• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1939-1943
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• 1991

Path planning is an important task for optimal motion of a robot in structured or unstructured environment. The goal of this paper is to plan the shortest collision-free path in 3D, when a robot is navigated to pick up some tools or to repair some parts from various locations. To accomplish the goal of this paper, the Path Coordinator is proposed to have the capabilities of an obstacle avoidance strategy[3] and a traveling salesman problem strategy(TSP)[23]. The obstacle avoidance strategy is to plan the shortest collision-free path between each pair of n locations in 2D or in 3D. The TSP strategy is to compute a minimal system cost of a tour that is defined as a closed path navigating each location exactly once. The TSP strategy can be implemented by the Neural Network. The obstacle avoidance strategy in 2D can be implemented by the VGraph Algorithm. However, the VGraph Algorithm is not useful in 3D, because it can't compute the global optimality in 3D. Thus, the Path Coordinator is proposed to solve this problem, having the capabilities of selecting the optimal edges by the modified Genetic Algorithm[21] and computing the optimal nodes along the optimal edges by the Recursive Compensation Algorithm[5].

• Genomics & Informatics
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• v.1 no.2
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• pp.94-100
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• 2003

Motivation: Many have observed a nonlinear relationship between the signal intensity and the transcript abundance in microarray data. The first step in analyzing the data is to normalize it properly, and this should include a correction for the nonlinearity. The commonly used linear normalization schemes do not address this problem. Results: Nonlinearity is present in both cDNA and oligonucleotide arrays, but we concentrate on the latter in this paper. Across a set of chips, we identify those genes whose within-chip ranks are relatively constant compared to other genes of similar intensity. For each gene, we compute the sum of the squares of the differences in its within-chip ranks between every pair of chips as our statistic and we select a small fraction of the genes with the minimal changes in ranks at each intensity level. These genes are most likely to be non-differentially expressed and are subsequently used in the normalization procedure. This method is a generalization of the rank-invariant normalization (Li and Wong, 2001), using all available chips rather than two at a time to gather more information, while using the chip that is least likely to be affected by nonlinear effects as the reference chip. The assumption in our method is that there are at least a small number of non­differentially expressed genes across the intensity range. The normalized expression values can be substantially different from the unnormalized values and may result in altered down-stream analysis.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.79-84
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• 1992

Path planning is an important task for optimal motion of a robot in structured or unstructured environment. The goal of this paper is to plan the optimal collision-free path in 3D, when a robot is navigated to pick up some tools or to repair some parts from various locations. To accomplish the goal, the Path Coordinator is proposed to have the capabilities of an obstacle avoidance strategy and a traveling salesman problem strategy (TSP). The obstacle avoidance strategy is to plan the shortest collision-free path between each pair of n locations in 2D or in 3D. The TSP strategy is to compute a minimal system cost of a tour that is defined as a closed path navigating each location exactly once. The TSP strategy can be implemented by the Hopfield Network. The obstacle avoidance strategy in 2D can be implemented by the VGraph Algorithm. However, the VGraph Algorithm is not useful in 3D, because it can't compute the global optimality in 3D. Thus, the Path Coordinator is used to solve this problem, having the capabilities of selecting the optimal edges by the modified Genetic Algorithm and computing the optimal nodes along the optimal edges by the Recursive Compensation Algorithm.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.6 no.5
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• pp.1354-1372
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• 2012

Route establishment in Mobile Ad Hoc Network (MANET) is the key mechanism to a successful connection between a pair of source and destination nodes. An efficient routing protocol constructs routing path with minimal time, less routing overhead and capable of utilizing all possible link connectivity. In general, most on-demand MANET routing protocols operates over symmetrical and bidirectional routing path, which is infeasible due to the inherent heterogeneous properties of wireless devices. Simulation results show that the presence of unidirectional links on a network severely affect the performance of a routing protocol. In this paper, a robust protocol independent scheme is proposed, which enable immediate rediscovery of alternative route for a path blocked by a unidirectional link. The proposed scheme is efficient; route rediscovery is locally computed, which results in significant minimization of multiple route packets flooding. Nodes may exploit route information of immediate neighbors using the local reply broadcast technique, which then redirect the control packets around the unidirectional links, therefore maintaining the end-to-end bidirectional connection. The proposed scheme along with Ad Hoc On-demand Distance Vector (AODV) and AODV-Blacklist routing protocol is investigated over three types of mobility models. Simulation results show that the proposed scheme is extremely reliable under poor network conditions and the route connectivity can be improved by as much as 75%.

• IEIE Transactions on Smart Processing and Computing
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• v.4 no.2
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• pp.71-77
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• 2015

Upcoming ground-breaking applications for always-on tiny interconnected devices steadily demand two-fold features of processor cores: aggressively low power consumption and enhanced performance. We propose implementation of a novel superscalar low-power processor core with a low supply voltage. The core implements intra-core low-power microarchitecture with minimal performance degradation in instruction fetch, branch prediction, scheduling, and execution units. The inter-core lockstep not only detects malfunctions during low-voltage operation but also carries out software-based recovery. The chip incorporates a pair of cores, high-speed memory, and peripheral interfaces to be implemented with a 65nm node. The processor core consumes only 24mW at 350MHz and 0.68V, resulting in power efficiency of $80{\mu}W/MHz$. The operating frequency of the core reaches 850MHz at 1.2V.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.25 no.3
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• pp.322-329
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• 2001

A study of the shock wave turbulent boundary layer interaction is presented. The focus of the study is the interactions of the shock waves with the turbulent boundary layer on the falt plate. Three examples are investigated. The computations are performed, using mixed explicit-implicit generalized Galerkin finite element method. The linear equations at each time step are solved by a preconditioned GMRES algorithm. Numerical results indicate that the implicit scheme converges to the asymptotic steady state much faster than the explicit counterpart. The computed surface pressures and skin friction coefficients display good agreement with experimental data. The flowfield manifests a complex shock wave system and a pair of counter-rotating vortices.

