• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
• /
• pp.1939-1943
• /
• 1991

Path planning is an important task for optimal motion of a robot in structured or unstructured environment. The goal of this paper is to plan the shortest collision-free path in 3D, when a robot is navigated to pick up some tools or to repair some parts from various locations. To accomplish the goal of this paper, the Path Coordinator is proposed to have the capabilities of an obstacle avoidance strategy[3] and a traveling salesman problem strategy(TSP)[23]. The obstacle avoidance strategy is to plan the shortest collision-free path between each pair of n locations in 2D or in 3D. The TSP strategy is to compute a minimal system cost of a tour that is defined as a closed path navigating each location exactly once. The TSP strategy can be implemented by the Neural Network. The obstacle avoidance strategy in 2D can be implemented by the VGraph Algorithm. However, the VGraph Algorithm is not useful in 3D, because it can't compute the global optimality in 3D. Thus, the Path Coordinator is proposed to solve this problem, having the capabilities of selecting the optimal edges by the modified Genetic Algorithm[21] and computing the optimal nodes along the optimal edges by the Recursive Compensation Algorithm[5].

• Genomics & Informatics
• /
• 제1권2호
• /
• pp.94-100
• /
• 2003

Motivation: Many have observed a nonlinear relationship between the signal intensity and the transcript abundance in microarray data. The first step in analyzing the data is to normalize it properly, and this should include a correction for the nonlinearity. The commonly used linear normalization schemes do not address this problem. Results: Nonlinearity is present in both cDNA and oligonucleotide arrays, but we concentrate on the latter in this paper. Across a set of chips, we identify those genes whose within-chip ranks are relatively constant compared to other genes of similar intensity. For each gene, we compute the sum of the squares of the differences in its within-chip ranks between every pair of chips as our statistic and we select a small fraction of the genes with the minimal changes in ranks at each intensity level. These genes are most likely to be non-differentially expressed and are subsequently used in the normalization procedure. This method is a generalization of the rank-invariant normalization (Li and Wong, 2001), using all available chips rather than two at a time to gather more information, while using the chip that is least likely to be affected by nonlinear effects as the reference chip. The assumption in our method is that there are at least a small number of non­differentially expressed genes across the intensity range. The normalized expression values can be substantially different from the unnormalized values and may result in altered down-stream analysis.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
• /
• pp.79-84
• /
• 1992

Path planning is an important task for optimal motion of a robot in structured or unstructured environment. The goal of this paper is to plan the optimal collision-free path in 3D, when a robot is navigated to pick up some tools or to repair some parts from various locations. To accomplish the goal, the Path Coordinator is proposed to have the capabilities of an obstacle avoidance strategy and a traveling salesman problem strategy (TSP). The obstacle avoidance strategy is to plan the shortest collision-free path between each pair of n locations in 2D or in 3D. The TSP strategy is to compute a minimal system cost of a tour that is defined as a closed path navigating each location exactly once. The TSP strategy can be implemented by the Hopfield Network. The obstacle avoidance strategy in 2D can be implemented by the VGraph Algorithm. However, the VGraph Algorithm is not useful in 3D, because it can't compute the global optimality in 3D. Thus, the Path Coordinator is used to solve this problem, having the capabilities of selecting the optimal edges by the modified Genetic Algorithm and computing the optimal nodes along the optimal edges by the Recursive Compensation Algorithm.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제6권5호
• /
• pp.1354-1372
• /
• 2012

