• Journal of Biosystems Engineering
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• v.30 no.5 s.112
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• pp.293-298
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• 2005

The purpose of this study was the development of a multi-joint robot manipulator for milking robot system. The multi-joint robot manipulator was controlled by 5 drivers with driver controller through the position information obtained from the image processing system. The robot manipulator to automatically attach each teat cup to the teats of a milking cow was developed and it's motion was accurately measured with error rate. Results were as follows. 1. Maximum errors in position accuracy were 4mm along X-axis, 4.5mm along Y-axis and 0.9mm along Z-axis. Absolute distance errors were maximum 4.8mm, minimum 2.7mm, and average 3.6mm. 2. Errors of repeatability were maximum 3.0mm along X-axis, 3.0mm along Y-axis, and 0.5mm along Z-axis. Distance error values were maximum 3.2mm, minimum 2.2mm, and average 2.5mm. It is envisaged that multi-joint robot manipulator can be applicate to milking robot system being developed in consideration of the experiment results.

• Membrane and Water Treatment
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• v.9 no.5
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• pp.363-371
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• 2018

In this work, it was investigated the usability of artificial bee colony (ABC) and genetic algorithm (GA) in modeling adsorption of Co(II) onto drinking water treatment sludge (DWTS). DWTS, obtained as inevitable byproduct at the end of drinking water treatment stages, was used as an adsorbent without any physical or chemical pre-treatment in the adsorption experiments. Firstly, DWTS was characterized employing various analytical procedures such as elemental, FT-IR, SEM-EDS, XRD, XRF and TGA/DTA analysis. Then, adsorption experiments were carried out in a batch system and DWTS's Co(II) removal potential was modelled via ABC and GA methods considering the effects of certain experimental parameters (initial pH, contact time, initial Co(II) concentration, DWTS dosage) called as the input parameters. The accuracy of ABC and GA method was determined and these methods were applied to four different functions: quadratic, exponential, linear and power. Some statistical indices (sum square error, root mean square error, mean absolute error, average relative error, and determination coefficient) were used to evaluate the performance of these models. The ABC and GA method with quadratic forms obtained better prediction. As a result, it was shown ABC and GA can be used optimization of the regression function coefficients in modeling adsorption experiments.

• Korea Trade Review
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• v.47 no.3
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• pp.211-232
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• 2022

Due to the impact of the public health event COVID-19 epidemic, the Chinese futures market showed "Black Swan". This has brought the unpredictable into the economic environment with many commodities falling by the daily limit, while gold performed well and closed in the sunshine(Yan-Li and Rui Qian-Wang, 2020). Volatility is integral part of financial market. As an emerging market and a special precious metal, it is important to forecast return of gold futures price. This study selected data of the SHFE gold futures returns and conducted an empirical analysis based on the generalised autoregressive conditional heteroskedasticity (GARCH)-type model. Comparing the statistics of AIC, SC and H-QC, ARMA (12,9) model was selected as the best model. But serial correlation in the squared returns suggests conditional heteroskedasticity. Next part we established the autoregressive moving average ARMA-GARCH-type model to analysis whether Volatility Clustering and the leverage effect exist in the Chinese gold futures market. we consider three different distributions of innovation to explain fat-tailed features of financial returns. Additionally, the error degree and prediction results of different models were evaluated in terms of mean squared error (MSE), mean absolute error (MAE), Theil inequality coefficient(TIC) and root mean-squared error (RMSE). The results show that the ARMA(12,9)-TGARCH(2,2) model under Student's t-distribution outperforms other models when predicting the Chinese gold futures return series.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.1
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• pp.142-152
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• 2016

GPS is not able to be used for indoor positioning and currently most of techniques emerging to overcome the limit of GPS utilize private wireless networks. However, these methods require high costs for installation and maintenance, and they are inappropriate to be used in the place where precise positioning is needed as in indoor parking lots. This paper proposes a vehicular indoor positioning method based on QR-code recognition. The method gets an absolute coordinate through QR-code scanning, and obtain the location (an relative coordinate) of a black-box camera using the tilt and roll angle correction through affine transformation, scale transformation, and trigonometric function. Using these information of an absolute coordinate and an relative one, the precise position of a car is estimated. As a result, average error of 13.79cm is achieved and it corresponds to just 27.6% error rate in contrast to 50cm error of the recent technique based on wireless networks.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1996.06c
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• pp.500-510
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• 1996

A Direct injection -mixing total -flow -control sprayer was developed and evaluated . The system provided precise application rates and minimized operator exposure to chemicals as well as providing a possibility for recycling container so f unused chemicals that can causes environmental contamination. Chemicals were metered and injected proportionally to the diluent flow rate to provide constant concentrations. The main diluent flow was varied in response to changes in travel speed. Experimental variables of the sprayer were the control interval, the sensitivity of flow regulating valve, the tolerance of control object and the sensitivity of the injection pump system. The optimal performance of the flow control system was with an average response time of 8.5 sec at an absolute steady state of error of 0.067 L/min (0.8% of flow rate). The average response time of the injection rate was -0.53 sec and the coefficient of variation (CV) of concentration was 3.2%.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.21 no.11
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• pp.629-635
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• 2009

