• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.460-465
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• 2004

In this paper, we present some properties on receding horizon $H_{\infty}$ control for nonlinear discrete-time systems. First, we propose the nonlinear inequality condition on the terminal cost for nonlinear discrete-time systems. Under this condition, noninceasing monotonicity of the saddle point value of the finite horizon dynamic game is shown to be guaranteed. We show that the derived condition on the terminal cost ensures the closed-loop internal stability. The proposed receding horizon $H_{\infty}$ control guarantees the infinite horizon $H_{\infty}$ norm bound of the closed-loop systems. Also, using this cost monotonicity condition, we can guarantee the asymptotic infinite horizon optimality of the receding horizon value function. With the additional condition, the global result and the input-to-state stable property of the receding horizon value function are also given. Finally, we derive the stability margin for the saddle point value based receding horizon controller. The proposed result has a larger stability region than the existing inverse optimality based results.

• 충청수학회지
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• 제19권4호
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• pp.325-334
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• 2006

For $f{\in}L^2(B,d{\nu})$, ${\parallel}f{\parallel}_{BMO}=\widetilde{{\mid}f{\mid}^2}(z)-{\mid}{\tilde{f}}(z){\mid}^2$. For f continuous on B, ${\parallel}f{\parallel}_{BO}=sup\{w(f)(z):z{\in}B\}$ where $w(f)(z)=sup\{{\mid}f(z)-f(w){\mid}:{\beta}(z,w){\leq}1\}$. In this paper, we will show that if $f{\in}BMO$, then ${\parallel}f{\parallel}_{BO}{\leq}M{\parallel}f{\parallel}_{BMO}$. We will also show that if $f{\in}BO$, then ${\parallel}f{\parallel}_{BMO}{\leq}M{\parallel}f{\parallel}_{BO}^2$. A homomorphic function $f:B{\rightarrow}{\mathbb{C}}$ is called a Bloch function ($f{\in}{\mathcal{B}}$) if ${\parallel}f{\parallel}_{\mathcal{B}}=sup_{z{\in}B}\;Qf(z)$<${\infty}$. In this paper, we will show that if $f{\in}{\mathcal{B}}$, then ${\parallel}f{\parallel}_{BO}{\leq}{\parallel}f{\parallel}_{\mathcal{B}}$. We will also show that if $f{\in}BMO$ and f is holomorphic, then ${\parallel}f{\parallel}_{\mathcal{B}}^2{\leq}M{\parallel}f{\parallel}_{BMO}$.

• 성인간호학회지
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• 제19권3호
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• pp.389-400
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• 2007

Purposes: This study was designed to explore the stage distribution of subjects according to stage of change for calcium intake and for exercise, and to identify factors that could discriminate among subjects in various stages. Methods: The sample consisted of 142 subjects who had taken bone mineral densitometry tests. The instruments used in this study were the Stage Placement Instrument for Calcium Intake and Exercise, the Osteoporosis Health Belief Scale and the Osteoporosis Knowledge Test, and the Osteoporosis Self Efficacy Scale. Data were analyzed using chi square, ANOVA, and discriminant analysis by using the SPSS 12.0 program. Results: For calcium stages, economic level, calcium knowledge, positive social norms for calcium intake, & educational level showed high standardized canonical discriminant function coefficients. For exercise stages, exercise efficacy, susceptibility, exercise benefit, educational level, positive social norm to exercise, educational level, and exercise barrier showed high standardized canonical discriminant function coefficients. Conclusion: This study implies that bone mass promoting program incorporating a stages of change model can be applied as useful nursing intervention.

