• The Journal of Korea Robotics Society
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• v.14 no.1
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• pp.40-49
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• 2019

Reinforcement learning has been applied to various problems in robotics. However, it was still hard to train complex robotic manipulation tasks since there is a few models which can be applicable to general tasks. Such general models require a lot of training episodes. In these reasons, deep neural networks which have shown to be good function approximators have not been actively used for robot manipulation task. Recently, some of these challenges are solved by a set of methods, such as Guided Policy Search, which guide or limit search directions while training of a deep neural network based policy model. These frameworks are already applied to a humanoid robot, PR2. However, in robotics, it is not trivial to adjust existing algorithms designed for one robot to another robot. In this paper, we present our implementation of Guided Policy Search to the robotic arms of the Baxter Research Robot. To meet the goals and needs of the project, we build on an existing implementation of Baxter Agent class for the Guided Policy Search algorithm code using the built-in Python interface. This work is expected to play an important role in popularizing robot manipulation reinforcement learning methods on cost-effective robot platforms.

• Journal of Korea Multimedia Society
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• v.25 no.6
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• pp.886-893
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• 2022

Outlier detection refers to the task of detecting data that deviate significantly from the normal data distribution. Most outlier detection methods compute an outlier score which indicates the degree to which a data sample deviates from normal. However, setting a threshold for an outlier score to determine if a data sample is outlier or normal is not trivial. In this paper, we propose a binary prediction method for outlier detection based on spectral clustering and one-class SVM ensemble. Given training data consisting of normal data samples, a clustering method is performed to find clusters in the training data, and the ensemble of one-class SVM models trained on each cluster finds the boundaries of the normal data. We show how to obtain a threshold for transforming outlier scores computed from the ensemble of one-class SVM models into binary predictive values. Experimental results with high dimensional text data show that the proposed method can be effectively applied to high dimensional data, especially when the normal training data consists of different shapes and densities of clusters.

• The Journal of Korean Association of Computer Education
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• v.19 no.2
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• pp.1-10
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• 2016

This study is for developing a programming education course to improve pre-service teachers' pedagogical content knowledge(PCK) of programming education. A 40-hour training course was designed with App Inventor, a block-based mobile programming environment, and with problem-based learning method and project-based learning method. After the curriculum was adopted to 12 undergraduate students, the effect of education was tested with a programming PCK questionnaire. As a result, after a 20-hour problem-based learning class, overall score and teaching method score were enhanced significantly. After another 20-hour project-based learning class, content knowledge, teaching method, and curriculum score were improved.

• International conference on construction engineering and project management
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• 2022.06a
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• pp.893-903
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• 2022

Recently, computer vision (CV)-based safety monitoring (i.e., object detection) system has been widely researched in the construction industry. Sufficient and high-quality data collection is required to detect objects accurately. Such data collection is significant for detecting small objects or images from different camera angles. Although several previous studies proposed novel data augmentation and synthetic data generation approaches, it is still not thoroughly addressed (i.e., limited accuracy) in the dynamic construction work environment. In this study, we proposed a game engine-driven synthetic data generation model to enhance the accuracy of the CV-based object detection model, mainly targeting small objects. In the virtual 3D environment, we generated synthetic data to complement training images by altering the virtual camera angles. The main contribution of this paper is to confirm whether synthetic data generated in the game engine can improve the accuracy of the CV-based object detection model.

• Proceedings of the Korea Information Processing Society Conference
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• 2002.04a
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• pp.647-650
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• 2002

The human faces do not have distinct features unlike other general objects. In general the features of eyes, nose and mouth which are first recognized when human being see the face are defined. These features have different characteristics depending on different human face. In this paper, We propose a face recognition algorithm using the hidden Markov model(HMM). In the preprocessing stage, we find edges of a face using the locally adaptive threshold scheme and extract features based on generic knowledge of a face, then construct a database with extracted features. In training stage, we generate HMM parameters for each person by using the forward-backward algorithm. In the recognition stage, we apply probability values calculated by the HMM to input data. Then the input face is recognized by the euclidean distance of face feature vector and the cross-correlation between the input image and the database image. Computer simulation shows that the proposed HMM algorithm gives higher recognition rate compared with conventional face recognition algorithms.

