• 제목/요약/키워드: Product of Vectors

검색결과 93건 처리시간 0.019초

자동 로봇 용접을 위한 Hand-Eye 레이저 거리 측정기 기반 용접 평면 인식 기법 (Hand-Eye Laser Range Finder based Welding Plane Recognition Method for Autonomous Robotic Welding)

  • 박재병;이성민
    • 전자공학회논문지
    • /
    • 제49권9호
    • /
    • pp.307-313
    • /
    • 2012
  • 본 논문은 자동 로봇 용접을 위한 Hand-Eye 레이저 거리 측정기 기반 용접 평면 인식 기법을 제안한다. 로봇 용접은 대상체의 형상에 의해 미리 정의된 용접선을 따라 금속 대상체를 용접 평면에 접합하는 과정이다. 따라서 성공적인 로봇 용접을 위해서는 용접 평면의 위치와 방향을 정확히 검출해야 한다. 만약 평면의 위치와 방향을 정확히 검출하지 못한다면 자동 로봇 용접은 실패하게 된다. 정밀한 용접 평면 인식을 위해 레이저 거리 측정기를 이용해 평면상의 직선을 검출한다. 레이저 거리측정기에 의한 직선 검출을 위해 Hough 변환을 적용한다. Hough 변환은 투표 방법을 기반으로 하기 때문에 센서의 측정 오차를 줄일 수 있다. 이 때 레이저 거리 측정기가 부착된 로봇 관절을 회전시켜 평면상의 두 개의 직선을 검출한 후 두 직선의 방향 벡터에 외적을 취해 평면의 방향을 인식한다. 제안된 방법의 실효성을 검증하기 위해 Simlab사에서 개발한 로봇 시뮬레이터인 RoboticsLab을 이용해 시뮬레이션을 수행한다.

개선된 플라스미드 DNA 전달 효율을 위한 히알루론 아민 코팅 폴리에틸렌이민 기반 전달 시스템 (Polyethyleneimine based Delivery System Coated with Hyaluronate Amine for Improved pDNA Transfection Efficiency)

  • 오경연;장용호;이은비;김태호;김현철
    • 공업화학
    • /
    • 제33권1호
    • /
    • pp.83-89
    • /
    • 2022
  • 현재 진행 중인 코로나19의 세계적 유행을 기점으로 유전자 전달을 통한 면역 형성에 대한 연구가 활발히 진행되고 있다. 특히 바이러스를 통한 유전자 전달이 부작용이 다수 발견됨에 따라 비바이러스성 유전자 전달체에 대한 요구가 크게 증가하였다. 본 연구에서는 생체적합물질인 히알루론 아민으로 코팅한 폴리에틸렌이민-플라스미드 DNA 복합체를 통한 효율적인 유전자 전달 시스템을 제안했다. 다양한 조성에서 생성된 폴리에틸렌이민-플라스미드 DNA 복합체(polyplex)와 히알루론 아민으로 코팅한 폴리에틸렌이민-플라스미드 DNA 복합체(polyplex-HA)의 크기 및 플라스미드 DNA 발현 정도를 비교해 각 물질의 최적 비율을 찾아냈고 복합체의 크기 및 제타 전위, 에너지 필터링 투과 전자현미경(EF-TEM) 이미지를 통해 입자의 특성을 평가했다. 세포 내 전달 및 발현 효율을 형광현미경과 유세포분석기를 통해 상용화 되어있는 유전자 전달체인 lipofectamine과 비교 분석했다. 본 연구에서 제안된 polyplex-HA는 pDNA 뿐만 아니라 다양한 유전물질을 전달할 수 있으며, 전달체에 대한 면역반응이 적어 다회성 투여에 유리하여 미래의 백신 플랫폼의 기반이 될 수 있을 것으로 기대할 수 있다.