• Journal of Information Science Theory and Practice
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• v.6 no.4
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• pp.28-38
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• 2018

Wikipedia is composed of millions of articles, each of which explains a particular entity with various languages in the real world. Since the articles are contributed and edited by a large population of diverse experts with no specific authority, Wikipedia can be seen as a naturally occurring body of human knowledge. In this paper, we propose a method to automatically identify key entities and relations in Wikipedia articles, which can be used for automatic ontology construction. Compared to previous approaches to entity and relation extraction and/or identification from text, our goal is to capture naturally occurring entities and relations from Wikipedia while minimizing artificiality often introduced at the stages of constructing training and testing data. The titles of the articles and anchored phrases in their text are regarded as entities, and their types are automatically classified with minimal training. We attempt to automatically detect and identify possible relations among the entities based on clustering without training data, as opposed to the relation extraction approach that focuses on improvement of accuracy in selecting one of the several target relations for a given pair of entities. While the relation extraction approach with supervised learning requires a significant amount of annotation efforts for a predefined set of relations, our approach attempts to discover relations as they occur naturally. Unlike other unsupervised relation identification work where evaluation of automatically identified relations is done with the correct relations determined a priori by human judges, we attempted to evaluate appropriateness of the naturally occurring clusters of relations involving person-artifact and person-organization entities and their relation names.

• Phonetics and Speech Sciences
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• v.14 no.2
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• pp.11-17
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• 2022

English vowels play an important role in verbal communication. However, Korean students tend to experience difficulty pronouncing a certain set of vowels despite extensive education in English. The aim of this study is to apply speech recognition software to evaluate Korean students' pronunciation of English vowels in minimal pair words and then to examine acoustic characteristics of the pairs in order to check their pronunciation problems. Thirty female Korean college students participated in the recording. Speech recognition rates were obtained to examine which English vowels were correctly pronounced. To compare and verify the recognition results, such acoustic analyses as the first and second formant trajectories and durations were also collected using Praat. The results showed an overall recognition rate of 54.7%. Some students incorrectly switched the tense and lax counterparts and produced the same vowel sounds for qualitatively different English vowels. From the acoustic analyses of the vowel formant trajectories, some of these vowel pairs were almost overlapped or exhibited slight acoustic differences at the majority of the measurement points. On the other hand, statistical analyses on the first formant trajectories of the three vowel pairs revealed significant differences throughout the measurement points, a finding that requires further investigation. Durational comparisons revealed a consistent pattern among the vowel pairs. The author concludes that speech recognition and analysis software can be useful to diagnose pronunciation problems of English-language learners.

• Journal of Life Science
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• v.11 no.5
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• pp.447-456
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• 2001

We have recently demonstrated that the fluoroquinolone antibacterial DW-116 caused a significant developmental toxicity in rats. The present study was conducted to determine whether the development toxicity induced by DW-116 treatment was the result of malnutrition fro reduced food intake or the direct effects of test chemical on conceptuses. The test chemical was administered by gavage to pregnant rats from gestational days 6 through 16 at dose levels of 0 and 500 mg/kg/day. A pair-feeding study was also performed in which the pregnant rats received the same amount of diet consumed by the DW-116-treated pregnant rats. All dams were subjected to caesarean section on day 20 of gestation and their fetuses were examined for examined for external, visceral, and skeletal abnormalities. In this treatment group, the maternal toxicities included increased abnormal clinical signs, decreased maternal body weight, suppressed body weight gain during treatment and posttreatment periods, and reduced food intake. The significant developmental toxicities included increased fetal deaths, decreased live fetuses, reduced fetal body weight and placental weight, increased incidence of fetal abnormalities, and increased fetal ossification delay. In this pair-fed group, however, slight maternal toxicities including decreased body weight and suppressed body weight gain during treatment period were observed in comparison with the control group, and minimal development toxicities including reduced fetal and placental weights and increased fetal ossification delay were found. The number of fetal deaths and live fetuses, and the incidences of malformed fetuses and litters with affected fetuses were comparable to the control values. Based on the results, it could be concluded that the development toxicity observed in the treatment group is attributable to the direct effects of Dw-116 treatment, but not to the maternal malnutrition from reduced food consumption during pregnancy.

• Journal of the Korean Society of Marine Environment & Safety
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• v.24 no.2
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• pp.267-274
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• 2018

A variety of appendages are attached to coastal and offshore fishing boats to improve stability during navigation or fishing operations (stability performance and roll reduction). These appendages are generally classified into three types, which are shown in Fig. 1. The numerical calculations were conducted for the following eight cases: one case of a bare hull, three cases where a single appendage attached, three cases of a pair of appendages attached, and one case where all three appendages were attached. Table 1 presents the main dimensions of the bare hull and Table 2 describes the main dimensions of the three appendages. The fluid dynamic performance with regard to the three hull appendages was evaluated via CFD for the following cases: each of the appendages attached independently, a pair of appendages attached, and all three appendages attached simultaneously. The No. 1 appendage showed that pressure resistance was proportionally greater than friction resistances. Both Nos. 2 and 3 appendages showed comparable levels of pressure and friction resistances. The correlation between appendages was minimal in the case of pairs and Comparing the cases of the No. 2 appendage attached and all appendages attached, at 11 kn, the EHP showed an difference of 9 %.