model results demonstrated the efficacy of the suggested technique with 99.52% packet delivery ratio, a minimum delay of 0.19 s, and a network lifetime of 1750 rounds with 200 nodes. Also, the comparative analysis ensured that the suggested algorithm surpasses the effectiveness of the existing algorithm in all aspects and guaranteed end-to-end delivery of packets.

• 한국균학회소식:학술대회논문집
• /
• 한국균학회 2014년도 춘계학술대회 및 임시총회
• /
• pp.27-28
• /
• 2014

Beauveria bassiana (Cordycipitaceae, Hypocreales, Ascomycota) is an anamorphic fungus having a potential to be used as a biological control agent because it parasitizes a wide range of arthropod hosts including termites, aphids, beetles and many other insects. A number of bioactive secondary metabolites (SMs) have been isolated from B. bassiana and functionally verified. Among them, beauvericin and bassianolide are cyclic depsipeptides with antibiotic and insecticidal effects belonging to the enniatin family. Non-ribosomal peptide synthetases (NRPSs) play a crucial role in the synthesis of these secondary metabolites. NRPSs are modularly organized multienzyme complexes in which each module is responsible for the elongation of proteinogenic and non-protein amino acids, as well as carboxyl and hydroxyacids. A minimum of three domains are necessary for one NRPS elongation module: an adenylation (A) domain for substrate recognition and activation; a tholation (T) domain that tethers the growing peptide chain and the incoming aminoacyl unit; and a condensation (C) domain to catalyze peptide bond formation. Some of the optional domains include epimerization (E), heterocyclization (Cy) and oxidation (Ox) domains, which may modify the enzyme-bound precursors or intermediates. In the present study, we analyzed genomes of B. bassiana and its allied species in Hypocreales to verify the distribution of NRPS-encoding genes involving biosynthesis of beauvericin and bassianolide, and to unveil the evolutionary processes of the gene clusters. Initially, we retrieved completely or partially assembled genomic sequences of fungal species belonging to Hypocreales from public databases. SM biosynthesizing genes were predicted from the selected genomes using antiSMASH program. Adenylation (A) domains were extracted from the predicted NRPS, NRPS-like and NRPS-PKS hybrid genes, and used them to construct a phylogenetic tree. Based on the preliminary results of SM biosynthetic gene prediction in B. bassiana, we analyzed the conserved gene orders of beauvericin and bassianolide biosynthetic gene clusters among the hypocrealean fungi. Reciprocal best blast hit (RBH) approach was performed to identify the regions orthologous to the biosynthetic gene cluster in the selected fungal genomes. A clear recombination pattern was recognized in the inferred A-domain tree in which A-domains in the 1st and 2nd modules of beauvericin and bassianolide synthetases were grouped in CYCLO and EAS clades, respectively, suggesting that two modules of each synthetase have evolved independently. In addition, inferred topologies were congruent with the species phylogeny of Cordycipitaceae, indicating that the gene fusion event have occurred before the species divergence. Beauvericin and bassianolide synthetases turned out to possess identical domain organization as C-A-T-C-A-NM-T-T-C. We also predicted precursors of beauvericin and bassianolide synthetases based on the extracted signature residues in A-domain core motifs. The result showed that the A-domains in the 1st module of both synthetases select D-2-hydroxyisovalerate (D-Hiv), while A-domains in the 2nd modules specifically activate L-phenylalanine (Phe) in beauvericin synthetase and leucine (Leu) in bassianolide synthetase. antiSMASH ver. 2.0 predicted 15 genes in the beauvericin biosynthetic gene cluster of the B. bassiana genome dispersed across a total length of approximately 50kb. The beauvericin biosynthetic gene cluster contains beauvericin synthetase as well as kivr gene encoding NADPH-dependent ketoisovalerate reductase which is necessary to convert 2-ketoisovalarate to D-Hiv and a gene encoding a putative Gal4-like transcriptional regulator. Our syntenic comparison showed that species in Cordycipitaceae have almost conserved beauvericin biosynthetic gene cluster although the gene order and direction were sometimes variable. It is intriguing that there is no region orthologous to beauvericin synthetase gene in Cordyceps militaris genome. It is likely that beauvericin synthetase was present in common ancestor of Cordycipitaceae but selective gene loss has occurred in several species including C. militaris. Putative bassianolide biosynthetic gene cluster consisted of 16 genes including bassianolide synthetase, cytochrome P450 monooxygenase, and putative Gal4-like transcriptional regulator genes. Our synteny analysis found that only B. bassiana possessed a bassianolide synthetase gene among the studied fungi. This result is consistent with the groupings in A-domain tree in which bassianolide synthetase gene found in B. bassiana was not grouped with NRPS genes predicted in other species. We hypothesized that bassianolide biosynthesizing cluster genes in B. bassiana are possibly acquired by horizontal gene transfer (HGT) from distantly related fungi. The present study showed that B. bassiana is the only species capable of producing both beauvericin and bassianolide. This property led to B. bassiana infect multiple hosts and to be a potential biological control agent against agricultural pests.

