• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2004년도 학술대회지
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• pp.48-53
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• 2004

In this paper, the task-oriented optimal configuration in the sense of Velocity and Force manipulability measure of manipulator mounted on ROV is considered. Manipulability is a quantitative measure of manipulator's capability obtained under the limits of joint velocities or torques. The base arrangements and optimal joint configuration of manipulator, that maximize the manipulability measure under the constraints of given task, are investigated. With the two types of base arrangements of manipulator, workspace analysis is carried out to investigate merits and demerits of each arrangement on the view of manipulability measure. To find optimal joint configuration for a given task with each arrangement, the SQP(Sequential Quadratic Programming) optimization are performed. Weighted linear combination of velocity and force manipulability measure is object function for SQP optimization. The kinematic parameters of Dual Orion manipulator which will be mounted on KORDI ROV are used for simulation.

• 한국식품조리과학회지
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• 제27권6호
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• pp.691-700
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• 2011

This study's objective is to determine the optimum mixing ratio of yam (Dioscorea japonica THUMB) powder and egg for the preparation of pasta. Response surface methodology revealed 10 experimental points, including two replicates for yam powder and egg. Yam pasta formulation was optimized using rheology. Yellowness(p<0.05) and redness displayed a linear model pattern, while lightness was represented by a quadratic model. The texture(p<0.05), including flavor(p<0.05) and overall quality(p<0.05) was measured as a sensory evaluation. In addition, mechanical properties displayed significant values in adhesiveness(p<0.05). These results showed that yam powder affects flavor and appearance, and egg affects adhesiveness and overall quality. The optimum formulations processed by numerical and graphical optimization were determined at 19.50 g of yam powder and 28.07 g of egg.

• 한국식생활문화학회지
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• 제27권6호
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• pp.710-718
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• 2012

The purpose of this study was to investigate the antioxidative effects of Opuntia humifusa and determine the optimal mixing ratio of Opuntia humifusa powder and eggs for the preparation of pasta. In regard to its antioxidant effects, Opuntia humifusa powder had a total phenolic content and DPPH free radical scavenging activity of 6.64 mg/g and 90.12%, respectively. We used response surface methodology to obtain ten experimental points (including two replicates for Opuntia humifusa powder and egg) and Opuntia humifusa pasta formulation was optimized using rheology. Yellowness (p<0.001) displayed a linear model pattern, whereas lightness (p<0.01) and redness (p<0.01) were described by a quadratic model pattern. Mechanical properties showed significant values in hardness (p<0.5), chewiness (p<0.5), gummiess (p<0.5), and cohesiveness (p<0.5). The sensory evaluation parameters showed significant differences in color (p<0.5), appearance (p<0.5), flavor (p<0.5), texture (p<0.5) and overall quality (p<0.5). The optimum formulations processed by numerical and graphical optimization were found to be 7.30 g of Opuntia humifusa powder and 31.55 g of egg.

• 한국식품조리과학회지
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• 제25권2호
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• pp.234-242
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• 2009

This study was performed to find the optimum ratio of ingredients for the manufacture of kiwifruit jam. The experiment was designed according to the D-optimal design of RSM (response surface methodology), which included 18 experimental points with 4 replicates for three independent variables (sugar $35{\sim}60%$, pectin $0.1{\sim}1.0.%$, kiwifruit paste $0.37{\sim}0.90%$). The compositional and functional properties of the prepared products were measured, and these values were applied to mathematical models. A canonical form and trace plot showed the influence of each variable on the quality attributes of the final product mixture. By use of the F-test, viscosity, color values (L, a, b), and sensory characteristics (color) were expressed by a linear model, while the L color value and select sensory characteristics (smell, taste, overall acceptance) were also expressed by a quadratic model. The optimum formulations by the numerical and graphical methods, were similar, and with the numerical method it presented as: sugar, pectin, and barley sproutling powder at 49.7%, 0.5%, and 0.6%, respectively. The above results demonstrate the feasibility of preparing kiwifruit jam added with barley sproutling powder, and therefore, the commercialization of a kiwifruit jam marketed as a functional food is deemed possible.

• 전기학회논문지
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• 제58권4호
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• pp.832-839
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• 2009

In this paper, we introduce an design of fuzzy relation-based fuzzy neural networks with multi-output. Fuzzy relation-based fuzzy neural networks comprise the network structure generated by dividing the entire input space. The premise part of the fuzzy rules of the network reflects the relation of the division space for the entire input space and the consequent part of the fuzzy rules expresses three types of polynomial functions such as constant, linear, and modified quadratic. For the multi-output structure the neurons in the output layer were connected with connection weights. The learning of fuzzy neural networks is realized by adjusting connections of the neurons both in the consequent part of the fuzzy rules and in the output layer, and it follows a back-propagation algorithm. In addition, in order to optimize the network, the parameters of the network such as apexes of membership functions, learning rate and momentum coefficient are automatically optimized by using real-coded genetic algorithm. Two examples are included to evaluate the performance of the proposed network.

