• Journal of the Korean Society for Precision Engineering
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• v.30 no.6
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• pp.615-621
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• 2013

The robot calibration has greatly improved the absolute accuracy of the industrial robot. However, the accuracy of the relative positions of robotic tool-tip at work-points on a work-piece is only slightly corrected by the robot calibration since there has been no practical method to eliminate the elements of the setup position errors at a robotic workplace. A robotic workplace calibration is demonstrated in this paper to minimize the relative position errors between a robot tool-tip and the work-point on a work-piece. The existing teaching and playback method has been developed for the robotic workplace calibration. This paper uses the work-piece fixed in a robotic work-place as measurement equipment instead of a special robot measurement equipment for the robotic workplace calibration. The positive effect of the robotic workplace calibration is supported by the results of computer simulation on an ideal robotic workplace model and an experiment at the actual robotic workplace.

• Journal of Korean Association for Spatial Structures
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• v.23 no.3
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• pp.87-94
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• 2023

Chloride is one of the most common threats to reinforced concrete (RC) durability. Alkaline environment of concrete makes a passive layer on the surface of reinforcement bars that prevents the bar from corrosion. However, when the chloride concentration amount at the reinforcement bar reaches a certain level, deterioration of the passive protection layer occurs, causing corrosion and ultimately reducing the structure's safety and durability. Therefore, understanding the chloride diffusion and its prediction are important to evaluate the safety and durability of RC structure. In this study, the chloride diffusion coefficient is predicted by machine learning techniques. Various machine learning techniques such as multiple linear regression, decision tree, random forest, support vector machine, artificial neural networks, extreme gradient boosting annd k-nearest neighbor were used and accuracy of there models were compared. In order to evaluate the accuracy, root mean square error (RMSE), mean square error (MSE), mean absolute error (MAE) and coefficient of determination (R2) were used as prediction performance indices. The k-fold cross-validation procedure was used to estimate the performance of machine learning models when making predictions on data not used during training. Grid search was applied to hyperparameter optimization. It has been shown from numerical simulation that ensemble learning methods such as random forest and extreme gradient boosting successfully predicted the chloride diffusion coefficient and artificial neural networks also provided accurate result.

• Smart Structures and Systems
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• v.30 no.4
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• pp.421-432
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• 2022

Regarding the high significance of correct pan evaporation modeling, this study introduces two novel neuro-metaheuristic approaches to improve the accuracy of prediction for this parameter. Vortex search algorithms (VSA), sunflower optimization (SFO), and stochastic fractal search (SFS) are integrated with a multilayer perceptron neural network to create the VSA-MLPNN, SFO-MLPNN, and SFS-MLPNN hybrids. The climate data of Arcata-Eureka station (operated by the US environmental protection agency) belonging to the years 1986-1989 and the year 1990 are used for training and testing the models, respectively. Trying different configurations revealed that the best performance of the VSA, SFO, and SFS is obtained for the population size of 400, 300, and 100, respectively. The results were compared with a conventionally trained MLPNN to examine the effect of the metaheuristic algorithms. Overall, all four models presented a very reliable simulation. However, the SFS-MLPNN (mean absolute error, MAE = 0.0997 and Pearson correlation coefficient, R_P = 0.9957) was the most accurate model, followed by the VSA-MLPNN (MAE = 0.1058 and R_P = 0.9945), conventional MLPNN (MAE = 0.1062 and R_P = 0.9944), and SFO-MLPNN (MAE = 0.1305 and R_P = 0.9914). The findings indicated that employing the VSA and SFS results in improving the accuracy of the neural network in the prediction of pan evaporation. Hence, the suggested models are recommended for future practical applications.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.39 no.3
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• pp.49-57
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• 2002

In this paper, we deal with a real time implementation of the integrated image-based navigation parameter extraction system using the TMS320C80 MVP(multimedia video processor). Our system consists of relative position estimation and absolute position compensation, which is further divided into high-resolution aerial image matching, DEM(Digital elevation model) matching, and IRS (Indian remote sensing) satellite image matching. Those algorithms are implemented in real time using the MVP. To achieve a real-time operation, an attempt is made to partition the aerial image and process the partitioned images in parallel using the four parallel processors in the MVP. We also examine the performance of the implemented integrated system in terms of the estimation accuracy, confirming a proper operation of the our system.

