• Journal of Mechanical Science and Technology
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• v.17 no.12
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• pp.1876-1885
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• 2003

The artificial potential field (APF) methods provide simple and efficient motion planners for practical purposes. However, these methods have a local minimum problem, which can trap an object before reaching its goal. The local minimum problem is sometimes inevitable when an object moves in unknown environments, because the object cannot predict local minima before it detects obstacles forming the local minima. The avoidance of local minima has been an active research topic in the potential field based path planing. In this study, we propose a new concept using a virtual obstacle to escape local minima that occur in local path planning. A virtual obstacle is located around local minima to repel an object from local minima. We also propose the discrete modeling method for the modeling of arbitrary shaped objects used in this approach. This modeling method is adaptable for real-time path planning because it is reliable and provides lower complexity.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.9
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• pp.13-23
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• 1996

When artificial potential field approach is used to avoid obstacle, the problem can be occurred in case that manipulator selects the path which across over an obstacle among paths. In thiscase manipulator can't reach the desired goal form obstacle. This problem is a case of structual local minimum. so this paper proposes the method to solve structual local minimum in this case. The method is that the manipulator goes via temporary goal. This paper proposes that visual region concept to select the temporary goal. The temporary goal is selected on the border of the visual region. To prove its effectiveness, two simulation examples are done by two link manipulator in two dimension and by three link manipulator in three dimension.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.33 no.3
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• pp.114-122
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• 2010

The Probabilistic Traveling Salesman Problem (PTSP) is an important topic in the study of traveling salesman problem and stochastic routing problem. The goal of PTSP is to find a priori tour visiting all customers with a minimum expected length, which simply skips customers not requiring a visit in the tour. There are many existing researches for the homogeneous version of the problem, where all customers have an identical visiting probability. Otherwise, the researches for the heterogeneous version of the problem are insufficient and most of them have focused on search base algorithms. In this paper, we propose a simple construction algorithm to solve the heterogeneous PTSP. The Minimum Expected Length Insertion (MELI) algorithm is a construction algorithm and consists of processes to decide a sequence of visiting customers by inserting the one, with the minimum expected length between two customers already in the sequence. Compared with optimal solutions, the MELI algorithm generates better solutions when the average probability is low and the customers have different visiting probabilities. We also suggest a local search method which improves the initial solution generated by the MELI algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.1059-1066
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• 2011

This paper makes a close inquiry into ill-conditioning that may be occurred in wireless localization of the sensor nodes based on network signals in the wireless sensor network and provides the clue for solving the problem. In order to estimate the location of a node based on the range information calculated using the signal propagation time, LS (Least Squares) method is usually used. The LS method estimates the solution that makes the squared estimation error minimal. When a nonlinear function is used for the wireless localization, ILS (Iterative Least Squares) method is used. The ILS method process the LS method iteratively after linearizing the nonlinear function at the initial nominal point. This method, however, has a problem that the final solution may converge into a LM (Local Minimum) instead of a GM (Global Minimum) according to the deployment of the fixed nodes and the initial nominal point. The conditions that cause the problem are explained and an adaptive method is presented to solve it, in this paper. It can be expected that the stable location solution can be provided in implementation of the wireless localization methods based on the results of this paper.

• Journal of the Korean Institute of Telematics and Electronics C
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• v.35C no.3
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• pp.79-89
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• 1998

