• 제어로봇시스템학회논문지
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• 제12권5호
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• pp.497-504
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• 2006

This paper presents a new technique that derives the dynamic acceleration bounds of multiple cooperating robot systems from given individual torque limits of robots. A set of linear algebraic homogeneous equation is derived from the dynamic equations of multiple robots with friction contacts. The mobility of the robot system is analyzed by the decomposition of the null space of the linear algebraic equation. The acceleration bounds of multiple robot systems are obtained from the joint torque constraints of robots by the medium of the decomposed null space. As the joint constraints of the robots are given in the infinite norm sense, the resultant acceleration bounds of the systems are described as polytopes. Several case studies are presented to validate the proposed method in this paper.

• 제어로봇시스템학회논문지
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• 제14권3호
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• pp.273-283
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• 2008

This article describes a cooperative localization technique of multiple robots sharing position information of each robot. In case of conventional methods such as EKF, they need to linearization process. Consequently, they are not able to guarantee that their result is range containing true value. In this paper, we propose a method to merge the data of redundant sensors based on constraints propagation techniques on intervals. The proposed method has a merit guaranteeing true value. Especially, we apply the constraints propagation technique fusing wheel encoders, a gyro, and an inexpensive GPS receiver. In addition, we utilize the correlation between GPS data in common workspace to improve localization performance for multiple robots. Simulation results show that proposed method improve considerably localization performance of multiple robots.

• Smart Structures and Systems
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• 제8권2호
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• pp.219-237
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• 2011

This paper presents novel research into the source localization of multiple impacts. Source localization technology for single impact loads in a plate structure has been used for health monitoring. Most of research on source localization has been focused only on the localization of single impacts. Overlapping of dispersive waves induced by multiple impacts and reflection of those waves from the edge of the plate make it difficult to localize the sources of multiple impacts using traditional source localization technology. The method solving the overlapping problem and the reflection problem is presented in the paper. The suggested method is based on pre-signal processing technology using band pass filter and optimal filter. Results from numerical simulation and from experimentation are presented, and these verify the capability of the proposed method.

• Current Optics and Photonics
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• 제3권4호
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• pp.320-328
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• 2019

A method for joint-transform correlator (JTC) multiple-image encryption based on a quick-response (QR) code key is proposed. The QR codes converted from different texts are used as key masks to encrypt and decrypt multiple images. Not only can Chinese text and English text be used as key text, but also symbols can be used. With this method, users have no need to transmit the whole key mask; they only need to transmit the text that is used to generate the key. The correlation coefficient is introduced to evaluate the decryption performance of our proposed cryptosystem, and we explore the sensitivity of the key mask and the capability for multiple-image encryption. Robustness analysis is also conducted in this paper. Computer simulations and experimental results verify the correctness of this method.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제17권6호
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• pp.1620-1634
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• 2023

This paper studies the task of embedding nodes with multiple graphs representing multiple information channels, which is useful in a large volume of network clustering tasks. By learning a node using multiple graphs, various characteristics of the node can be represented and embedded stably. Existing studies using multi-channel networks have been conducted by integrating heterogeneous graphs or limiting common nodes appearing in multiple graphs to have similar embeddings. Although these methods effectively represent nodes, it also has limitations by assuming that all networks provide the same amount of information. This paper proposes a method to overcome these limitations; The proposed method gives different weights according to the source graph when embedding nodes; the characteristics of the graph with more important information can be reflected more in the node. To this end, a novel method incorporating a multi-channel gate layer is proposed to weigh more important channels and ignore unnecessary data to embed a node with multiple graphs. Empirical experiments demonstrate the effectiveness of the proposed multi-channel-based embedding methods.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권11호
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• pp.5616-5630
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• 2019

Fully homomorphic encryption allows a third-party to perform arbitrary computation over encrypted data and is especially suitable for secure outsourced computation. This paper investigates secure outsourced computation of multiple matrix multiplication based on fully homomorphic encryption. Our work significantly improves the latest Mishra et al.'s work. We improve Mishra et al.'s matrix encoding method by introducing a column-order matrix encoding method which requires smaller parameter. This enables us to develop a binary multiplication method for multiple matrix multiplication, which multiplies pairwise two adjacent matrices in the tree structure instead of Mishra et al.'s sequential matrix multiplication from left to right. The binary multiplication method results in a logarithmic-depth circuit, thus is much more efficient than the sequential matrix multiplication method with linear-depth circuit. Experimental results show that for the product of ten 32×32 (64×64) square matrices our method takes only several thousand seconds while Mishra et al.'s method will take about tens of thousands of years which is astonishingly impractical. In addition, we further generalize our result from square matrix to non-square matrix. Experimental results show that the binary multiplication method and the classical dynamic programming method have a similar performance for ten non-square matrices multiplication.