• Journal of Korean Society on Water Environment
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• v.27 no.3
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• pp.264-272
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• 2011

The objective of this study was to develop a model for predicting long-term runoff in a basin using the ensemble streamflow prediction (ESP) technique and review its reliability. To achieve the objective, this study improved not only the ESP technique based on the ensemble scenario analysis of historical rainfall data but also conventional ESP techniques used in conjunction with qualitative climate forecasting information, and analyzed and assessed their improvement effects. The model was applied to the Geum River basin. To undertake runoff forecasting, this study tried three cases (case 1: Climate Outlook + ESP, case 2: ESP probability through monthly measured discharge, case 3: Season ESP probability of case 2) according to techniques used to calculate ESP probabilities. As a result, the mean absolute error of runoff forecasts for case 1 proposed by this study was calculated as 295.8 MCM. This suggests that case 1 showed higher reliability in runoff forecasting than case 2 (324 MCM) and case 3 (473.1 MCM). In a discrepancy-ratio accuracy analysis, the Climate Outlook + ESP technique displayed 50.0%. This suggests that runoff forecasting using the Climate Outlook +ESP technique with the lowest absolute error was more reliable than other two cases.

• Geomechanics and Engineering
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• v.31 no.4
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• pp.339-352
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• 2022

Studying slope stability is an important branch of civil engineering. In this way, engineers have employed machine learning models, due to their high efficiency in complex calculations. This paper examines the robustness of various novel optimization schemes, namely equilibrium optimizer (EO), Harris hawks optimization (HHO), water cycle algorithm (WCA), biogeography-based optimization (BBO), dragonfly algorithm (DA), grey wolf optimization (GWO), and teaching learning-based optimization (TLBO) for enhancing the performance of adaptive neuro-fuzzy inference system (ANFIS) in slope stability prediction. The hybrid models estimate the factor of safety (F_S) of a cohesive soil-footing system. The role of these algorithms lies in finding the optimal parameters of the membership function in the fuzzy system. By examining the convergence proceeding of the proposed hybrids, the best population sizes are selected, and the corresponding results are compared to the typical ANFIS. Accuracy assessments via root mean square error, mean absolute error, mean absolute percentage error, and Pearson correlation coefficient showed that all models can reliably understand and reproduce the F_S behavior. Moreover, applying the WCA, EO, GWO, and TLBO resulted in reducing both learning and prediction error of the ANFIS. Also, an efficiency comparison demonstrated the WCA-ANFIS as the most accurate hybrid, while the GWO-ANFIS was the fastest promising model. Overall, the findings of this research professed the suitability of improved intelligent models for practical slope stability evaluations.

• Asian Pacific Journal of Cancer Prevention
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• v.17 no.4
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• pp.1861-1864
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• 2016

Although early diagnosis of thyroid nodule type is very important, the diagnostic accuracy of standard tests is a challenging issue. We here aimed to find an optimal combination of factors to improve diagnostic accuracy for distinguishing malignant from benign thyroid nodules before surgery. In a prospective study from 2008 to 2012, 345 patients referred for thyroidectomy were enrolled. The sample size was split into a training set and testing set as a ratio of 7:3. The former was used for estimation and variable selection and obtaining a linear combination of factors. We utilized smoothly clipped absolute deviation (SCAD) logistic regression to achieve the sparse optimal combination of factors. To evaluate the performance of the estimated model in the testing set, a receiver operating characteristic (ROC) curve was utilized. The mean age of the examined patients (66 male and 279 female) was $40.9{\pm}13.4years$ (range 15- 90 years). Some 54.8% of the patients (24.3% male and 75.7% female) had benign and 45.2% (14% male and 86% female) malignant thyroid nodules. In addition to maximum diameters of nodules and lobes, their volumes were considered as related factors for malignancy prediction (a total of 16 factors). However, the SCAD method estimated the coefficients of 8 factors to be zero and eliminated them from the model. Hence a sparse model which combined the effects of 8 factors to distinguish malignant from benign thyroid nodules was generated. An optimal cut off point of the ROC curve for our estimated model was obtained (p=0.44) and the area under the curve (AUC) was equal to 77% (95% CI: 68%-85%). Sensitivity, specificity, positive predictive value and negative predictive values for this model were 70%, 72%, 71% and 76%, respectively. An increase of 10 percent and a greater accuracy rate in early diagnosis of thyroid nodule type by statistical methods (SCAD and ANN methods) compared with the results of FNA testing revealed that the statistical modeling methods are helpful in disease diagnosis. In addition, the factor ranking offered by these methods is valuable in the clinical context.

