• Journal of KIISE
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• v.42 no.2
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• pp.190-202
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• 2015

Much research has been conducted on location-based intelligent personal assistants that can understand a user's intention by learning the user's route model and then inferring the user's destinations and routes using data of GPS and other sensors in a smartphone. The intelligence of the location-based personal assistant is contingent on the accuracy and efficiency of the real-time predictions of the user's intended destinations and routes by processing movement information based on uncertain sensor data. We propose a robust particle filter based on Dynamic Bayesian Network model to infer the user's routes. The proposed robust particle filter includes a particle generator to supplement the incorrect and incomplete sensor information, an efficient switching function and an weight function to reduce the computation complexity as well as a resampler to enhance the accuracy of the particles. The proposed method improves the accuracy and efficiency of determining a user's routes and destinations.

• The Journal of Korea Robotics Society
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• v.3 no.2
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• pp.117-122
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• 2008

This paper presents a multi-robot localization based on multidimensional scaling (MDS) in spite of the existence of incomplete and noisy data. While the traditional algorithms for MDS work on the full-rank distance matrix, there might be many missing data in the real world due to occlusions. Moreover, it has no considerations to dealing with the uncertainty due to noisy observations. We propose a robust MDS to handle both the incomplete and noisy data, which is applied to solve the multi-robot localization problem. To deal with the incomplete data, we use the Nystr$\ddot{o}$m approximation which approximates the full distance matrix. To deal with the uncertainty, we formulate a Bayesian framework for MDS which finds the posterior of coordinates of objects by means of statistical inference. We not only verify the performance of MDS-based multi-robot localization by computer simulations, but also implement a real world localization of multi-robot team. Using extensive empirical results, we show that the accuracy of the proposed method is almost similar to that of Monte Carlo Localization(MCL).

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.5
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• pp.539-544
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• 2004

We investigate a visual object tracking algorithm based upon particle filters, namely CONDENSATION, in order to combine multiple observation models such as active contours of digitally subtracted image and the particle measurement of object color. The former is applied to matching the contour of the moving target and the latter is used to independently enhance the likelihood of tracking a particular color of the object. Particle filters are more efficient than any other tracking algorithms because the tracking mechanism follows Bayesian inference rule of conditional probability propagation. In the experimental results, it is demonstrated that the suggested contour tracking particle filters prove to be robust in the cluttered environment of robot vision.

• Journal of KIISE:Software and Applications
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• v.31 no.8
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• pp.1073-1082
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• 2004

This paper presents a technique for an agent to adaptively behave to unforeseen and dynamic circumstances. Since the traditional methods utilized the information about an environment to control intelligent agents, they were robust but could not behave adaptively in a complex and dynamic world. A behavior-based method is suitable for generating adaptive behaviors within environments, but it is necessary to devise a hybrid control architecture that incorporates the capabilities of inference, learning and planning for high-level abstract behaviors. This Paper proposes a 2-level control architecture for generating adaptive behaviors to perceive and avoid dynamic moving obstacles as well as static obstacles. The first level is behavior-network for generating reflexive and autonomous behaviors, and the second level is to infer dynamic situation of agents. Through simulation, it has been confirmed that the agent reaches a goal point while avoiding static and moving obstacles with the proposed method.

• Communications for Statistical Applications and Methods
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• v.21 no.3
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• pp.261-274
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• 2014

In this paper we develop Bayes and empirical Bayes estimators of the finite population mean with the assumption of posterior linearity rather than normality of the superpopulation under the balanced loss function. We compare the performance of the optimal Bayes estimator with ones of the classical sample mean and the usual Bayes estimator under the squared error loss with respect to the posterior expected losses, risks and Bayes risks when the underlying distribution is normal as well as when they are binomial and Poisson.

