• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.435-441
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• 2013

A swarm robot system consists of with multiple mobile robots, each of which is called an agent. Each agent interacts with others and cooperates for a given task and a given environment. For the swarm robotic system, the loss of the entire work capability by malfunction or damage to a single robot is relatively small and replacement and repair of the robot is less costly. So, it is suitable to perform more complex tasks. The essential component for a swarm robotic system is an inter-robot collaboration strategy for teamwork. Recently, the swarm intelligence theory is applied to robotic system domain as a new framework of collective robotic system design. In this paper, FA (Firefly Algorithm) which is based on firefly's reaction to the lights of other fireflies and their social behavior is employed to optimize the group behavior of multiple robots. The main application of the firefly algorithm is performed on path planning of swarm mobile robots and its effectiveness is verified by simulations under various conditions.

• Journal of Korean Institute of Industrial Engineers
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• v.19 no.2
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• pp.3-13
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• 1993

In this study, we develop a B & B type algorithm for the concave minimization problem with 0-1 knapsack constraint. Our algorithm reformulates the original problem into the singly linearly constrained concave minimization problem by relaxing 0-1 integer constraint in order to get a lower bound. But this relaxed problem is the concave minimization problem known as NP-hard. Thus the linear function that underestimates the concave objective function over the given domain set is introduced. The introduction of this function bears the following important meanings. Firstly, we can efficiently calculate the lower bound of the optimal object value using the conventional convex optimization methods. Secondly, the above linear function like the concave objective function generates the vertices of the relaxed solution set of the subproblem, which is used to update the upper bound. The fact that the linear underestimating function is uniquely determined over a given simplex enables us to fix underestimating function by considering the simplex containing the relaxed solution set. The initial containing simplex that is the intersection of the linear constraint and the nonnegative orthant is sequentially partitioned into the subsimplices which are related to subproblems.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.43 no.3 s.309
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• pp.1-8
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• 2006

In this paper, we propose a new post-processing method, based on the theory of the projection onto convex sets (POCS) to reduce the blocking artifacts in decoded images. We propose a few smoothness constraint set (SCS) and its projection operator in the wavelet transform (WT) domain to remove unnecessary high-frequency components caused by blocking artifacts. We also propose a new method to find and preserve the original high frequency components of the image edge. Experimental results show that the proposed method can not only achieve a significantly enhanced subjective quality, but also have the PSNR improvement in the output image.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.6
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• pp.547-553
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• 2006

This paper studies digital control of biodynamic model of HIV-1 via intelligent digital redesign (IDR). The purpose of the IDR is to develop an equivalent digital fuzzy controller maintaining the satisfactory performance of an existing continuous-time fuzzy controller in the sense of the state-matching. Some conditions for the stability as well as the global state-matching are provided.. They are given by the form of the linear matrix inequalities (LMIs) and thereby easily tractable by the convex optimization techniques. The main features of the proposed method are that 1) the generalized control scheme is provided for the multirate as well as the single-rate digital controllers; 2) a new compensated block-pulse function method is applied to closely match the states of the continuous-time and the sampled-data fuzzy systems in the discrete-time domain; 3) the two-step procedure of IDR is presented to prevent the performance degradation caused by the additional stability conditions. The applicability of the proposed approach is shown through the biodynamic model of HIV-1.

• Journal of Educational Research in Mathematics
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• v.20 no.1
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• pp.85-102
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• 2010

Linear programming(LP) is useful for finding the best way in a given condition for some list of requirements represented as linear equations. This study analysed LP in mathematics contexts and LP in school mathematics contexts, considered learning process of LP from an epistemological point of view, and explored a hypothetical learning trajectory of LP. The differences between mathematics contexts and school mathematics contexts are whether they considered that the convex polytope $\Omega$ is feasible/infeasible or bounded/unbounded or not, and whether they prove the theorem that the optimum is always attained at a vertex of the polyhedronor not. And there is a possibility that students could not understand what is maximum and minimum of a linear function when the domain of the function is limited. By considering these three aspects, we constructed hypothetical learning trajectory consisted of 4 steps. The first step is to see a given linear expression as linear function, the second step is to partition a given domain by straight lines, the third step is to construct the conception of y-intercept by relating lines and the range of k, and the forth step is to identify whether there exists the optimum in a given domain or not.

