• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.84-84
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• 2000

This paper proposes a new impedance control scheme based on a variable stiffness matrix for a bilateraL teleoperation. In this scheme, stiffness matrix of the impedance model in the slave is modulated based on the distance, measured by an ultrasonic sensor, between the slave and environment. At the same time, the stiffness matrix of the master is also changed accordingly in order for the impedance parameters of the combined system to remain constant The proposed scheme is implemented on a 1-dof master/slave system to perform a simple task. In the experiments, the teleoperator with the impedance parameter modulation shows better performance than one with fixed impedance parameters, especially in reducing task execution time and in avoiding excessive external forces.

• The KIPS Transactions:PartA
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• v.11A no.2
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• pp.189-194
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• 2004

This paper describes method to distribute much high-dimensional facial expression motion data to 2 dimensional space, and method to create facial expression animation by select expressions that want by realtime as animator navigates this space. In this paper composed expression space using about 2400 facial expression frames. The creation of facial space is ended by decision of shortest distance between any two expressions. The expression space as manifold space expresses approximately distance between two points as following. After define expression state vector that express state of each expression using distance matrix which represent distance between any markers, if two expression adjoin, regard this as approximate about shortest distance between two expressions. So, if adjacency distance is decided between adjacency expressions, connect these adjacency distances and yield shortest distance between any two expression states, use Floyd algorithm for this. To materialize expression space that is high-dimensional space, project on 2 dimensions using Sammon's Mapping. Facial animation create by realtime with animators navigating 2 dimensional space using user interface.

• Kyungpook Mathematical Journal
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• v.59 no.2
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• pp.335-340
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• 2019

The energy of a graph G is the sum of the absolute values of the eigenvalues of the adjacency matrix of G. Some variants of energy can also be found in the literature, in which the energy is defined for the Laplacian matrix, Distance matrix, Commonneighbourhood matrix or Seidel matrix. The Seidel matrix of the graph G is the square matrix in which $ij^{th}$ entry is -1 or 1, if the vertices $v_i$ and $v_j$ are adjacent or non-adjacent respectively, and is 0, if $v_i=v_j$. The Seidel energy of G is the sum of the absolute values of the eigenvalues of its Seidel matrix. We present here some families of pairs of graphs whose Seidel matrices have different eigenvalues, but who have the same Seidel energies.

• Electronics and Telecommunications Trends
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• v.13 no.4 s.52
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• pp.59-69
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• 1998

The terminology of data prefetching is introduced, which includes stride, repeat distance, stall, pending stall, prefetch degree, prefetch distance, and prefetch offset. The effectiveness of hardware data prefetching in reducing cache misses is shown by presenting a square matrix multiplication example. Thereafter the pitfalls of prefetching and possible solutions are discussed.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.9
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• pp.3611-3634
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• 2015

In this paper, we build a theoretical framework for quantitatively measuring and graphically representing the degrees of closeness centralization among performers assigned to enact a workflow procedure. The degree of closeness centralization of a workflow-performer reflects how near the performer is to the other performers in enacting a corresponding workflow model designed for workflow-supported organizational operations. The proposed framework comprises three procedural phases and four functional transformations, such as discovery, analysis, and quantitation phases, which carry out ICN-to-WsoN, WsoN-to-SocioMatrix, SocioMatrix-to-DistanceMatrix, and DistanceMatrix-to-CCV transformations. We develop a series of algorithmic formalisms for the procedural phases and their transformative functionalities, and verify the proposed framework through an operational example. Finally, we expatiate on the functional expansion of the closeness centralization formulas so as for the theoretical framework to handle a group of workflow procedures (or a workflow package) with organization-wide workflow-performers.

• Journal of the Korea Society of Computer and Information
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• v.19 no.4
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• pp.91-99
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• 2014

TThis paper suggests an heuristic polynomial time algorithm to solve the optimal solution for QAP (quadratic assignment problem). While Hungarian algorithm is most commonly used for a linear assignment, there is no polynomial time algorithm for the QAP. The proposed algorithm derives a grid type layout among unit distances of a distance matrix. And, we apply max-flow/min-distance approach to assign this grid type layout in such a descending order way that the largest flow is matched to the smallest unit distance from flow matrix. Evidences from implementation results of the proposed algorithm on various numerical grid type QAP examples show that a solution to the QAP could be obtained by a polynomial algorithm.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.23 no.10
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• pp.1290-1297
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• 2019

The paper proposes a distance estimation technique for ultra-wideband (UWB) systems using convolutional neural network (CNN). To estimate the distance from the transmitter and the receiver in the proposed method, 1 dimensional vector consisted of the magnitudes of the received samples is reshaped into a 2 dimensional matrix, and by using this matrix, the distance is estimated through the CNN regressor. The received signal for CNN training is generated by the UWB channel model in the IEEE 802.15.4a, and the CNN model is trained. Next, the received signal for CNN test is generated by filed experiments in indoor environments, and the distance estimation performance is verified. The proposed technique is also compared with the existing threshold based method. According to the results, the proposed CNN based technique is superior to the conventional method and specifically, the proposed method shows 0.6 m root mean square error (RMSE) at distance 10 m while the conventional technique shows much worse 1.6 m RMSE.

• The Journal of Korea Robotics Society
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• v.3 no.3
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• pp.237-244
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• 2008

Nowadays, research on human-robot interaction has been getting increasing attention. In the research field of human-robot interaction, speech signal processing in particular is the source of much interest. In this paper, we report a speaker localization system with six microphones for a humanoid robot called MAHRU from KIST and propose a time delay of arrival (TDOA)-based feature matrix with its algorithm based on the minimum sum of absolute errors (MSAE) for sound source localization. The TDOA-based feature matrix is defined as a simple database matrix calculated from pairs of microphones installed on a humanoid robot. The proposed method, using the TDOA-based feature matrix and its algorithm based on MSAE, effortlessly localizes a sound source without any requirement for calculating approximate nonlinear equations. To verify the solid performance of our speaker localization system for a humanoid robot, we present various experimental results for the speech sources at all directions within 5 m distance and the height divided into three parts.

• Communications for Statistical Applications and Methods
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• v.24 no.3
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• pp.317-324
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• 2017

An influence measure known as Cook's distance has been used for judging the influence of each observation on the least squares estimate of the parameter vector. The distance does not reflect the distributional property of the change in the least squares estimator of the regression coefficients due to case deletions: the distribution has a covariance matrix of rank one and thus it has a support set determined by a line in the multidimensional Euclidean space. As a result, the use of Cook's distance may fail to correctly provide information about influential observations, and we study some reasons for the failure. Three illustrative examples will be provided, in which the use of Cook's distance fails to give the right information about influential observations or it provides the right information about the most influential observation. We will seek some reasons for the wrong or right provision of information.

• Bulletin of the Korean Mathematical Society
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• v.54 no.2
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• pp.507-519
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• 2017

We present an upper bound on the Cheeger constant of a distance-regular graph. Recently, the authors found an upper bound on the Cheeger constant of distance-regular graph under a certain restriction in their previous work. Our new bound in the current paper is much better than the previous bound, and it is a general bound with no restriction. We point out that our bound is explicitly computable by using the valencies and the intersection matrix of a distance-regular graph. As a major tool, we use the discrete Green's function, which is defined as the inverse of ${\beta}$-Laplacian for some positive real number ${\beta}$. We present some examples of distance-regular graphs, where we compute our upper bound on their Cheeger constants.