• 제어로봇시스템학회논문지
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• 제20권2호
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• pp.170-174
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• 2014

In this paper, an unknown input estimation method via the optimal FIR smoother is proposed for linear discrete-time systems. The unknown inputs are represented by random walk processes and treated as auxiliary states in augmented state space models. In order to estimate augmented states which include unknown inputs, the optimal FIR smoother is applied to the augmented state space model. Since the optimal FIR smoother is unbiased and independent of any a priori information of the augmented state, the estimates of each unknown input are independent of the initial state and of other unknown inputs. Moreover, the proposed method can be applied to stochastic singular systems, since the optimal FIR smoother is derived without the assumption that the system matrix is nonsingular. A numerical example is given to show the performance of the proposed estimation method.

• 한국정보과학회논문지:소프트웨어및응용
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• 제30권9호
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• pp.867-875
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• 2003

본 논문에서는 연속 밀도 HMM 구조의 최적화 문제를 다룬다. HMM 구조의 최적화를 위해 여러 연구가 있었는데, 그 중에서도 잘 알려진 BIC(Bayesian Information Citerion)등과 같이 이미 제안된 모델 선택 기준은 동질의 파라미터를 갖는 데이타에 대해 통계적으로 잘 행동하는 모델을 가정하고 있어서 연속 밀도 HMM 등과 같이 복잡한 파라미터를 갖는 구조에는 적합하지 않고, 파라미터 수를 줄이는데는 어느 정도 효과가 있었으나 인식률 향상에 있어서는 한계를 보였다. 이에 본 논문에서는 HMM의 파라미터 유형에 따라 별도의 확률 밀도를 추정하여 사전 모델 확률(a priori model probability)로 사용하는 모델 선택 기준인 HBIC(HMM-oriented BIC)를 제안했다. 또한 HMM의 변별력을 높이기 위해 변별력 특성을 갖는 안티확률을 BIC와 결합한 새로운 모델 선택 기준인 BIC_Anti를 제안했다. 제안한 모델 선택 기준의 유용성을 검증하기 위해 온라인 필기 데이타를 대상으로 실험하여 기존의 연구와 비교하였다. 그 결과 제안한 HBIC와 BIC_Anti 모델 선택 기준을 사용하는 것이 BIC를 사용하는 것보다 더 적은 파라미터 수로도 향상된 인식률을 얻을 수 있음을 확인했다.

• Smart Structures and Systems
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• 제3권3호
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• pp.245-261
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• 2007

Nonlinear time-domain system identification (SI) algorithm is proposed to assess damage in a shear building by synchronously estimating time-varying stiffness and damping parameters using measured acceleration data. Mass properties have been assumed as the a priori known information. Viscous damping was utilized for the current research. To chase possible nonlinear dynamic behavior under severe vibration, an incremental governing equation of vibrational motion has been utilized. Stiffness and damping parameters are estimated at each time step by minimizing the response error between measured and computed acceleration increments at the measured degrees-of-freedom. To solve a nonlinear constrained optimization problem for optimal structural parameters, sensitivities of acceleration increment were formulated with respect to stiffness and damping parameters, respectively. Incremental state vectors of vibrational motion were computed numerically by Newmark-${\beta}$ method. No model is pre-defined in the proposed algorithm for recovering the nonlinear response. A time-window scheme together with Monte Carlo iterations was utilized to estimate parameters with noise polluted sparse measured acceleration. A moving average scheme was applied to estimate the time-varying trend of structural parameters in all the examples. To examine the proposed SI algorithm, simulation studies were carried out intensively with sample shear buildings under earthquake excitations. In addition, the algorithm was applied to assess damage with laboratory test data obtained from free vibration on a three-story shear building model.

• Structural Engineering and Mechanics
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• 제11권3호
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• pp.237-258
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• 2001

Structural identification via modal analysis in structural mechanics is gaining popularity in recent years, despite conceptual difficulties connected with its use. This paper is devoted to illustrate both the capabilities and the indeterminacy characterizing structural identification problems even in quite simple instances, as well as the cautions that should be accordingly adopted. In particular, we discuss an application of an identification technique of variational type, based on the measurement of eigenfrequencies and mode shapes, to a steel frame with friction joints under various assembling conditions. Experience has suggested, so as to restrict the indeterminacy frequently affecting identification issues, having resort to all the a priori acknowledged information on the system, to the symmetry and presence of structural elements with equal stiffness, to mention one example, and mindfully selecting the parameters to be identified. In addition, considering that the identification techniques have a local character and correspond to the updating of a preliminary model of the structure, it is important that the analytical model on the first attempt should be adequately accurate. Secondly, it has proved determinant to cross the results of the dynamic identification with tests of other typology, for instance, static tests, so as to fully understand the structural behavior and avoid the indeterminacy due to the nonuniqueness of the inverse problem.