In this study, fin surface temperature and frost properties, i.e., frost thickness and frost surface temperature on a heat exchanger, were experimentally analyzed with different fin thicknesses, fin sizes and thermal conductivities of fin. As a result, it is found that fin thickness and thermal conductivity of fin should be considered in order to design an efficient heat exchanger fin. Correlations of dimensionless average frost properties were proposed as functions of dimensionless air temperature, dimensionless fin base temperature, dimensionless fin thickness, absolute air humidity, Reynolds number and Fourier number. The correlations predicted well the average frost thickness with a maximum error of 10.5% and frost surface temperature with a maximum difference of $0.89^{\circ}C$, respectively.

• Journal of Korea Multimedia Society
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• v.13 no.11
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• pp.1698-1705
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• 2010

In this paper, we propose a fast liver segmentation method from magnetic resonance(MR) images. Our method efficiently divides a MR image into a set of discrete objects, and boundaries based on the normalized gradient magnitude information. Then, the objects belonging to the liver are detected by using 2D seeded region growing with seed points, which are extracted from the segmented liver region of the slice immediately above or below the current slice. Finally, rolling ball algorithm, and connected component analysis minimizes false positive error near the liver boundaries. Our method was validated by twenty data sets and the results were compared with the manually segmented result. The average volumetric overlap error was 5.2%, and average absolute volumetric measurement error was 1.9%. The average processing time for segmenting one data set was about three seconds. Our method could be used for computer-aided liver diagnosis, which requires a fast and accurate segmentation of liver.

• Journal of the Korean Institute of Gas
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• v.23 no.5
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• pp.52-58
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• 2019

In this study, we have developed a forecasting model for city- gas acceptance. City-gas corporations have to report about city-gas sale volume next year to KOGAS. So it is a important thing to them. Factors influenced city-gas have differences corresponding to usage classification, however, in city-gas acceptence, it is hard to classificate. So we have considered tha outside temperature as factor that influence regardless of usage classification and the model development was carried out. ARIMA, one of the traditional time series analysis, and LSTM, a deep running technique, were used to construct forecasting models, and various Ensemble techniques were used to minimize the disadvantages of these two methods.Experiments and validation were conducted using data from JB Corp. from 2008 to 2018 for 11 years.The average of the error rate of the daily forecast was 0.48% for Ensemble LSTM, the average of the error rate of the monthly forecast was 2.46% for Ensemble LSTM, And the absolute value of the error rate is 5.24% for Ensemble LSTM.

• Steel and Composite Structures
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• v.21 no.4
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• pp.921-947
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• 2016

Concrete Filled Fibre Reinforced Polymer Tube (CFFT) for new columns construction has attracted significant research attention in recent years. The CFFT acts as a formwork for new columns and a barrier to corrosion accelerating agents. It significantly increases both the strength capacity (Strength enhancement ratio) and the ductility (Strain enhancement ratio) of reinforced concrete columns. In this study, based on predefined selection criteria, experimental investigation results of 134 circular CFFT columns under axial compression have been compiled and analysed from 599 CFFT specimens available in the literature. It has been observed that actual confinement ratio (expressed as a function of material properties of fibres, diameter of CFFT and compressive strength of concrete) has significant influence on the strength and ductility of circular CFFT columns. Design oriented models have been proposed to compute the strength and strain enhancement ratios of circular CFFT columns. The proposed strength and strain enhancement ratio models have significantly reduced Average Absolute Error (AAE), Mean Square Error (MSE), Relative Standard Error of Estimate (RSEE) and Standard Deviation (SD) as compared to other available strength and strain enhancement ratios of circular CFFT column models. The predictions of the proposed strength and strain enhancement ratio models match well with the experimental strength and strain enhancement ratios investigation results in the compiled database.

• Communications for Statistical Applications and Methods
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• v.27 no.3
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• pp.349-363
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• 2020

Penalized spline is a suitable nonparametric approach in estimating mean model in small area. However, application of the approach in informative sampling in a published article is uncommon. We propose a semiparametric mixed-model using penalized spline under informative sampling to estimate mean of small area. The response variable is explained in terms of mean model, informative sample effect, area random effect and unit error. We approach the mean model by penalized spline and utilize a penalized spline function of the inclusion probability to account for the informative sample effect. We determine the best and unbiased estimators for coefficient model and derive the restricted maximum likelihood estimators for the variance components. A simulation study shows a decrease in the average absolute bias produced by the proposed model. A decrease in the root mean square error also occurred except in some quadratic cases. The use of linear and quadratic penalized spline to approach the function of the inclusion probability provides no significant difference distribution of root mean square error, except for few smaller samples.