Route establishment in Mobile Ad Hoc Network (MANET) is the key mechanism to a successful connection between a pair of source and destination nodes. An efficient routing protocol constructs routing path with minimal time, less routing overhead and capable of utilizing all possible link connectivity. In general, most on-demand MANET routing protocols operates over symmetrical and bidirectional routing path, which is infeasible due to the inherent heterogeneous properties of wireless devices. Simulation results show that the presence of unidirectional links on a network severely affect the performance of a routing protocol. In this paper, a robust protocol independent scheme is proposed, which enable immediate rediscovery of alternative route for a path blocked by a unidirectional link. The proposed scheme is efficient; route rediscovery is locally computed, which results in significant minimization of multiple route packets flooding. Nodes may exploit route information of immediate neighbors using the local reply broadcast technique, which then redirect the control packets around the unidirectional links, therefore maintaining the end-to-end bidirectional connection. The proposed scheme along with Ad Hoc On-demand Distance Vector (AODV) and AODV-Blacklist routing protocol is investigated over three types of mobility models. Simulation results show that the proposed scheme is extremely reliable under poor network conditions and the route connectivity can be improved by as much as 75%.

• IEIE Transactions on Smart Processing and Computing
• /
• 제4권2호
• /
• pp.71-77
• /
• 2015

Upcoming ground-breaking applications for always-on tiny interconnected devices steadily demand two-fold features of processor cores: aggressively low power consumption and enhanced performance. We propose implementation of a novel superscalar low-power processor core with a low supply voltage. The core implements intra-core low-power microarchitecture with minimal performance degradation in instruction fetch, branch prediction, scheduling, and execution units. The inter-core lockstep not only detects malfunctions during low-voltage operation but also carries out software-based recovery. The chip incorporates a pair of cores, high-speed memory, and peripheral interfaces to be implemented with a 65nm node. The processor core consumes only 24mW at 350MHz and 0.68V, resulting in power efficiency of $80{\mu}W/MHz$. The operating frequency of the core reaches 850MHz at 1.2V.

• 대한기계학회논문집B
• /
• 제25권3호
• /
• pp.322-329
• /
• 2001

A study of the shock wave turbulent boundary layer interaction is presented. The focus of the study is the interactions of the shock waves with the turbulent boundary layer on the falt plate. Three examples are investigated. The computations are performed, using mixed explicit-implicit generalized Galerkin finite element method. The linear equations at each time step are solved by a preconditioned GMRES algorithm. Numerical results indicate that the implicit scheme converges to the asymptotic steady state much faster than the explicit counterpart. The computed surface pressures and skin friction coefficients display good agreement with experimental data. The flowfield manifests a complex shock wave system and a pair of counter-rotating vortices.

• Journal of Information Science Theory and Practice
• /
• 제6권4호
• /
• pp.28-38
• /
• 2018

Wikipedia is composed of millions of articles, each of which explains a particular entity with various languages in the real world. Since the articles are contributed and edited by a large population of diverse experts with no specific authority, Wikipedia can be seen as a naturally occurring body of human knowledge. In this paper, we propose a method to automatically identify key entities and relations in Wikipedia articles, which can be used for automatic ontology construction. Compared to previous approaches to entity and relation extraction and/or identification from text, our goal is to capture naturally occurring entities and relations from Wikipedia while minimizing artificiality often introduced at the stages of constructing training and testing data. The titles of the articles and anchored phrases in their text are regarded as entities, and their types are automatically classified with minimal training. We attempt to automatically detect and identify possible relations among the entities based on clustering without training data, as opposed to the relation extraction approach that focuses on improvement of accuracy in selecting one of the several target relations for a given pair of entities. While the relation extraction approach with supervised learning requires a significant amount of annotation efforts for a predefined set of relations, our approach attempts to discover relations as they occur naturally. Unlike other unsupervised relation identification work where evaluation of automatically identified relations is done with the correct relations determined a priori by human judges, we attempted to evaluate appropriateness of the naturally occurring clusters of relations involving person-artifact and person-organization entities and their relation names.

