• Journal of Institute of Control, Robotics and Systems
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• v.11 no.2
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• pp.137-143
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• 2005

Autonomous mobile robot has an ability to navigate using both map in known environment and sensors for detecting obstacles in unknown environment. In general, autonomous mobile robot navigates by global path planning on the basis of already made map and local path planning on the basis of various kinds of sensors to avoid abrupt obstacles. This paper provides a global path planning method using self-organizing feature map which is a method among a number of neural network. The self-organizing feature map uses a randomized small valued initial weight vectors, selects the neuron whose weight vector best matches input as the winning neuron, and trains the weight vectors such that neurons within the activity bubble are move toward the input vector. On the other hand, the modified method in this research uses a predetermined initial weight vectors, gives the systematic input vector whose position best matches obstacles, and trains the weight vectors such that neurons within the activity bubble are move toward the input vector. According to simulation results one can conclude that the modified neural network is useful tool for the global path planning problem of a mobile robot.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.4
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• pp.671-684
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• 2001

Several design problems of composite structures are studied via a global optimizer based on attraction regions. MSC/NASTRAN is adopted for static and eigenvalue analysis. The method of modified feasible direction in DOT is used for local optimization. Through the review of global optimization algorithms, the triangular patch algorithm is selected because the algorithm is known to be efficient, robust and powerful for general nonlinear optimization problems. For general applicability, various mechanical properties are considered as design objectives; strain energy, eigenvalue, weight, displacement, and buckling load. In all cases considered, the triangular patch algorithm results in a lot of optimum points and useful design patterns, that are not easy by local algorithms or conventional global algorithms can be determined.

• 전자공학회논문지 IE
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• v.46 no.4
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• pp.31-41
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• 2009

The Image sensor of digital still camera has a limited dynamic range. In high dynamic range scenes, a picture often turns out to be underexposed or overexposed. Retinex algorithm based on the theory of the human visual perception is known to be effective contrast enhancement technique. However, it happens the unbalanced contrast enhancement which is the global contrast increased, and the local contrast decreased in the high dynamic range scenes. In this paper, to enhance the both global and local contrast, we propose the weight mapping retinex algorithm. Weight map is composed of the edge and exposure data which are extracted in the each retinex image, and merged with the retinex images in the fusion processing. According to the output picture comparing and numerical analysis, the proposed algorithm gives the better output image with the increased global and local contrast.

• Journal of KIISE:Software and Applications
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• v.30 no.9
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• pp.862-866
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• 2003

Traveling Salesman Problem(TSP) is a combinational optimization problem, Genetic Algorithm(GA) and Lin-Kernighan(LK) Heuristic［1］that is Local Search Heuristic are one of the most commonly used methods to resolve TSP. In this paper, we introduce ACS(Ant Colony System) Algorithm as another approach to solve TSP and propose a new pheromone updating method. ACS uses pheromone information between cities in the Process where many ants make a tour, and is a method to find a optimal solution through recursive tour creation process. At the stage of Global Updating of ACS method, it updates pheromone of edges belonging to global best tour of created all edge. But we perform once more pheromone update about created all edges before global updating rule of original ACS is applied. At this process, we use the frequency of occurrence of each edges to update pheromone. We could offer stochastic value by pheromone about each edges, giving all edges' occurrence frequency as weight about Pheromone. This finds an optimal solution faster than existing ACS algorithm and prevent a local optima using more edges in next time search.

• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.1
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• pp.88-95
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• 2017

In this paper, we present a saliency detection method using entropy weight and Weber contrast in the wavelet transform domain. Our method is based on the commonly exploited conventional algorithms that are composed of the local bottom-up approach and global top-down approach. First, we perform the multi-level wavelet transform for the CIE Lab color images, and obtain global saliency by adding the local Weber contrasts to the corresponding low-frequency wavelet coefficients. Next, the local saliency is obtained by applying Gaussian filter that is weighted by entropy of wavelet high-frequency subband. The final saliency map is detected by non-lineally combining the local and global saliencies. To evaluate the proposed saliency detection method, we perform computer simulations for two image databases. Simulations results show the proposed method represents superior performance to the conventional algorithms.

