• Journal of Institute of Control, Robotics and Systems
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• v.13 no.9
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• pp.903-909
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• 2007

Mobile Robots are increasingly being used to perform tasks in unknown environment. The potential of robots to undertake such tasks lies in their ability to intelligently and efficiently search in an environment. To achieve autonomous mobile robot navigation, efficient path planner and accurate localization technique are the fundamental issues that should be addressed. This paper presents mobile robot localization using IRID(InfraRed IDentification) as artificial landmarks. IRID has highly deterministic characteristics, different from RFID. By putting several IRID emitters on the ceiling, the floor is divided into many different sectors and each sector is set to have a unique identification. Dead-reckoning provides the estimated robot configuration but the error becomes accumulated as the robot travels. IRID information tells the sector the robot is in, but the size of the uncertainty is too large if only the IRID information is used. This paper presents an algorithm which combines both the encoder and the IRID information so that the size of the uncertainty becomes smaller. It also introduces a framework which can be used with other types of the artificial landmarks. The characteristics of the developed IRID and the proposed algorithm are verified from the simulation results and experiments.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.192-192
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• 2008

As the lifetime of nuclear power plants (NPPs) reaches design life, the probability for fatal accidents increases. Most of accidents are known to be caused by degradation of mechanical components. Pressure tubes are the most important components in CANDU reactor. They are subjected to various aging mechanisms such as delayed hydride cracking (DHC), irradiation and corrosion, etc. Therefore, the integrity of pressure tube is key concern in CANDU reactor. Up to recently, conventional deterministic approaches have been utilized to evaluate the integrity of components. However, there are many uncertainties to prevent a rational evaluation. The objective of this paper is to assess the failure probability of pressure tube in CANDU. To do this, probability fracture mechanics (PFM) analysis based on the Genetic Algorithm (GA) is performed. For the verification of the analysis, a comparison of the PFM analysis using a commercial code and mathematical method is carried out.

• Journal of applied mathematics & informatics
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• v.27 no.3_4
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• pp.621-638
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• 2009

The linear system Ax = b will have (i) no solution, (ii) only one non-trivial (trivial) solution, or (iii) infinity of solutions. Our focus will be on cases (ii) and (iii). The mathematical models of many real-world problems give rise to (a) ill-conditioned linear systems, (b) singular linear systems (A is singular with all its linearly independent rows are sufficiently linearly independent), or (c) ill-conditioned singular linear systems (A is singular with some or all of its strictly linearly independent rows are near-linearly dependent). This article highlights the scope and need of a randomized algorithm for ill-conditioned/singular systems when a reasonably narrow domain of a solution vector is specified. Further, it stresses that with the increasing computing power, the importance of randomized algorithms is also increasing. It also points out that, for many optimization linear/nonlinear problems, randomized algorithms are increasingly dominating the deterministic approaches and, for some problems such as the traveling salesman problem, randomized algorithms are the only alternatives.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.7A
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• pp.727-734
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• 2004

Collision Management Protocol (CMP) efficiently resolves collisions when data frames are transmitted in networks consisting of HomPNA 3.0 asynchronous MAC mode device with random access. Unlike Distributed Fair Priority Queueing (DFPQ) algorithm in HomePNA 2.0 or Binary Exponential Backoff (BEB) algorithm in IEEE 802.11, order of retransmission is decided according to Collision Signaling Sequence (CSS) values allocated to each device. Thus, CMP can minimize the number of mean collisions because order of retransmission is decided in a deterministic way. In this paper. we evaluate the saturation performance of CMP in HomePNA 3.0 using an analytic method.

• Communications for Statistical Applications and Methods
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• v.25 no.5
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• pp.471-488
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• 2018

In this paper, we propose extending proportional hazards frailty models to allow a discrete distribution for the frailty variable. Having zero frailty can be interpreted as being immune or cured. Thus, we develop a new survival model induced by discrete frailty with zero-inflated power series distribution, which can account for overdispersion. This proposal also allows for a realistic description of non-risk individuals, since individuals cured due to intrinsic factors (immunes) are modeled by a deterministic fraction of zero-risk while those cured due to an intervention are modeled by a random fraction. We put the proposed model in a Bayesian framework and use a Markov chain Monte Carlo algorithm for the computation of posterior distribution. A simulation study is conducted to assess the proposed model and the computation algorithm. We also discuss model selection based on pseudo-Bayes factors as well as developing case influence diagnostics for the joint posterior distribution through ${\psi}-divergence$ measures. The motivating cutaneous melanoma data is analyzed for illustration purposes.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.2
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• pp.703-722
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• 2016