• Asian-Australasian Journal of Animal Sciences
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• 제33권10호
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• pp.1558-1565
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• 2020

Objective: The objective of this study was to characterize the number of loci affecting growth traits and the distribution of single nucleotide polymorphism (SNP) effects on growth traits, and to understand the genetic architecture for growth traits in Hanwoo (Korean cattle) using genome-wide association study (GWAS), genomic partitioning, and hierarchical Bayesian mixture models. Methods: GWAS: A single-marker regression-based mixed model was used to test the association between SNPs and causal variants. A genotype relationship matrix was fitted as a random effect in this linear mixed model to correct the genetic structure of a sire family. Genomic restricted maximum likelihood and BayesR: A priori information included setting the fixed additive genetic variance to a pre-specified value; the first mixture component was set to zero, the second to 0.0001×σ²_g, the third 0.001×σ²_g, and the fourth to 0.01×σ²_g. BayesR fixed a priori information was not more than 1% of the genetic variance for each of the SNPs affecting the mixed distribution. Results: The GWAS revealed common genomic regions of 2 Mb on bovine chromosome 14 (BTA14) and 3 had a moderate effect that may contain causal variants for body weight at 6, 12, 18, and 24 months. This genomic region explained approximately 10% of the variance against total additive genetic variance and body weight heritability at 12, 18, and 24 months. BayesR identified the exact genomic region containing causal SNPs on BTA14, 3, and 22. However, the genetic variance explained by each chromosome or SNP was estimated to be very small compared to the total additive genetic variance. Causal SNPs for growth trait on BTA14 explained only 0.04% to 0.5% of the genetic variance Conclusion: Segregating mutations have a moderate effect on BTA14, 3, and 19; many other loci with small effects on growth traits at different ages were also identified.

• 한국멀티미디어학회논문지
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• 제18권7호
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• pp.886-894
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• 2015

In this paper, we conduct sensitivity analysis of parameters used for inverse modeling in order to estimate the PM₁₀ emissions from the 16 areas in East Asia accurately. Parameters used in sensitivity analysis are R, the observational error covariance matrix, and B, a priori (background) error covariance matrix. In previous studies, it was used with the predetermined parameter empirically. Such a method, however, has difficulties in estimating an accurate emissions. Therefore, an automatically determining method for the most suitable value of R and B with an error measurement criteria and posteriori emissions accuracy is required. We determined the parameters through a sensitivity analysis, and improved the accuracy of posteriori emissions estimation. Inverse modeling methods used in the emissions estimation are pseudo inverse, NNLS (Nonnegative Least Square), and BA(Bayesian Approach). Pseudo inverse has a small error, but has negative values of emissions. In order to resolve the problem, NNLS is used. It has a unrealistic emissions, too. The problems are resolved with BA(Bayesian Approach). We showed the effectiveness and the accuracy of three methods through case studies.

• 제어로봇시스템학회논문지
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• 제11권5호
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• pp.398-405
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• 2005

The intelligent robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, robots need to recognize their position and posture in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for a robot to estimate of his position by solving uncertainty for mobile robot navigation, as one of the best important problems. In this paper, we describe a method for the localization of a mobile robot using image information of a moving object. This method combines the observed position from dead-reckoning sensors and the estimated position from the images captured by a fixed camera to localize a mobile robot. Using a priori known path of a moving object in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a moving object and the estimated robot's position. Also, the control method is proposed to estimate position and direction between the walking human and the mobile robot, and the Kalman filter scheme is used for the estimation of the mobile robot localization. And its performance is verified by the computer simulation and the experiment.