• Journal of the Korea Society of Computer and Information
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• v.20 no.3
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• pp.19-27
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• 2015

Technologies of wind power generation for development of alternative energy technology have been accumulated over the past 20 years. Wind power generation is environmentally friendly and economical because it uses the wind blowing in nature as energy resource. In order to operate wind power generation efficiently, it is necessary to accurately predict wind speed changing every moment in nature. It is important not only averagely how well to predict wind speed but also to minimize the largest absolute error between real value and prediction value of wind speed. In terms of generation operating plan, minimizing the largest absolute error plays an important role for building flexible generation operating plan because the difference between predicting power and real power causes economic loss. In this paper, we propose a method of wind speed prediction using numeric prediction algorithm-based wind speed forecast model made to analyze the wind speed forecast given by the Meteorological Administration and pattern value for considering seasonal property of wind speed as well as changing trend of past wind speed. The wind speed forecast given by the Meteorological Administration is the forecast in respect to comparatively wide area including wind generation farm. But it contributes considerably to make accuracy of wind speed prediction high. Also, the experimental results demonstrate that as the rate of wind is analyzed in more detail, the greater accuracy will be obtained.

• Nuclear Engineering and Technology
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• v.41 no.1
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• pp.125-134
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• 2009

This paper presents details on a tube inspection robotic system and a positioning method of the robot for a steam generator (SG) in nuclear power plants (NPPs). The robotic system is separated into three parts for easy handling, which reduces the radiation exposure during installation. The system has a supporting leg to increase the rigidity of the robot base. Since there are several thousands of tubes to be inspected inside a SG, it is very important to position the tool of the robot at the right tubes even if the robot base is positioned inaccurately during the installation. In order to obtain absolute accuracy of a position, the robot kinematics was mathematically modeled with the modified DH(Denavit-Hartenberg) model and calibrated on site using tube holes as calibration points. To tune the PID gains of a commercial motor driver systematically, the time delay control (TDC) based gain tuning method was adopted. To verify the performance of the robotic system, experiments on a Framatomes 51B Model type SG mockup were undertaken.

• Earthquakes and Structures
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• v.18 no.2
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• pp.163-170
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• 2020

Floor acceleration plays a major role in the seismic design of nonstructural components and equipment supported by structures. Large floor acceleration may cause structural damage to or even collapse of buildings. For precision instruments in high-tech factories, even small floor accelerations can cause considerable damage in this study. Six P-wave parameters, namely the peak measurement of acceleration, peak measurement of velocity, peak measurement of displacement, effective predominant period, integral of squared velocity, and cumulative absolute velocity, were estimated from the first 3 s of a vertical ground acceleration time history. Subsequently, a new predictive algorithm was developed, which utilizes the aforementioned parameters with the floor height and fundamental period of the structure as the new inputs of a support vector regression model. Representative earthquakes, which were recorded by the Structure Strong Earthquake Monitoring System of the Central Weather Bureau in Taiwan from 1992 to 2016, were used to construct the support vector regression model for predicting the peak floor acceleration (PFA) of each floor. The results indicated that the accuracy of the predicted PFA, which was defined as a PFA within a one-level difference from the measured PFA on Taiwan's seismic intensity scale, was 96.96%. The proposed system can be integrated into the existing earthquake early warning system to provide complete protection to life and the economy.