• Proceedings of the Korean Information Science Society Conference
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• 2004.10a
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• pp.226-228
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• 2004

베이지안 네트워크는 불확실한 상황을 모델링하기 위한 확률 기반의 모델이다. 베이지안 네트워크의 구조를 자동 학습하기 위한 연구가 많이 있었고, 최근에는 진화 알고리즘을 이용한 연구가 많이 진행되고 있다. 그러나 대부분은 마지막 세대의 가장 좋은 개체만을 이용하고 있다. 시스템이 요구하는 다양한 요구조건을 하나의 적합도 평가 수식으로 나타내기 어렵기 때문에, 마지막 세대의 가장 좋은 개체는 종종 편향되거나 변화하는 환경에 덜 적응적일 수 있다. 본 논문에서는 적합도 공유 방법으로 다양한 베이지안 네트워크를 생성하고, 이를 베이즈 규칙을 통해 결합하여 변화하는 환경에 적응적인 추론 모델을 구축할 수 있는 방법을 제안한다. 성능 평가를 위해 ALARM 네트워크에서 인공적으로 생성한 데이터를 이용한 구조 학습 및 추론 실험을 수행하였다. 다양한 조건에서 학습된 네트워크를 실험한 결과, 제안한 방법이 변화하는 환경에서 더욱 강건하고 적응적인 모델을 생성할 수 있음을 확인한 수 있었다.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.11 no.4
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• pp.131-143
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• 2012

In this paper, we propose a drowsy driver detection system with a novel eye state detection method that is adaptive to various vehicle environment such as glasses, light and so forth using SURF(Speed Up Robust Feature) which can extract quickly local features from images. Also the performance of eye state detection is improved as individual three eye-state templates of each driver can be made using Bayesian inference. The experimental results under various environment with average 98.1% and 96.1% detection rate in the daytime and at night respectively and those in the opened ZJU database with average 97.8% detection rate show that the proposed method outperforms the current state-of-the-art.

• The Korean Journal of Applied Statistics
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• v.27 no.6
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• pp.1039-1047
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• 2014

An autoregressive model with normal errors is a natural model that attempts to fit time series data. More flexible models that include normal distribution as a special case are necessary because they can cover normality to non-normality models. The skewed exponential power distribution is a possible candidate for autoregressive models errors that may have tails lighter(platykurtic) or heavier(leptokurtic) than normal and skewness; in addition, the use of skewed exponential power distribution can reduce the influence of outliers and consequently increases the robustness of the analysis. We use SIR algorithm and grid method for an efficient Bayesian estimation.

• Journal of Korea Water Resources Association
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• v.53 no.5
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• pp.383-393
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• 2020

The main objective of this study is to provide a robust model for estimating parameters of the Clark unit hydrograph (UH) using the observed rainfall-runoff data in the Soyangang dam basin. In general, HEC-1 and HEC-HMS models, developed by the Hydrologic Engineering Center, have been widely used to optimize the parameters in Korea. However, these models are heavily reliant on the objective function and sample size during the optimization process. Moreover, the optimization process is carried out on the basis of single rainfall-runoff data, and the process is repeated for other events. Their averaged values over different parameter sets are usually used for practical purposes, leading to difficulties in the accurate simulation of discharge. In this sense, this paper proposed a hierarchical Bayesian model for estimating parameters of the Clark UH model. The proposed model clearly showed better performance in terms of Bayesian inference criterion (BIC). Furthermore, the result of this study reveals that the proposed model can also be applied to different hydrologic fields such as dam design and design flood estimation, including parameter estimation for the probable maximum flood (PMF).

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.5
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• pp.495-503
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• 2014

In recent days, a study of the intrusion detection system collecting and analyzing network data, packet or logs, has been actively performed to response the network threats in computer security fields. In particular, Bayesian network has advantage of the inference functionality which can infer with only some of provided data, so studies of the intrusion system based on Bayesian network have been conducted in the prior. However, there were some limitations to calculate high detection performance because it didn't consider the problems as like complexity of the relation among network packets or continuos input data processing. Therefore, in this paper we proposed two methodologies based on K-menas clustering to improve detection rate by reforming the problems of prior models. At first, it can be improved by sophisticatedly setting interval range of nodes based on K-means clustering. And for the second, it can be improved by calculating robust CPT through applying weighted-leaning based on K-means clustering, too. We conducted the experiments to prove performance of our proposed methodologies by comparing K_WTAN_EM applied to proposed two methodologies with prior models. As the results of experiment, the detection rate of proposed model is higher about 7.78% than existing NBN(Naive Bayesian Network) IDS model, and is higher about 5.24% than TAN(Tree Augmented Bayesian Network) IDS mode and then we could prove excellence our proposing ideas.