• 로봇학회논문지
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• 제12권2호
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• pp.239-247
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• 2017

The purpose of this study is to develop a motion generation technique based on a double inverted pendulum model (DIPM) that learns and reproduces humanoid robot (or virtual human) motions while keeping its balance in a pattern similar to a human. DIPM consists of a cart and two inverted pendulums, connected in a serial. Although the structure resembles human upper- and lower-body, the balancing motion in DIPM is different from the motion that human does. To do this, we use the motion capture data to obtain the reference motion to keep the balance in the existence of external force. By an optimization technique minimizing the difference between the motion of DIPM and the reference motion, control parameters of the proposed method were learned in advance. The learned control parameters are re-used for the control signal of DIPM as input of linear quadratic regulator that generates a similar motion pattern as the reference. In order to verify this, we use virtual human experiments were conducted to generate the motion that naturally balanced.

• 대한의용생체공학회:의공학회지
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• 제36권5호
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• pp.211-220
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• 2015

Recently, model-based iterative reconstruction (MBIR) has played an important role in transmission tomography by significantly improving the quality of reconstructed images for low-dose scans. MBIR is based on the penalized-likelihood (PL) approach, where the penalty term (also known as the regularizer) stabilizes the unstable likelihood term, thereby suppressing the noise. In this work we further improve MBIR by using a more expressive regularizer which can restore the underlying image more accurately. Here we used a spline regularizer derived from a linear combination of the two-dimensional splines with first- and second-order spatial derivatives and applied it to a non-quadratic convex penalty function. To derive a PL algorithm with the spline regularizer, we used a separable paraboloidal surrogates algorithm for convex optimization. The experimental results demonstrate that our regularization method improves reconstruction accuracy in terms of both regional percentage error and contrast recovery coefficient by restoring smooth edges as well as sharp edges more accurately.

• Journal of Electrical Engineering and Technology
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• 제8권3호
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• pp.621-632
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• 2013

In this paper, we introduce advanced architectures of genetically-oriented Fuzzy Neural Networks (FNNs) based on fuzzy set and fuzzy relation and discuss a comprehensive design methodology. The proposed FNNs are based on 'if-then' rule-based networks with the extended structure of the premise and the consequence parts of the fuzzy rules. We consider two types of the FNNs topologies, called here FSNN and FRNN, depending upon the usage of inputs in the premise of fuzzy rules. Three different type of polynomials function (namely, constant, linear, and quadratic) are used to construct the consequence of the rules. In order to improve the accuracy of FNNs, the structure and the parameters are optimized by making use of genetic algorithms (GAs). We enhance the search capabilities of the GAs by introducing the dynamic variants of genetic optimization. It fully exploits the processing capabilities of the FNNs by supporting their structural and parametric optimization. To evaluate the performance of the proposed FNNs, we exploit a suite of several representative numerical examples and its experimental results are compared with those reported in the previous studies.

• 한국식생활문화학회지
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• 제27권2호
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• pp.202-210
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• 2012

The purpose of this study was to bake sweet rice muffins with oak mushroom ($Lentinus$ $edodes$) powder. The process included substituting sweet rice flour for cake flour and adding oak mushroom powder. This study determined the optimal mixing conditions of oak mushroom muffins by adjusting the amounts of oak mushroom powder, whole eggs, and soybean oil. The mixing conditions for the oak mushroom muffins included 3 categories: oak mushroom powder (X1), whole eggs (X2), and soybean oil (X3) by Central Composite Design (CCD) which was optimized by Response Surface Methodology (RSM). Oak mushroom muffin formulation was optimized using rheology. Yellowness (p<0.001) and redness (p<0.05) displayed a linear model pattern, whereas lightness (p<0.05) was represented by a quadratic model. Among the sensory properties, variables that appeared to show significant values such as appearance (p<0.5), texture (p<0.5), and overall quality (p<0.5) were used to identify optimums. The result of mechanical properties showed significant values in gumminess (p<0.5) and chewiness (p<0.5). The numerical and graphical methods used in this study determined that the optimum formulation for oak mushroom powder sweet rice muffins was 8.75 g of oak mushroom powder, 235.95 g of whole eggs, and 19.93 g of soybean oil.

• 한국식품조리과학회지
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• 제19권4호
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• pp.429-438
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• 2003

The optimization of Omija-pyun as a traditional dessert, with the most European taste and year round availability, was studied with regard to its texture. The response surface methodology was used to determine the optimal composition of Omija-pyun as a European style dessert. The texture, including the springiness, gumminess, cohesiveness, adhesiveness, hardness and chewiness, was measured using TPA parameters (TA-HD Texture Analyser, stable micro system, UK). The texture of Omija-pyun was influenced by pectin and sucrose to the first linear order. The properties of springiness and adhesiveness were influenced by pectin x pectin to the second quadratic order. No cross product effects between ingredients were found from the analysis. The maximum springiness was obtained with 42g of pectin, 450g of sucrose, 110g of glucose syrup and 4.8g of tartaric acid. The maximum chewiness was with 55g of pectin, 330g of sucrose, 140g of glucose syrup and 5.7g of tartaric acid. The maximum adhesiveness was achieved using 17g of pectin and 400g of sucrose. The gumminess and hardness increased with increasing pectin content, and a cross product effect was observed(Eds note: you said earlier that no cross product effects between the ingredients was found\ulcorner) between sucrose and glucose syrup.