• Smart Media Journal
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• v.8 no.3
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• pp.31-40
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• 2019

To understand how a Convolutional Neural Network (CNN) model captures the features of a pattern to determine which class it belongs to, in this paper, we use Gradient-weighted Class Activation Mapping (Grad-CAM) to visualize and analyze how well a CNN model behave on the CNU weeds dataset. We apply this technique to Resnet model and figure out which features this model captures to determine a specific class, what makes the model get a correct/wrong classification, and how those wrong label images can cause a negative effect to a CNN model during the training process. In the experiment, Grad-CAM highlights the important regions of weeds, depending on the patterns learned by Resnet, such as the lobe and limb on 미국가막사리, or the entire leaf surface on 단풍잎돼지풀. Besides, Grad-CAM points out a CNN model can localize the object even though it is trained only for the classification problem.

• International Journal of Computer Science & Network Security
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• v.22 no.10
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• pp.73-82
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• 2022

Early detection continues to be the mainstay of breast cancer control as well as the improvement of its treatment. Even so, the absence of cancer symptoms at the onset has early detection quite challenging. Therefore, various researchers continue to focus on cancer as a topic of health to try and make improvements from the perspectives of diagnosis, prevention, and treatment. This research's chief goal is development of a system with deep learning for classification of the breast cancer as non-malignant and malignant using mammogram images. The following two distinct approaches: the first one with the utilization of patches of the Region of Interest (ROI), and the second one with the utilization of the overall images is used. The proposed system is composed of the following two distinct stages: the pre-processing stage and the Convolution Neural Network (CNN) building stage. Of late, the use of meta-heuristic optimization algorithms has accomplished a lot of progress in resolving these problems. Teaching-Learning Based Optimization algorithm (TIBO) meta-heuristic was originally employed for resolving problems of continuous optimization. This work has offered the proposals of novel methods for training the Residual Network (ResNet) as well as the CNN based on the TLBO and the Genetic Algorithm (GA). The classification of breast cancer can be enhanced with direct application of the hybrid TLBO- GA. For this hybrid algorithm, the TLBO, i.e., a core component, will combine the following three distinct operators of the GA: coding, crossover, and mutation. In the TLBO, there is a representation of the optimization solutions as students. On the other hand, the hybrid TLBO-GA will have further division of the students as follows: the top students, the ordinary students, and the poor students. The experiments demonstrated that the proposed hybrid TLBO-GA is more effective than TLBO and GA.

• Journal of the Korea Computer Graphics Society
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• v.27 no.1
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• pp.9-17
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• 2021

In this paper, we present a simple and fast supervised learning framework based on model predictive control so as to learn motion controllers for a physic-based character to track given example motions. The proposed framework is composed of two components: training data generation and offline learning. Given an example motion, the former component stochastically controls the character motion with an optimal controller while repeatedly updating the controller for tracking the example motion through model predictive control over a time window from the current state of the character to a near future state. The repeated update of the optimal controller and the stochastic control make it possible to effectively explore various states that the character may have while mimicking the example motion and collect useful training data for supervised learning. Once all the training data is generated, the latter component normalizes the data to remove the disparity for magnitude and units inherent in the data and trains an artificial neural network with a simple architecture for a controller. The experimental results for walking and running motions demonstrate how effectively and fast the proposed framework produces physics-based motion controllers.

• Journal of Agricultural Extension & Community Development
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• v.2 no.1
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• pp.55-60
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• 1995

본 연구의 목적은 지도교육자의 직무가 컴퓨터 경험, 지식, 태도, 사용에 미치는 영향을 구명한 후 지도 교육 시스템에서 컴퓨터 연수 프로그램을 직무에 따라서 그룹화하여 실시하는 것이 적절한 방법인지 그 타당성을 조사하는데 두고 있다. 연구방법은 중다변인변량분석(MANOVA)에 의해 이루어졌다. 연구 결과에 의하면 이들간에는 통계적으로 유의한 관계성이 있다고 나타나며, 따라서 컴퓨터 연수 프로그램을 설계시 직무는 고려해야 할 중요 변인으로 여겨진다. 한편 직무에 따른 참가자들의 그룹화는 쉽게 이루어 질 수 있으므로 실질적인 측면에서도 설계자들이 고려해야 할 요인으로 여겨진다.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.915-920
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• 1988

To improve the safety and productivity of continuous processes, it is becoming increasingly necessary to have simulators to train operators. This paper describes a real-time simulator developed for this purpose by Yokogawa in cooperation with the Tokyo Gas Company. This simulator - based on the YEWCOM computer - not only trains operators, but also evaluates their proficiency.