• Journal of Institute of Control, Robotics and Systems
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• v.15 no.6
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• pp.619-625
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• 2009

FastSLAM which uses the Rao-Blackwellized particle filter is one of the famous solutions to SLAM (Simultaneous Localization and Mapping) problem that estimates concurrently a robot's pose and surrounding environment. However, the particle depletion problem arises from the loss of the particle diversity in the resampling process of FastSLAM. Then, the performance of FastSLAM degenerates over the time. In this work, DIR (Density Information-based Resampling) technique is proposed to solve the particle depletion problem. First, the cluster is constructed based on the density of each particle, and the density of each cluster is computed. After that, the number of particles to be reserved in each cluster is determined using a linear method based on the distance between the highest density cluster and each cluster. Finally, the resampling process is performed by rejecting the particles which are not selected to be reserved in each cluster. The performance of the DIR proposed to solve the particle depletion problem in FastSLAM was verified in computer simulations, which significantly reduced both the RMS position error and the feature error.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.7 no.1
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• pp.1-6
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• 2007

The SVDD (support vector data description) is one of the most well-known one-class support vector learning methods, in which one tries the strategy of utilizing balls defined on the feature space in order to distinguish a set of normal data from all other possible abnormal objects. Recently, with the objective of generalizing the SVDD which treats all training data with equal importance, the so-called D-SVDD (density-induced support vector data description) was proposed incorporating the idea that the data in a higher density region are more significant than those in a lower density region. In this paper, we consider the problem of further improving the D-SVDD toward the use of a partial reference set for testing, and propose an LMI (linear matrix inequality)-based optimization approach to solve the improved version of the D-SVDD problems. Our approach utilizes a new class of density-induced distance measures based on the RSDE (reduced set density estimator) along with the LMI-based mathematical formulation in the form of the SDP (semi-definite programming) problems, which can be efficiently solved by interior point methods. The validity of the proposed approach is illustrated via numerical experiments using real data sets.

• Journal of Korean Society for Quality Management
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• v.49 no.2
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• pp.201-211
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• 2021

Purpose: This paper proposes a density adaptive grid algorithm for the k-NN regression model to reduce the computation time for large datasets without significant prediction accuracy loss. Methods: The proposed method utilizes the concept of the grid with centroid to reduce the number of reference data points so that the required computation time is much reduced. Since the grid generation process in this paper is based on quantiles of original variables, the proposed method can fully reflect the density information of the original reference data set. Results: Using five real-life datasets, the proposed k-NN regression model is compared with the original k-NN regression model. The results show that the proposed density adaptive grid-based k-NN regression model is superior to the original k-NN regression in terms of data reduction ratio and time efficiency ratio, and provides a similar prediction error if the appropriate number of grids is selected. Conclusion: The proposed density adaptive grid algorithm for the k-NN regression model is a simple and effective model which can help avoid a large loss of prediction accuracy with faster execution speed and fewer memory requirements during the testing phase.

• Journal of the Korean Statistical Society
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• v.31 no.2
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• pp.261-276
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• 2002

Probability density or its derivatives may have a discontinuity/change point at an unknown location. We propose a method of estimating the location and the jump size of the discontinuity point based on kernel type density or density derivatives estimators with one-sided equivalent kernels. The rates of convergence of the proposed estimators are derived, and the finite-sample performances of the methods are illustrated by simulated examples.

• Communications for Statistical Applications and Methods
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• v.21 no.5
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• pp.435-444
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• 2014

The most widely used optimal bandwidth is known to minimize the mean integrated squared error(MISE) of a kernel density estimator from a true density. In this article proposes, we propose a bandwidth which asymptotically minimizes the mean integrated density power divergence(MIDPD) between a true density and a corresponding kernel density estimator. An approximated form of the mean integrated density power divergence is derived and a bandwidth is obtained as a product of minimization based on the approximated form. The resulting bandwidth resembles the optimal bandwidth by Parzen (1962), but it reflects the nature of a model density more than the existing optimal bandwidths. We have one more choice of an optimal bandwidth with a firm theoretical background; in addition, an empirical study we show that the bandwidth from the mean integrated density power divergence can produce a density estimator fitting a sample better than the bandwidth from the mean integrated squared error.