다분류 SVM을 이용한 DEA기반 벤처기업 효율성등급 예측모형 (The Prediction of DEA based Efficiency Rating for Venture Business Using Multi-class SVM)

  • 박지영;홍태호
    • Asia pacific journal of information systems
    • /
    • 제19권2호
    • /
    • pp.139-155
    • /
    • 2009
  • For the last few decades, many studies have tried to explore and unveil venture companies' success factors and unique features in order to identify the sources of such companies' competitive advantages over their rivals. Such venture companies have shown tendency to give high returns for investors generally making the best use of information technology. For this reason, many venture companies are keen on attracting avid investors' attention. Investors generally make their investment decisions by carefully examining the evaluation criteria of the alternatives. To them, credit rating information provided by international rating agencies, such as Standard and Poor's, Moody's and Fitch is crucial source as to such pivotal concerns as companies stability, growth, and risk status. But these types of information are generated only for the companies issuing corporate bonds, not venture companies. Therefore, this study proposes a method for evaluating venture businesses by presenting our recent empirical results using financial data of Korean venture companies listed on KOSDAQ in Korea exchange. In addition, this paper used multi-class SVM for the prediction of DEA-based efficiency rating for venture businesses, which was derived from our proposed method. Our approach sheds light on ways to locate efficient companies generating high level of profits. Above all, in determining effective ways to evaluate a venture firm's efficiency, it is important to understand the major contributing factors of such efficiency. Therefore, this paper is constructed on the basis of following two ideas to classify which companies are more efficient venture companies: i) making DEA based multi-class rating for sample companies and ii) developing multi-class SVM-based efficiency prediction model for classifying all companies. First, the Data Envelopment Analysis(DEA) is a non-parametric multiple input-output efficiency technique that measures the relative efficiency of decision making units(DMUs) using a linear programming based model. It is non-parametric because it requires no assumption on the shape or parameters of the underlying production function. DEA has been already widely applied for evaluating the relative efficiency of DMUs. Recently, a number of DEA based studies have evaluated the efficiency of various types of companies, such as internet companies and venture companies. It has been also applied to corporate credit ratings. In this study we utilized DEA for sorting venture companies by efficiency based ratings. The Support Vector Machine(SVM), on the other hand, is a popular technique for solving data classification problems. In this paper, we employed SVM to classify the efficiency ratings in IT venture companies according to the results of DEA. The SVM method was first developed by Vapnik (1995). As one of many machine learning techniques, SVM is based on a statistical theory. Thus far, the method has shown good performances especially in generalizing capacity in classification tasks, resulting in numerous applications in many areas of business, SVM is basically the algorithm that finds the maximum margin hyperplane, which is the maximum separation between classes. According to this method, support vectors are the closest to the maximum margin hyperplane. If it is impossible to classify, we can use the kernel function. In the case of nonlinear class boundaries, we can transform the inputs into a high-dimensional feature space, This is the original input space and is mapped into a high-dimensional dot-product space. Many studies applied SVM to the prediction of bankruptcy, the forecast a financial time series, and the problem of estimating credit rating, In this study we employed SVM for developing data mining-based efficiency prediction model. We used the Gaussian radial function as a kernel function of SVM. In multi-class SVM, we adopted one-against-one approach between binary classification method and two all-together methods, proposed by Weston and Watkins(1999) and Crammer and Singer(2000), respectively. In this research, we used corporate information of 154 companies listed on KOSDAQ market in Korea exchange. We obtained companies' financial information of 2005 from the KIS(Korea Information Service, Inc.). Using this data, we made multi-class rating with DEA efficiency and built multi-class prediction model based data mining. Among three manners of multi-classification, the hit ratio of the Weston and Watkins method is the best in the test data set. In multi classification problems as efficiency ratings of venture business, it is very useful for investors to know the class with errors, one class difference, when it is difficult to find out the accurate class in the actual market. So we presented accuracy results within 1-class errors, and the Weston and Watkins method showed 85.7% accuracy in our test samples. We conclude that the DEA based multi-class approach in venture business generates more information than the binary classification problem, notwithstanding its efficiency level. We believe this model can help investors in decision making as it provides a reliably tool to evaluate venture companies in the financial domain. For the future research, we perceive the need to enhance such areas as the variable selection process, the parameter selection of kernel function, the generalization, and the sample size of multi-class.