• The Journal of Korea Robotics Society
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• v.14 no.1
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• pp.8-13
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• 2019

Visual place recognition is widely researched area in robotics, as it is one of the elemental requirements for autonomous navigation, simultaneous localization and mapping for mobile robots. However, place recognition in changing environment is a challenging problem since a same place look different according to the time, weather, and seasons. This paper presents a feature extraction method using a deep convolutional auto-encoder to recognize places under severe appearance changes. Given database and query image sequences from different environments, the convolutional auto-encoder is trained to predict the images of the desired environment. The training process is performed by minimizing the loss function between the predicted image and the desired image. After finishing the training process, the encoding part of the structure transforms an input image to a low dimensional latent representation, and it can be used as a condition-invariant feature for recognizing places in changing environment. Experiments were conducted to prove the effective of the proposed method, and the results showed that our method outperformed than existing methods.

• East Asian mathematical journal
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• v.37 no.1
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• pp.41-77
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• 2021

Let M be a semi-invariant submanifold of codimension 3 with almost contact metric structure (��, ξ, η, g) in a complex space form Mn+1(c), c ≠ 0. We denote by Rξ = R(·, ξ)ξ and A(i) be Jacobi operator with respect to the structure vector field ξ and be the second fundamental form in the direction of the unit normal C(i), respectively. Suppose that the third fundamental form t satisfies dt(X, Y ) = 2��g(��X, Y ) for certain scalar ��(≠ 2c)and any vector fields X and Y and at the same time Rξ is ��∇ξξ-parallel, then M is a Hopf hypersurface in Mn(c) provided that it satisfies RξA(1) = A(1)Rξ, RξA(2) = A(2)Rξ and ${\bar{r}}-2(n-1)c{\leq}0$, where ${\bar{r}}$ denotes the scalar curvature of M.

• East Asian mathematical journal
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• v.38 no.1
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• pp.43-63
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• 2022

Let M be a semi-invariant submanifold of codimension 3 with almost contact metric structure (φ, ξ, η, g) in a complex space form M_n+1(c). We denote by R_ξ the structure Jacobi operator with respect to the structure vector field ξ and by ${\bar{r}}$ the scalar curvature of M. Suppose that R_ξ is φ∇_ξξ-parallel and at the same time the third fundamental form t satisfies dt(X, Y) = 2θg(φX, Y) for a scalar θ(≠ 2c) and any vector fields X and Y on M. In this paper, we prove that if it satisfies R_ξφ = φR_ξ, then M is a Hopf hypersurface of type (A) in M_n+1(c) provided that ${\bar{r}-2(n-1)c}$ ≤ 0.

• Kyungpook Mathematical Journal
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• v.62 no.1
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• pp.133-166
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• 2022

Let M be a semi-invariant submanifold with almost contact metric structure (𝜙, 𝜉, 𝜂, g) of codimension 3 in a complex space form M_n+1(c) for c ≠ 0. We denote by S and R_𝜉 be the Ricci tensor of M and the structure Jacobi operator in the direction of the structure vector 𝜉, respectively. Suppose that the third fundamental form t satisfies dt(X, Y) = 2𝜃g(𝜙X, Y) for a certain scalar 𝜃 ≠ 2c and any vector fields X and Y on M. In this paper, we prove that if it satisfies R_𝜉𝜙 = 𝜙R_𝜉 and at the same time S𝜉 = g(S𝜉, 𝜉)𝜉, then M is a real hypersurface in M_n(c) (⊂ M_n+1(c)) provided that $\bar{r}-2(n-1)c{\leq}0$, where $\bar{r}$ denotes the scalar curvature of M.

• Journal of applied mathematics & informatics
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• v.41 no.4
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• pp.893-906
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• 2023

In this article, we are devoted to study the problem of the existence, uniqueness and positivity of the global solutions of the 3 × 3 reaction-diffusion systems with the total mass of the components with time. We also suppose that the nonlinear reaction term has a critical growth with respect to the gradient. The technique that we used to prove the global existence is the method of the compact semigroup.