Passive wireless devices have increasing civilian and military applications, especially in the scenario with wearable devices and Internet of Things. In this paper, we study indoor localization of a target equipped with radio-frequency identification (RFID) device in ultra-wideband (UWB) wireless networks. With known room layout, deterministic multipath components, including the line-of-sight (LOS) signal and the reflected signals via multipath propagation, are employed to locate the target with one transmitter and a single inaccurate receiver. A factor graph corresponding to the joint posterior position distribution of target and receiver is constructed. However, due to the mixed distribution in the factor node of likelihood function, the expressions of messages are intractable by directly applying belief propagation on factor graph. To this end, we approximate the messages by Gaussian distribution via minimizing the Kullback-Leibler divergence (KLD) between them. Accordingly, a parametric message passing algorithm for indoor passive localization is derived, in which only the means and variances of Gaussian distributions have to be updated. Performance of the proposed algorithm and the impact of critical parameters are evaluated by Monte Carlo simulations, which demonstrate the superior performance in localization accuracy and the robustness to the statistics of multipath channels.

• Journal of the Korean Institute of Telematics and Electronics C
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• v.35C no.9
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• pp.29-37
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• 1998

In weighted random pattern testing it is an important issue to find the optimal weight sets for achieving a high fault coverage using a small number of weighted random patterns. In this paper, a new weight set optimization algorithm is developed, which can generate the optimal weight sets in an efficient way using the sampling probabilities of deterministic tests patterns. In addition, the simulation based method of finding the proper maximum Hamming distance is presented. Experimental results for ISCAS 85 benchmark circuits prove the effectiveness of the new weight set optimization algorithm and the method of finding the proper maximum Hamming distance.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.137-146
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• 2021

When controlling manipulator, degree of freedom is lost in singularity so specific joint velocity does not propagate to the end effector. In addition, control problem occurs because jacobian inverse matrix can not be calculated. To avoid singularity, we apply Deep Deterministic Policy Gradient(DDPG), algorithm of reinforcement learning that rewards behavior according to actions then determines high-reward actions in simulation. DDPG uses off-policy that uses 𝝐-greedy policy for selecting action of current time step and greed policy for the next step. In the simulation, learning is given by negative reward when moving near singulairty, and positive reward when moving away from the singularity and moving to target point. The reward equation consists of distance to target point and singularity, manipulability, and arrival flag. Dual arm manipulators hold long rod at the same time and conduct experiments to avoid singularity by simulated path. In the learning process, if object to be avoided is set as a space rather than point, it is expected that avoidance of obstacles will be possible in future research.

• Journal of the Korea Society of Computer and Information
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• v.26 no.1
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• pp.11-17
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• 2021

In this paper, we demonstrate a performance boost by parallelizing a purely functional bisimulation algorithm on a multicore processor machine. The key idea of this parallelization is exploiting the referential transparency of purely functional programs to minimize refactoring of the original implementation without any parallel constructs. Both original and parallel implementations are written in Haskell, a purely functional programming language. The change from the original program to the parallel program is minuscule, maintaining almost original structure of the program. Through benchmark, we show that the proposed parallelization doubles the performance of the bisimulation test compared to the original non-parallel implementation. We also shaw that similar performance boost is also possible for a memoized version of the bisimulation implementation.

• Structural Engineering and Mechanics
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• v.88 no.4
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• pp.301-309
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• 2023

In this paper, a new modified conjugate gradient (MCG) method is presented which is based on a new gradient regularizer, and this method is used to identify the dynamic load on airfoil structure without and with considering random structure parameters. First of all, the newly proposed algorithm is proved to be efficient and convergent through the rigorous mathematics theory and the numerical results of determinate dynamic load identification. Secondly, using the perturbation method, we transform uncertain inverse problem about force reconstruction into determinate load identification problem. Lastly, the statistical characteristics of identified load are evaluated by statistical methods. Especially, this newly proposed approach has successfully solved determinate and uncertain inverse problems about dynamic load identification. Numerical simulations validate that the newly developed method in this paper is feasible and stable in solving load identification problems without and with considering random structure parameters. Additionally, it also shows that most of the observation error of the proposed algorithm in solving dynamic load identification of deterministic and random structure is respectively within 11.13%, 20%.