• 대한수학회지
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• 제34권4호
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• pp.1029-1036
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• 1997

Let ${A_t)}_{t>0}$ be a dilation group given by $A_t = exp(-P log t)$, where P is a real $n \times n$ matrix whose eigenvalues has strictly positive real part. Let $\nu$ be the trace of P and $P^*$ denote the adjoint of pp. Suppose that $K$ is a function defined on $R^n$ such that $$\mid$K(x)$\mid$ \leq k($\mid$x$\mid$_Q)$ for a bounded and decreasing function $k(t) on R_+$ satisfying $k \diamond $\mid$\cdot$\mid$_Q \in \cup_{\varepsilon >0}L^1((1 + $\mid$x$\mid$)^\varepsilon dx)$ where $Q = \int_{0}^{\infty} exp(-tP^*) exp(-tP)$ dt and the norm $$\mid$\cdot$\mid$_Q$ stands for $$\mid$x$\mid$_Q = \sqrt{}, x \in R^n$. For $f \in L^1(R^n)$, define $mf(x) = sup_{t>0}$\mid$K_t * f(x)$\mid$$ where $K_t(X) = t^{-\nu}K(A_{1/t}^* x)$. Then we show that $m$ is a bounded operator of $L^1(R^n) into L^{1, \infty}(R^n)$.

• Journal of Advanced Marine Engineering and Technology
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• 제24권3호
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• pp.88-98
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• 2000

In this paper, a robust controller using $H_{\infty}$ control theory has been designed for the load frequency control of interconnected 2-area power system. The main advantage of the proposed $H_{\infty}$ controller is that uncertainties of power system can be included at the stage of controller design. Representation of uncertainties is modeled by multiplicative uncertainly. In the mixed sensitivity problems, disturbance attenuation and uncertainty of the system is treated simultaneously. The robust stability and the performance of model uncertainties are represented by frequency weighted transfer function. The design of load frequency controller for each area was based on state-space approach. The comparative computer simulation results for the proposed controller and the conventional techniques such as the optimal control and the PID one were analyzed at the additions of various disturbances. Their deviation magnitude of frequency and tie line power flow at each area were mainly evaluated. Also the testing results of robustness for the cases that the perturbations of the all parameters of power system were amounted to about 20% were introduced. It was approved that the resultant performances of the proposed $H_{\infty}$ controller with mixed sensitivity were more robust and stable than the one of conventional controllers.

• 디지털콘텐츠학회 논문지
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• 제2권2호
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• pp.103-115
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• 2001

본 논문은 퍼지지식베이스에서 러프 집합과 요인공간이론을 적용하여 최소 결정규칙 생성과 근사추론 연산을 수행하는 두 개의 알고리듬을 제안한다. 최소 결정규칙의 생성은 속성요인에 관련한 상관분석과 베이지안 정리를 응용한 데이터의 분류기법과 리덕트에 의해 수행된다. 이 결정규칙으로 이루어진 최소지식 베이스의 탐색공간에서 소속함수와 t-norm의 합성 연산을 정의한 근사추론 방식에 의해 특정 객체를 검색한다. 본 연구의 러프와 퍼지연산 모듈을 수행하는 제안 알고리듬 기법을 객체및 속성수를 증가시키는 시뮬레이션을 통해 다른 검색이론 및 합성연산 방식과 비교하였다. 그 결과 다른 제 방법보다 본 연구에서 제안하는 기법이 특정 객체를 추출하기 위한 검색연산 시간에 있어 보다 빠르게 검색됨을 입증하였다.

• 제어로봇시스템학회논문지
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• 제18권5호
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• pp.426-432
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• 2012

The positions of vessels in JTIDS where each vessel broadcasts its position, can be found using the relative navigation method. Besides positioning, the relative navigation could be adopted for identification friend or foe, tracking targets, monitoring battle field and etc. In this paper, we have explained the fundamental operation and technical structure for the relative navigation and implemented the simulation platform to evaluate the basic function and performance of the system in arbitrary environment. Using platform, the availability of relative navigation within the group network and the characteristic of the algorithm for position prediction was verified. Based on the simulation result, it was verified that EKF based navigation algorithm could produce great initial error and need quite convergence time. To improve the performance, we proposed a new navigation algorithm which uses the minimum norm estimation algorithm until the EKF converges. The simulation results reveal the relative navigation can be effectively used in the formation flight and collision avoidance system.