• Journal of the Korean Data and Information Science Society
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• v.25 no.4
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• pp.951-959
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• 2014

Recently Hazelton and Turlach (2009) proposed a weighted kernel density estimator for the deconvolution problem. In the case of Gaussian kernels and measurement error, they argued that the weighted kernel density estimator is a competitive estimator over the classical deconvolution kernel estimator. In this paper we consider weighted kernel density estimators when sample observations are contaminated by double exponentially distributed errors. The performance of the weighted kernel density estimators is compared over the classical deconvolution kernel estimator and the kernel density estimator based on the support vector regression method by means of a simulation study. The weighted density estimator with the Gaussian kernel shows numerical instability in practical implementation of optimization function. However the weighted density estimates with the double exponential kernel has very similar patterns to the classical kernel density estimates in the simulations, but the shape is less satisfactory than the classical kernel density estimator with the Gaussian kernel.

• KIPS Transactions on Computer and Communication Systems
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• v.2 no.6
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• pp.253-256
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• 2013

For the reliable delivery of safety-related information to vehicles in the VANET, a reliable VANET routing protocol is required. In this paper, we propose a routing protocol that works based on the road vehicle density information for fast and reliable communications among vehicles within the city environment VANET. In the proposed mechanism, each vehicle computes the road vehicle density by using beacon messages and the road information. Based on the road vehicle density information, each vehicle establishes a reliable route for packet delivery. Through the NS-2 based simulations, we compare our proposed mechanism with GPSR and show that our mechanism outperforms GPSR in terms of packet delivery success rate.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.27 no.2
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• pp.132-135
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• 2014

The Sr based ceramic thin films were deposited on Si substrate by RF magnetron sputtering method. And Sr based thin films were annealed at $500{\sim}700^{\circ}C$ using RTA. The surface roughness showed about 2.4 nm in annealed thin film at $600^{\circ}C$. The capacitance density of Sr based thin films were increased with the increase of annealing temperature. The maximum capacitance density of $0.6{\mu}F/cm^2$ was obtained by annealing temperature at $700^{\circ}C$. The voltage dependence of dielectric loss showed about 0.02 in voltage ranges of -10~+10 V. The leakage current density of annealing temperature of $600^{\circ}C$ was the $4.0{\times}10^{-6}\;A/cm^2$ at applied voltage of -5~+5 V.

• Korean Journal of Materials Research
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• v.33 no.7
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• pp.273-278
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• 2023

In this study, based on the saturation magnetic flux density experimental values (B_s) of 622 Fe-based bulk metallic glasses (BMGs), regression models were applied to predict B_s using artificial neural networks (ANN), and prediction performance was evaluated. Model performance evaluation was investigated by using the F1 score together with the coefficient of determination (R² score), which is mainly used in regression models. The coefficient of determination can be used as a performance indicator, since it shows the predicted results of the saturation magnetic flux density of full material datasets in a balanced way. However, the BMG alloy contains iron and requires a high saturation magnetic flux density to have excellent applicability as a soft magnetic material, and in this study F1 score was used as a performance indicator to better predict B_s above the threshold value of B_s (1.4 T). After obtaining two ANN models optimized for the R² and F1 score conditions, respectively, their prediction performance was compared for the test data. As a case study to evaluate the prediction performance, new Fe-based BMG datasets that were not included in the training and test datasets were predicted using the two ANN models. The results showed that the model with an excellent F1 score achieved a more accurate prediction for a material with a high saturation magnetic flux density.

• Applied Microscopy
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• v.50
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• pp.6.1-6.6
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• 2020

The cerebellum is a region of the brain that plays an important role in motor control. It is classified phylogenetically into archicerebellum, paleocerebellum and neocerebellum. The Purkinje cells are lined in a row called Purkinje cell layer and it has a unique dendritic branches with many spines. The previous study reported that there is a difference of synapse density according to the lobules based on large two-dimensional data. However, recent study with high voltage electron microscopy showed there was no differences in dendritic spine density of the Purkinje cell according to its phylogenetic lobule. We analyzed Purkinje cell density in the II, VI and X lobules by stereological modules and synaptic density was estimated by double disector based on Purkinje cell density in the molecular layer of each lobule. The results showed that there was significant difference in the Purkinje cell density and synapse number according to their phylogenetic lobules. The number of Purkinje cell in a given volume was larger in the archicerebellum, but synapse density was higher in the neocerebellum. These data suggest that cellular and synaptic organization of the Purkinje cell is different according to their phylogenetic background.