• Korean Journal of Mathematics
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• v.24 no.3
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• pp.409-445
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• 2016

The class $\mathcal{W}^{\delta}_{\beta}({\alpha},{\gamma})$ defined in the domain ${\mid}z{\mid}$ < 1 satisfying $Re\;e^{i{\phi}}\((1-{\alpha}+2{\gamma})(f/z)^{\delta}+\({\alpha}-3{\gamma}+{\gamma}\[1-1/{\delta})(zf^{\prime}/f)+1/{\delta}\(1+zf^{\prime\prime}/f^{\prime}\)\]\)(f/z)^{\delta}(zf^{\prime}/f)-{\beta}\)$ > 0, with the conditions ${\alpha}{\geq}0$, ${\beta}$ < 1, ${\gamma}{\geq}0$, ${\delta}$ > 0 and ${\phi}{\in}{\mathbb{R}}$ generalizes a particular case of the largest subclass of univalent functions, namely the class of $Bazilevi{\check{c}}$ functions. Moreover, for 0 < ${\delta}{\leq}{\frac{1}{(1-{\zeta})}}$, $0{\leq}{\zeta}$ < 1, the class $C_{\delta}({\zeta})$ be the subclass of normalized analytic functions such that $Re(1/{\delta}(1+zf^{\prime\prime}/f^{\prime})+1-1/{\delta})(zf^{\prime}/f))$ > ${\zeta}$, ${\mid}z{\mid}$<1. In the present work, the sucient conditions on ${\lambda}(t)$ are investigated, so that the non-linear integral transform $V^{\delta}_{\lambda}(f)(z)=\({\large{\int}_{0}^{1}}{\lambda}(t)(f(tz)/t)^{\delta}dt\)^{1/{\delta}}$, ${\mid}z{\mid}$ < 1, carries the fuctions from $\mathcal{W}^{\delta}_{\beta}({\alpha},{\gamma})$ into $C_{\delta}({\zeta})$. Several interesting applications are provided for special choices of ${\lambda}(t)$. These results are useful in the attempt to generalize the two most important extremal problems in this direction using duality techniques and provide scope for further research.

• The Journal of Engineering Geology
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• v.31 no.3
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• pp.257-267
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• 2021

Constraints on the structure and composition of the active layer are important for understanding permafrost evolution. Soil convection owing to repeated moisture-induced freeze-thaw cycles within the active layer promotes the formation of self-organized patterned ground. Here we present the results of ground penetrating radar (GPR) surveys across a selected sorted circle near King Sejong Station, Antarctica, to better delineate the active layer and its relation to the observed patterned ground structure. We acquire GPR data in both bistatic mode (common mid-points) for precise velocity constraints and monostatic mode (common-offset) for subsurface imaging. Reflections are derived from the active layer-permafrost boundary, organic layer-weathered soil boundary within the active layer, and frozen rock-fracture-filled ice boundary within the permafrost. The base of the imaged sorted circle possesses a convex-down shape in the central silty zone, which is typical for the pattern associated with convection-like soil motion within the active layer. The boundary between the central fine-silty domain and coarse-grained stone border is effectively identified in a radar amplitude contour at the assumed active layer depth, and is further examined in the frequency spectra of the near- and far-offset traces. The far-offset traces and the traces from the lower frequency components dominant on the far-offset traces would be associated with rapid absorption of higher frequency radiowave due to the voids in gravel-rich zone. The presented correlation strategies for analyzing very shallow, thin-layered GPR reflection data can potentially be applied to the various types of patterned ground, particularly for acquiring time-lapse imaging, when electric resistivity tomography is incorporated into the analysis.