• Journal of Information Processing Systems
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• v.19 no.4
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• pp.554-562
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• 2023

This research offers a sports video action recognition approach based on the fish swarm algorithm in light of the low accuracy of existing sports video action recognition methods. A modified fish swarm algorithm is proposed to construct invariant features and decrease the dimension of features. Based on this algorithm, local features and global features can be classified. The experimental findings on the typical sports action data set demonstrate that the key details of sports action can be successfully retained by the dimensionality-reduced fusion invariant characteristics. According to this research, the average recognition time of the proposed method for walking, running, squatting, sitting, and bending is less than 326 seconds, and the average recognition rate is higher than 94%. This proves that this method can significantly improve the performance and efficiency of online sports video motion recognition.

• Journal of Korea Water Resources Association
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• v.44 no.1
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• pp.41-49
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• 2011

This study is a research based on an existing analysis that peak values of unit hydrograph are variant according to rainfall intensity in a watershed. Differently from the fundamental assumption that an unit hydrograph is time-invariant in a watershed a variant unit hydrograph to rainfall intensity by storms is defined and applied into rainfall events, which produces out runoff hydrograph for an examination. Peak flow and time to peak of unit hydrograph used for an application are obtained from the relation equation with rainfall intensity developed by a previous study reviewed, and its shape is made by Nash unit hydrograph which is determined by the peak values. For the purpose of a comparison an invariant unit hydrograph is defined as Nash model obtained from averaged peak values of unit hydrograph which is derived by 26 rainfall storms. Peak flow and time to peak of flood hydrograph developed respectively by variant unit hydrograph with rainfall intensity and an averaged unit hydrograph are compared to those of the observed hydrograph. With comparing both hydrographs calculated by averaged unit hydrograph and revised unit hydrograph to observed hydrograph it is shown the peak flow and time to peak of hydrograph calculated by time-invariant unit hydrograph revised in this study are closer to those of observed hydrograph than those calculated by averaged unit hydrograph.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.15 no.6
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• pp.82-88
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• 2001

This paper considers the problem of the identification of the time invariant parameters of distributed systems. In general, the parameters are identified by using the CBPOM(Conventional Block Pulse Operational Matrices), but in this paper, the parameters ard identified by using the EBPOMS(Extended Block Pulse Operational Matrices) which can reduce the burden of operation md the volume of error caused by matrices multiplication. The simulation cloves the effectiveness of the proposed method.

• The Journal of the Acoustical Society of Korea
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• v.16 no.1E
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• pp.41-48
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• 1997

The very purpose of subband codec is the attainment of data rate compression through the use of quantizer and optimum bit allocation for each decimated signal. Yet the question of floating-point quantization effects in subband codec has received scant attention. There has been no direct focus on the analysis of quantization errors, nor on design with quantization errors embedded explicitly in the criterion. This paper provides a rigorous theory for the modelling, analysis and optimum design of the general M-band subband codec in the presence of the floating-point quantization noise. The floating-point quantizers are embedded into the codec structure by its equivalent multiplicative noise model. We then decompose the analysis and synthesis subband filter banks of the codec into the polyphase form and construct an equivalent time-invariant structure to compute exact expression for the mean square quantization error in the reconstructed an equivalent time-invariant structure to compute exact expression for the mean square quantization error in the reconstructed output. The optimum design criteria of the subband codec is given to the design of the analysis/synthesis filter bank and the floating-point quantizer to minimize the output mean square error. Specific optimum design examples are developed with two types of filter of filter banks-orthonormal and biorthogonal filter bank, along with their perpormance analysis.

• International Journal of Control, Automation, and Systems
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• v.6 no.2
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• pp.269-277
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• 2008

This paper proposes a necessary and sufficient condition of convergence in the $L_2$-norm sense for a feedback-based iterative learning control (ILC) system including a multi-input multi-output (MIMO) linear time-invariant (LTI) plant. It is shown that the convergence conditions for a nominal plant and an uncertain plant are equal to the nominal performance condition and the robust performance condition in the feedback control theory, respectively. Moreover, no additional effort is required to design an iterative learning controller because the performance weighting matrix is used as an iterative learning controller. By proving that the least upper bound of the $L_2$-norm of the remaining tracking error is less than that of the initial tracking error, this paper shows that the iterative learning controller combined with the feedback controller is more effective to reduce the tracking error than only the feedback controller. The validity of the proposed method is verified through computer simulations.