The Error Back-Propagation(EBP) algorithm is widely applied to train a multi-layer perceptron, which is a neural network model frequently used to solve complex problems such as pattern recognition, adaptive control, and global optimization. However, the EBP is basically a gradient descent method, which may get stuck in a local minimum, leading to failure in finding the globally optimal solution. Moreover, a multi-layer perceptron suffers from locking a systematic determination of the network structure appropriate for a given problem. It is usually the case to determine the number of hidden nodes by trial and error. In this paper, we propose a new algorithm to efficiently train a multi-layer perceptron. OUr algorithm uses stochastic perturbation in the weight space to effectively escape from local minima in multi-layer perceptron learning. Stochastic perturbation probabilistically re-initializes weights associated with hidden nodes to escape a local minimum if the probabilistically re-initializes weights associated with hidden nodes to escape a local minimum if the EGP learning gets stuck to it. Addition of new hidden nodes also can be viewed asa special case of stochastic perturbation. Using stochastic perturbation we can solve the local minima problem and the network structure design in a unified way. The results of our experiments with several benchmark test problems including theparity problem, the two-spirals problem, andthe credit-screening data show that our algorithm is very efficient.

• Proceedings of the IEEK Conference
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• 1998.10a
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• pp.1041-1044
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• 1998

In this paper the cellular neural networks with annealing capability is designed. The annealing capability helps the networks escape from the local-minimum points and quickly search for the global-minimum point. A 6$\times$6 CNN chip is designed using a $0.8\mu\textrm{m}$ CMOS technology, and the chip area is 2.89mm$\times$2.89mm. The simulation results for hole filling image processing show that the general CNN has a local-minimum problem, but the annealed CNN finds the global-minimum solutions very efficiently.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.38.2-38
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• 2002

1. Introduction 2. Potential theory and Local minimum problem 3. Discrete modeling method 4. Virtual obstacle concept and extra potential function 5. Simulations 6. Conclusions

• KSCE Journal of Civil and Environmental Engineering Research
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• v.14 no.6
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• pp.1375-1383
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• 1994

The water distribution system problem consists of finding a minimum cost system design subject to hydraulic and operational constraints. Since the municipal water distribution system problem is nonconvex with multiple local minima, classical optimization methods find a local optimum. An outer flow search - inner optimization procedure is proposed for choosing a better local minimum for the water distribution systems. The pipe network is judiciously subjected to the outer search scheme which chooses alternative flow configurations to find an optimal flow division among pipes. Because the problem is nonconvex, a global search scheme called Stochastic Probing method is employed to permit a local optimum seeking method to migrate among various local minima. A local minimizer is employed for the design of least cost diameters for pipes in the network. The algorithm can also be employed for optimal design of parallel expansion of existing networks. In this paper one municipal water distribution system is considered. The optimal solutions thus found have significantly smaller costs than the ones reported previously by other researchers.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.6
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• pp.1142-1147
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• 2015

As a method to increase the scalability and efficiency of wireless sensor networks, a scheme to construct networks hierarchically has received considerable attention among researchers. Researches on the methods to construct wireless networks hierarchically have been conducted focusing on how to select nodes such that they constitute a backbone network of wireless network. Nodes comprising the backbone network should be connected themselves and can cover other remaining nodes. A problem to find the minimum number of nodes which satisfy these conditions is known as the minimum connected dominating set (MCDS) problem. The MCDS problem is NP-hard, therefore there is no efficient algorithm which guarantee the optimal solutions for this problem at present. In this paper, we propose a novel multi-start local search algorithm to solve the MCDS problem efficiently. For the performance evaluation of the proposed method, we conduct extensive experiments and report the results.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.10a
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• pp.560-567
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• 1998

This paper concerned about a imputed color printed material image in camera to decrease noise and distortion by processing median filtering with input image to identical condition. Also this paper proposed the way of compares a normal printed material with an abnormal printed material color tone with trained a learning of the error back-propagation to block classification by extracting five place from identical block(3${\times}$3) of color printed material R, G, B value. As a representative algorithm of multi-layer perceptron the error Back-propagation technique used to solve complex problems. However, the Error Back-propagation is algorithm which basically used a gradient descent method which can be converged to local minimum and the Back Propagation train include problems, and that may converge in a local minimum rather than get a global minimum. The network structure appropriate for a given problem. In this paper, a good result is obtained by improve initial condition and adjust th number of hidden layer to solve the problem of real time process, learning and train.