• 한국전산유체공학회:학술대회논문집
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• 2009.04a
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• pp.57-65
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• 2009

An efficient and high-fidelity design approach for wing-body shape optimization is presented. Depending on the size of design space and the number of design of variable, aerodynamic shape optimization process is carried out via different optimization strategies at each design stage. In the first stage, global optimization techniques are applied to planform design with a few geometric design variables. In the second stage, local optimization techniques are used for wing surface design with a lot of design variables to maintain a sufficient design space with a high DOF (Degree of Freedom) geometric change. For global optimization, Kriging method in conjunction with Genetic Algorithm (GA) is used. Asearching algorithm of EI (Expected Improvement) points is introduced to enhance the quality of global optimization for the wing-planform design. For local optimization, a discrete adjoint method is adopted. By the successive combination of global and local optimization techniques, drag minimization is performed for a multi-body aircraft configuration while maintaining the baseline lift and the wing weight at the same time. Through the design process, performances of the test models are remarkably improved in comparison with the single stage design approach. The performance of the proposed design framework including wing planform design variables can be efficiently evaluated by the drag decomposition method, which can examine the improvement of various drag components, such as induced drag, wave drag, viscous drag and profile drag.

• Nuclear Engineering and Technology
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• v.54 no.10
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• pp.3803-3810
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• 2022

OpenMC is a community-driven open-source Monte Carlo neutron and photon transport simulation code. The Weight Window Mesh (WWM) function and an automatic Global Variance Reduction (GVR) method was recently developed and implemented in a developmental branch of OpenMC. This WWM function and GVR method broaden OpenMC's usage in general purposes deep penetration shielding calculations. However, the Local Variance Reduction (LVR) method, which suits the source-detector problem, is still missing in OpenMC. In this work, the Weight Window Generator (WWG) function has been developed and benchmarked for the same branch. This WWG function allows OpenMC to generate the WWM for the source-detector problem on its own. Single-material cases with varying shielding and sources were used to benchmark the WWG function and investigate how to set up the particle histories utilized in WWG-run and WWM-run. Results show that there is a maximum improvement of WWM generated by WWG. Based on the above results, instructions on determining the particle histories utilized in WWG-run and WWM-run for optimal computation efficiency are given and tested with a few multi-material cases. These benchmarks demonstrate the ability of the OpenMC WWG function and the above instructions for the source-detector problem. This developmental branch will be released and merged into the main distribution in the future.

• Journal of the Korean Institute of Telematics and Electronics C
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• v.35C no.3
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• pp.79-89
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• 1998

The Error Back-Propagation(EBP) algorithm is widely applied to train a multi-layer perceptron, which is a neural network model frequently used to solve complex problems such as pattern recognition, adaptive control, and global optimization. However, the EBP is basically a gradient descent method, which may get stuck in a local minimum, leading to failure in finding the globally optimal solution. Moreover, a multi-layer perceptron suffers from locking a systematic determination of the network structure appropriate for a given problem. It is usually the case to determine the number of hidden nodes by trial and error. In this paper, we propose a new algorithm to efficiently train a multi-layer perceptron. OUr algorithm uses stochastic perturbation in the weight space to effectively escape from local minima in multi-layer perceptron learning. Stochastic perturbation probabilistically re-initializes weights associated with hidden nodes to escape a local minimum if the probabilistically re-initializes weights associated with hidden nodes to escape a local minimum if the EGP learning gets stuck to it. Addition of new hidden nodes also can be viewed asa special case of stochastic perturbation. Using stochastic perturbation we can solve the local minima problem and the network structure design in a unified way. The results of our experiments with several benchmark test problems including theparity problem, the two-spirals problem, andthe credit-screening data show that our algorithm is very efficient.

• The KIPS Transactions:PartA
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• v.8A no.4
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• pp.489-498
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• 2001

A new method for local control of arbitrary scattered data interpolation in the hyperbolic plane is developed in this paper. The issue associated with local control is very critical in the interactive in the interactive design field. Especially the suggested method in this paper could be effectively applied to the interactive shape modeling of genus-N objects, which are constructed on the hyperbolic plane. Since the effects of the changed data affects only the limited area around itself, it is more convenient for end-users to design a genus-N object interactively. Therefore, by improving the global interpolation on the hyperbolic plane where the genus-N object is constructed, this research is aiming at the development and implementation of the local interpolation on the hyperbolic plane. It is implemented using the following process. First, for localizing the interpolating functions, the hyperbolic domain is tessellated into arbitrary triangle patches and the group of adjacent triangle patches of each data point is defined as a sub-domain. On each sub-domain, a weight function is defined. Last, by blending of three weight functions on the overlapped triangles, local MQ interpolation is completed. Consequently, it is compared with the global MQ interpolation using several sample data and functions.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2001.05a
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• pp.97-100
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• 2001

CMAC model was proposed by Albus [6] to formulate the processing characteristics of the human cerebellum. Instead of the global weight updating scheme used in the back propagation, CMAC use the local weight updating scheme. Therefore, CMAC have the advantage of fast learning and high convergence rate. In this paper, simulate Color Calibration by CMAC in color images and design hardware by VHDL-base high-level synthesis.