• 한국산림과학회지
• /
• 제103권4호
• /
• pp.564-573
• /
• 2014

이 연구는 우리나라 서해안, 남해안, 동해안의 주요 해안방재림 실태조사 결과를 바탕으로 군집분석을 실시하여 각 해안별 해안방재림의 특징과 각 해안을 대표할 수 있는 해안방재림 선정을 목적으로 하였다. 해안방재림 방재효과에 영향을 주는 임분밀도와 수고, DBH, 해안방재림 폭을 기준으로 하여 각 군집의 특성을 분석한 결과, 해안별 각각 2개의 군집으로 분류되었다. 서해안은 임분밀도가 높고 DBH가 작은 특징을 갖는 충청남도 태안군 원북면 황촌리 구례포해수욕장 해안방재림과 수고가 높은 특징을 보이는 전라북도 부안군 변산면 운산리 고사포해수욕장 해안방재림이 각 군집을 대표하는 해안방재림이었다. 남해안은 수고가 낮은 특징을 보이는 경상남도 남해군 설천면 남양리 해안방재림과 DBH가 큰 전라남도 완도군 신지면 동고리해수욕장 해안방재림으로 나타났다. 동해안은 임분밀도가 낮은 경상남도 경주시 양북면 봉길리 해안방재림과 수고가 낮고 DBH가 작은 강원도 강릉시 견소동 안목해수욕장 해안방재림이 대표적이다. 이 연구는 앞으로 각 해안별 가장 적합한 해안방재림을 설정하는 데에 기초자료로 활용될 것으로 기대된다.

• 한국산림과학회지
• /
• 제78권3호
• /
• pp.255-262
• /
• 1989

강원도(江原道) 점봉산(點鳳山) 일대 중생혼효림(中生混淆林)의 식생(植生)에 대하여 Classification과 Ordination을 병행 사용한 분석법을 시도하였다. 조사 삼림내의 70개 표본구에 나타난 8종(種)의 목본식물(木本植物)의 수도(數度)를 바탕으로, Classification기법(技) 중의 하나인 Cluster 분석에 의하여 다섯 식생군(植生群)이 분류(分類)되었으며, 각 식생군(植生群) 별로 수종(樹種) 다양성(多樣性)도 비교 검토되었다. Cluster 분석이 분류한 식생군(植生群)별 교목(喬木) 수종(樹種)의 중요치(重要値)를 매개변수(媒介變數)로 하여 Principal component analysis (PCA) 한 결과로써 각 식생군별 수종(樹種) 구성(構成) 상태(狀態)의 유사성(類似性)을 비교할 수 있었다. 단풍나무, 물푸레나무, 신갈나무 그리고 고로쇠나무의 eigenvector 즉, 식생군이 ordination된 좌표(座標) 위치를 결정하는 인자(因子) 부가율(附加率)이 높게 나타남으로써, 본 연구대상 삼림(森林)에서는 이들 네가지 수종(樹種)의 분포(分布)가 삼림군의(森林群義) 분류(分類)의 핵심이라 할 수 있다.

• 전자공학회논문지CI
• /
• 제49권3호
• /
• pp.62-73
• /
• 2012

저속, 저전력, 저가의 특징을 갖는 IEEE 802.15.4 standard는 무선 센서 네트워크 환경에서 효율적이다. IEEE 802.15.4 표준에서 사용하는 다양한 토폴로지 중에서도 많은 노드들이 참여하는 클러스터-트리 토폴로지는 싱크 노드 주변에 트래픽이 집중되어 전송 지연과 에너지 소모 증가 및 데이터 손실을 초래하게 된다. 본 논문에서는 효율적인 데이터 전송을 위해 패킷간의 충돌을 최소화하고 제한된 에너지를 효율적으로 사용하기 위해 액티브 구간을 동적으로 할당하는 MRS-DCA알고리즘을 제안한다. 이 알고리즘은 IEEE 802.15.4 standard의 액티브구간에 RP(Reservation Period)를 할당하여 사용한다. 또한, EWMA를 이용한 할당 알고리즘으로 트래픽을 예측하고 이것을 기반으로 RP와 CAP를 동적으로 할당함으로써 안정적인 데이터 전송을 보장한다. 제안하는 MRS-DCA알고리즘의 성능 비교를 위하여 IEEE 802.15.4, DCA scheme과 비교한 결과, 액티브 구간의 단축으로 전력 소모가 적어지고 충돌 회피율의 상승으로 높은 전송률을 보이는 것을 확인하였다.