• 지구물리
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• 제3권3호
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• pp.161-174
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• 2000

베이지안 역산(Bayesian inversion)은 불충분한 자료를 가지고 지하구조를 추정해야 하는 지구물리자료의 해석에 있어서 안정적이고 신뢰를 줄 수 있는 방법 중의 하나이다. 관측 자료가 측정 과정부터 불확실성을 함유하고 있으며, 역산에 이용되는 이론 자료 또한 모델의 매개변수화에 따른 각종 불확실성을 포함하고 있다. 따라서 지구물리 자료의 역산은 확률적으로 접근하는 것이 가장 바람직하며 베이지안 역산은 이에 대한 처리뿐만 아니라, 추정에 대한 신뢰도와 불확실성에 대한 이론적 근거를 제공한다. 그러나 대부분의 베이지안 역산이 고차원의 적분을 필요로 하므로 몬테 카를로 방법과 같은 대규모의 계산이 요구되는 방법에 의해 사후 확률분포가 구해지는 경우가 많다. 이는 특히 지구물리 자료와 같이 고도의 비선형 자료에 대하여 매우 적합한 접근 방법이기는 하지만, 점차 현장화, 고속화되어가는 자료의 해석 경향에 맞추어 간략하게 사후 확률분포를 근사한 수 있는 기법의 연구 또한 필요하다. 따라서 이 연구에서는 관측자료와 사전 확률분포가 정규분포에 의해 근사 될 수 있는 지구물리자료에 대한 베이지안 역산에 대해 논의 하고자 한다. 사전 확률분포의 작성을 위해 지구통계학적 기법이 이용되었으며, 관측자료의 통계적 불화실성을 추정하기 위해 교차 검사(cross-validation) 방법을 이용하여 공분산(covariance)을 유도하고 그것에 의한 우도 함수(likelihood function)를 작성하였다. 베이지안 해석을 위해 두 확률분포를 곱하여 근사적인 사후 확률분포를 얻을 수 있었으며, 이에 대해 최적화(optimization) 기법을 이용하여 최대 사후 확률(Maximum a Posterior)을 따르는 지하 구조를 얻을 수 있었다. 또한 사후 확률 분포의 공분산 항을 이용하여 지하 비저항 구조를 시뮬레이션 하여 불확실성분석을 수행하였다.

• Journal of Ecology and Environment
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• 제32권2호
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• pp.103-107
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• 2009

We investigated colonization and extinction patterns in a meta population of the gold-spotted pond frog (Rana planeyi ehoseniea) near the Korea National University of Education, Chungbuk, Korea, by surveying the frogs in the nine occupied habitat patches in the study area four times per breeding season for three years (2006$\sim$2008) and recording whether the patches were occupied by frogs as well as how many frogs were calling in the patches. We then developed five a priori year-specific models using the Akaike Information Criterion (AIC). The models predicted that: 1) probabilities of colonization and local extinction of the frogs were better explained by year-dependent models than by constant models, 2) there are high local extinction and low colonization probabilities, 3) approximately 31% number of patches will be occupied at equilibrium, and 4) that considerable variation in occupation rate should occur over a 30-year period, due to demographic stochasticity (in our model, the occupation rate ranged from 0.222 to 0.889). Our results suggest that colonization is important in this metapopulation system, which is governed by mainly stochastic components, and that more constructive conservation effects are needed to increase local colonization rates.

• 대한전자공학회논문지SP
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• 제44권1호
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• pp.40-48
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• 2007

이 논문은 다중 스케일 베이지안 관점에서 다층 퍼셉트론과 마코프 랜덤 필드를 사용한 새로운 결 분할 방법을 제안한다. 다층 퍼셉트론의 출력은 사후 확률을 모델링하므로 본 논문에서는 다중 스케일 웨이블릿 계수들을 다층 퍼셉트론의 입력으로 사용한다. 다층 퍼셉트론으로부터 구한 사후 확률과 MAP (maximum a posterior) 분류를 이용하여 각 스케일에서 결 분류를 수행한다. 또한 가장 섬세한 스케일에서 더 개선된 분할 결과를 얻기 위하여 모든 스케일에서 MAP 분류 결과들을 거친 스케일에서 섬세한 스케일까지 차례로 융합한다. 이런 과정은 한 스케일에서의 분류 정보와 그 인접한 보다 거친 스케일에서 얻어지는 문맥과 관련한 연역적 정보를 이용하여 MAP 분류를 행함으로써 이루어진다. 이 융합 과정에서, MRF (Markov random fields) 사전 모델이 평탄화 제한자로서 동작하고, 깁스 샘플러 (Gibbs sampler)는 MAP 분류기로서 동작한다. 제안한 분할 방법은 HMT (Hidden Markov Trees) 모델과 HMTseg 알고리즘을 이용한 결 분할 방법보다 더 좋은 성능을 보인다.