• Structural Engineering and Mechanics
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• 제30권4호
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• pp.467-480
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• 2008

An aggregation multigrid method (AMM) is a leading iterative solver in solid mechanics. Recently, AMM is applied for solving Schur Complement system in the FE analysis of shell structures. In this work, an extended application of AMM for solving Schur Complement system in the FE analysis of continuum elements is presented. Further, the performance of the proposed AMM in multiple load cases, which is a challenging problem for an iterative solver, is studied. The proposed method is developed by combining the substructuring and the multigrid methods. The substructuring method avoids factorizing the full-size matrix of an original system and the multigrid method gives near-optimal convergence. This method is demonstrated for the FE analysis of several elastostatic problems. The numerical results show better performance by the proposed method as compared to the preconditioned conjugate gradient method. The smaller computational cost for the iterative procedure of the proposed method gives a good alternative to a direct solver in large systems with multiple load cases.

• Asian-Australasian Journal of Animal Sciences
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• 제21권7호
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• pp.923-927
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• 2008

The objective of this study was to compare random regression model and multiple trait animal model estimates of the (co) variance of total sperm cells over the active lifetime of AI boars. Data were provided by Smithfield Premium Genetics (Rose Hill, NC). Total number of records and animals for the random regression model were 19,629 and 1,736, respectively. Data for multiple trait animal model analyses were edited to include only records produced at 9, 12, 15, 18, 21, 24, and 27 months of age. For the multiple trait method estimates of genetic and residual variance for total sperm cells were heterogeneous among age classifications. When comparing multiple trait method to random regression, heritability estimates were similar except for total sperm cells at 24 months of age. The multiple trait method also resulted in higher estimates of heritability of total sperm cells at every age when compared to random regression results. Random regression analysis provided more detail with regard to changes of variance components with age. Random regression methods are the most appropriate to analyze semen traits as they are longitudinal data measured over the lifetime of boars.

• 대한전자공학회논문지SP
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• 제39권3호
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• pp.42-48
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• 2002

다중 채널을 위한 다중 기술 부호화는 복호기가 채널의 일부분의 정보만 수신함으로서 유용한 영상 복원을 할 수 있다. 본 논문에서는 새롭게 설계된 EZW 부호기를 이용하여 효율적인 다중 기술 부호기를 제안한다. 먼저 확장된 문턱값과 두 번의 부과정을 거치는 EZW 부호기를 설계하고, 이 부호기를 이용하여 두 개의 부호 채널을 가지는 다중 기술 부호기를 제안한다. 제안된 부호기의 성능을 평가하기 위하여 두 개의 채널과 두 개의 기술을 가지는 영상 압축 실험을 행하고 이를 최근에 보고된 결과와 비교하였다. 폴리 페이즈 변환을 사용한 결과와 비교하여 제안 부호기의 성능이 더 우수함을 볼 수 있었다.

• 천문학회지
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• 제35권1호
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• pp.35-40
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• 2002

Gaudi, Naber & Sackett pointed out that if an event is caused by a lens system containing more than two planets, all planets will affect the central region of the magnification pattern, and thus the existence of the multiple planets can be inferred by detecting additionally deformed anomalies from intensive monitoring of high magnification microlensing events. Unfortunately, this method has important limitations in identifying the existence of multiple planets and determining their parameters (the mass ratio and the instantaneous projected separation) due to the degeneracy of the resulting light curve anomalies from those induced by a single planet and the complexity of multiple planet lensing models. In this paper, we propose a new channel to search for multiple planets via microlensing. The method is based on the fact that the lensing light curve anomalies induced by multiple planets are well approximated by the superposition of those of the single planet systems where the individual planet-primary pairs act as independent lens systems. Then, if the source trajectory passes both of the outer deviation regions induced by the individual planets, one can unambiguously identify the existence of the multiple planets. We illustrate that the probability of successively detecting light curve anomalies induced by two Jovian-mass planets located in the lensing zone through this channel will be substantial. Since the individual anomalies can be well described by much simpler single planet lensing models, the proposed method has an important advantage of allowing one to accurately determine the parameters of the individual planets.