• 말소리와 음성과학
• /
• 제14권2호
• /
• pp.11-17
• /
• 2022

English vowels play an important role in verbal communication. However, Korean students tend to experience difficulty pronouncing a certain set of vowels despite extensive education in English. The aim of this study is to apply speech recognition software to evaluate Korean students' pronunciation of English vowels in minimal pair words and then to examine acoustic characteristics of the pairs in order to check their pronunciation problems. Thirty female Korean college students participated in the recording. Speech recognition rates were obtained to examine which English vowels were correctly pronounced. To compare and verify the recognition results, such acoustic analyses as the first and second formant trajectories and durations were also collected using Praat. The results showed an overall recognition rate of 54.7%. Some students incorrectly switched the tense and lax counterparts and produced the same vowel sounds for qualitatively different English vowels. From the acoustic analyses of the vowel formant trajectories, some of these vowel pairs were almost overlapped or exhibited slight acoustic differences at the majority of the measurement points. On the other hand, statistical analyses on the first formant trajectories of the three vowel pairs revealed significant differences throughout the measurement points, a finding that requires further investigation. Durational comparisons revealed a consistent pattern among the vowel pairs. The author concludes that speech recognition and analysis software can be useful to diagnose pronunciation problems of English-language learners.

• 생명과학회지
• /
• 제11권5호
• /
• pp.447-456
• /
• 2001

임신랫드에서 fluoroquinolone 항균제 DW-116에 의해 유발된 발생독성이 모동물의 사료섭취량 감소에 의한 영양 결핍이 주요 원인인지 아니면 DW-116이 배.태자에 직접적으로 작용하여 유발된것인지를 조사하고자 시험물질을 랫드에 임신 6일에서 16일까지 0 및 500 mg/kg 용량으로 반복 경구투여하였다. 사료제한군은 시험물질 투여군의 모동물의 섭취한 동일한 양의 사료를 제한급여하였다. 모든모동물을 임신 20일째에 제왕절개하였고, 모독성 및 발생독성을 평가하였다. 시험물질 투여군에서는 독성증상과 체중의 감소, 투여 및 투여후 기간의 체중증가 억제, 사료섭취량의 감소를 포함하는 모독성이 부형제대조군및 사료제한군에 비해 현저하게 증가하였다. 또한, 태자사망의 증가, 생존태자의 감소, 태자체중과 태반중량의 감소, 태자기형의 증가 및 골환지연을 포함하는 발생독성도 현저하게 증가하였다. 반면, 사료제한군에서는 모체 및 태자에서 경미한 독성고견만 인정되었고, 태자사망이나 태자기형 등의 심각한 발생독성은 관찰되지 않았다. 결론적으로 시험물질투여군에서 관찰된 발생독성은 사료섭취량의 감소에 의한 모체의 영양결핍에 기인된 것이 아니라 DW-116의 투여에 기인된 직접효과인 것으로 판단된다.

• 해양환경안전학회지
• /
• 제24권2호
• /
• pp.267-274
• /
• 2018

연 근해어선들은 운항 또는 조업시 안정성(복원성능 및 횡동요 저감 성능)을 향상시키기 위해 여러 가지 부가물을 설치하며, 일반적으로 Fig. 1과 같이 세 가지로 분류할 수 있다. Bare hull을 포함하여 각 부가물이 단독으로 부착된 경우 3가지, 복수의 조합으로 부착된 경우 3가지 그리고 3가지 모두 부착된 1가지에 대하여 수치 계산을 수행하였다. Table 1은 Bare hull에 대한 주요치수를 나타낸 것이고, Table 2는 3가지 부가물에 대한 주요치수를 기술하였다. 3가지 선체 부가물에 대하여 CFD에 의한 유체동역학적 성능을 평가하였다. 각각의 부가물에 대하여 단독, 2개씩 조합된 복수 그리고 3개 모두 부착된 경우에 대하여 평가를 하였다. 1번 부가물의 경우 압력저항이 마찰저항보다 차지하는 비율이 큼을 알 수 있었다. 2번과 3번 부가물의 경우 압력저항과 마찰저항이 거의 대동소이 함을 알 수 있었다. 복수조합과 3가지 모두 부착된 경우 부가물 상호간의 상관관계는 매우 작음을 알 수 있었다. 11노트에서 2번 부가물과 모든 부가물이 부착된 경우 유효마력 관점에서 약 9 % 차이를 보였다.