• 대한한방소아과학회지
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• 제25권3호
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• pp.77-84
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• 2011

Objectives: This study was performed to investigate the effect of hot spring therapy on children weight, body composition and heart rate variability. Methods: The study was carried out from 30 children who visited the spa from August 1, 2011 to August 31, 2011. We measured the change of weight, body composition, and heart rate variability after hot spring therapy for an hour per day. Results: The subject was consisted of 13 boys and 17 girls. This study revealed that their weight got lost from a hot spring therapy, which was statistically significant. Their body mass index(BMI) was decreased in from a hot spring therapy, which was not statistically significant. Total body water, muscle, protein, and mineral were decreased from a hot spring therapy, which was statistically significant. We measured HRV(heart rate variability) before and after the hot spring therapy. The mean HRT was increased, which was statistically insignificant. SDNN(standard deviation of the NN interval) and RMSSD(square root of the mean of the sum of the square of differences) were not different before and after the hot spring therapy. ln TP was decreased insignificantly. ln VLF was not affected before and after hot spring therapy. ln LF and ln HF was decreased, LF norm was increased, and HF norm was decreased, which were not statistically significant. Also, LF/HF ratio was increased insignificantly. Conclusions: From these results, we concluded that the weight, total body water, muscle, protein, and mineral got lost from the hot spring therapy. However, the HRV was not affected from the hot spring therapy.

• 대한원격탐사학회지
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• 제36권5_2호
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• pp.961-973
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• 2020

본 논문에서는 CNN (Convolutional Neural Network) 기반의 영상융합 기법을 제안하고자 하였다. 딥러닝 구조의 성능을 향상시키기 위하여, CNN 기법에서 대표적인 합성곱(convolution) 방법으로 알려진 팽창된 합성곱(dilated convolution) 모델을 활용하여 모델의 깊이와 복잡성을 증대시키고자 하였다. 팽창된 합성곱을 기반으로 하여 학습과정에서의 효율을 향상시키기 위하여 잔차 네트워크(residual network)도 활용하였다. 또한, 본 연구에서는 모델학습을 위하여 전통적인 L1 노름(norm) 기반의 손실함수와 함께, 공간 상관도를 활용하였다. 본 연구에서는 전정색 영상만을 이용하거나 전정색 영상과 다중분광 영상을 모두 활용하여 구조에 적용한 DRNet을 개발하여 실험을 수행하였다. KOMPSAT-3A를 활용한 전정색 영상과 다중분광 영상을 이용한 DRNet은 융합영상의 분광특성에 과적합되는 결과를 나타냈으며, 전정색 영상만을 이용한 DRNet이 기존 기법들과 비교하여 융합영상의 공간적 특성을 효과적으로 반영함을 확인하였다.

• Asian-Australasian Journal of Animal Sciences
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• 제26권3호
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• pp.423-432
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• 2013

Zi geese (Anser anser domestica) belong to the white geese and are excellent layers with a superior feed-to-egg conversion ratio. Quantitative gene expression analysis, such as Real-time qRT-PCR, will provide a good understanding of ovarian function during egg-laying and consequently improve egg production. However, we still don't know what reference genes in geese, which show stable expression, should be used for such quantitative analysis. In order to reveal such reference genes, the stability of seven genes were tested in five tissues of Zi geese. Methodology/Principal Findings: The relative transcription levels of genes encoding hypoxanthine guanine phosphoribosyl transferase 1 (HPRT1), ${\beta}$-actin (ACTB), ${\beta}$-tubulin (TUB), glyceraldehyde-3-phosphate-dehydrogenase (GADPH), succinate dehydrogenase flavoprotein (SDH), 28S rRNA (28S) and 18S rRNA (18S) have been quantified in heart, liver, kidney, muscle and ovary in Zi geese respectively at different developmental stages (1 d, 2, 4, 6 and 8 months). The expression stability of these genes was analyzed using geNorm, NormFinder and BestKeeper software. Conclusions: The expression of 28S in heart, GAPDH in liver and ovary, ACTB in kidney and HPRT1 in muscle are the most stable genes as identified by the three different analysis methods. Thus, these genes are recommended for use as candidate reference genes to compare mRNA transcription in various developmental stages of geese.