• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.250-255
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• 2005

For navigation of a service robot, mapping and localization are very important. To estimate the robot pose, the map of the environment is required and it can be built by exploration or SLAM. Exploration is the fundamental task of guiding a robot autonomously during mapping such that it covers the entire environment with its sensors. In this paper, an efficient exploration scheme based on the position probability of the end nodes of a topological map is proposed. In this scheme, a topological map is constructed in real time using the thinning-based approach. The robot then updates the position probability of each end node maintaining its position at the current location based on the Bayesian update rule using the range data. From this probability, the robot can determine whether or not it needs to visit the specific end node to examine the environment around this node. Various experiments show that the proposed exploration scheme can perform exploration more efficiently than other schemes in that, in most cases, exploration for the entire environment can be completed without directly visiting everywhere in the environment.

• Journal of Korea Water Resources Association
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• v.44 no.2
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• pp.85-96
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• 2011

Probability plotting position is generally used for the graphical analysis of the annual maximum quantile and the estimation of exceedance probability to display the fitness between sample and an appropriate probability distribution. In addition, it is used to apply a specific goodness of fit test. Plotting position formula to define the probability plotting position has been studied in many researches. Especially, the GEV distribution which is an important probability distribution to analyze the frequency of hydrologic data was popular. In this study, the theoretical reduced variates are derived using the mean value of order statistics to derived an appropriate plotting position formula for the GEV distribution. In addition, various forms of plotting position formula considering various sample sizes and coefficients of skewness related with shape parameters are applied. The parameters of plotting position formulas are estimated using the genetic algorithm. The accuracy of derived plotting position formula is estimated by the errors between the theoretical reduced variates and those by various plotting position formulas including the derived ones in this study. As a result, the errors by derived plotting position formula is the smallest at the range of shape parameter with -0.25~0.10.

• The Journal of the Acoustical Society of Korea
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• v.28 no.3
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• pp.239-244
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• 2009

This paper is to develop the Korean Phonotactic Probability Calculator (KPPC) that anticipates the phonotactic probability in Korean. KPPC calculates the positional segment frequecncy, position-specific biphone frequency and position-specific triphone frequency. And KPPC also calculates the Neighborhood Density that is the number of words that sound similar to a target word. The Phonotactic Calculator that was developed in University of Kansas can be analyzed by the computer-readable phonemic transcription. This can calculate positional frequency and position-specific biphone frequency that were derived from 20,000 dictionary words. But KPPC calculates positional frequency, positional biphone frequency, positional triphone frequency and neighborhood density. KPPC can calculate by korean alphabet or computer-readable phonemic transcription. This KPPC can anticipate high phonotactic probability, low phonotactic probability, high neighborhood density and low neighborhood density.

• Communications for Statistical Applications and Methods
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• v.14 no.3
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• pp.561-576
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• 2007

Five plotting positions are applied to the computation of probability weighted moments (PWM) on the parameters of the generalized logistic distribution. Over a range of parameter values with some finite sample sizes, the effects of five plotting positions are investigated via Monte Carlo simulation studies. Our simulation results indicate that the Landwehr plotting position frequently tends to document smaller biases than others in the location and scale parameter estimations. On the other hand, the Weibull plotting position often tends to cause larger biases than others. The plotting position (i - 0.35)/n seems to report smaller root mean square errors (RMSE) than other plotting positions in the negative shape parameter estimation under small samples. In comparison to the maximum likelihood (ML) method under the small sample, the PWM do not seem to be better than the ML estimators in the location and scale parameter estimations documenting larger RMSE. However, the PWM outperform the ML estimators in the shape parameter estimation when its magnitude is near zero. Sensitivity of right tail quantile estimation regarding five plotting positions is also examined, but superiority or inferiority of any plotting position is not observed.

• Journal of Korea Water Resources Association
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• v.42 no.5
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• pp.365-374
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• 2009

Probability plotting positions are used for the graphical display of annual maximum rainfall or flood series and the estimation of exceedance probability of those values. In addition, plotting positions allow a visual examination of the fitness of probability distribution provided by frequency analysis for a given data. Therefore, the graphical approach using plotting position has been applied to many fields of hydrology and water resources planning. In this study, the plotting position formula for the Gumbel distribution is derived by using the order statistics and the probability weight moment of the Gumbel distribution for various sample sizes. And then, the parameters of plotting position formula for the Gumbel distribution are estimated by using genetic algorithm. The appropriate plotting position formulas for the Gumbel distribution are examined by the comparison of root mean square errors and biases between theoretical reduced Gumbel variates and those calculated from derived and existing plotting position formulas. As the results, Gringorten's plotting position formula has the smaller root mean square errors and biases than any other formulas.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.7
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• pp.693-699
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• 2006

An accurate and compact map is essential to an autonomous mobile robot system. For navigation, it is efficient to use an occupancy grid map because the environment is represented by probability distribution. But it is difficult to apply it to the large environment since it needs a large amount of memory proportional to the environment size. As an alternative, a topological map can be used to represent it in terms of the discrete nodes with edges connecting them. It is usually constructed by the Voronoi-like graphs, but in this paper the topological map is incrementally built based on the local grid map using the thinning algorithm. This algorithm can extract only meaningful topological information by using the C-obstacle concept in real-time and is robust to the environment change, because its underlying local grid map is constructed based on the Bayesian update formula. In this paper, the position probability is defined to evaluate the quantitative reliability of the end nodes of this thinning-based topological map (TTM). The global TTM can be constructed by merging each local TTM by matching the reliable end nodes determined by the position probability. It is shown that the proposed TTM can represent the environment accurately in real-time and it is readily extended to the global TTM.

• Journal of the Korean Operations Research and Management Science Society
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• v.6 no.2
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• pp.51-55
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• 1981

In both continuous-review and periodic-review non-stationary inventory systems, the non-stationary Poisson demand process and the associated inventory position processes were proved being mutually independent of each other, which lead to the probability distribution of the corresponding net inventory position process in the form of a finite product sum of those two process distributions. It is also discussed how these results can correspond to analytical stochastic inventory cost function formulations in terms of the probability distributions of the processes.

• Journal of the Korean Mathematical Society
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• v.54 no.4
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• pp.1121-1148
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• 2017

Go is an ancient game of great complexity and has a huge following in East Asia. It is also very rich mathematically, and can be played on any graph, although it is usually played on a square lattice. As with any game, one of the most fundamental problems is to determine the number of legal positions, or the probability that a random position is legal. A random Go position is generated using a model previously studied by the author, with each vertex being independently Black, White or Uncoloured with probabilities q, q, 1 - 2q respectively. In this paper we consider the probability of legality for two scenarios. Firstly, for an $N{\times}N$ square lattice graph, we show that, with $q=cN^{-{\alpha}}$ and c and ${\alpha}$ constant, as $N{\rightarrow}{\infty}$ the limiting probability of legality is 0, exp($-2c^5$), and 1 according as ${\alpha}$ < 2/5, ${\alpha}=2/5$ and ${\alpha}$ > 2/5 respectively. On the way, we investigate the behaviour of the number of captured chains (or chromons). Secondly, for a random graph on n vertices with edge probability p generated according to the classical $Gilbert-Erd{\ddot{o}}s-R{\acute{e}}nyi$ model ${\mathcal{G}}$(n; p), we classify the main situations according to their asymptotic almost sure legality or illegality. Our results draw on a variety of probabilistic and enumerative methods including linearity of expectation, second moment method, factorial moments, polyomino enumeration, giant components in random graphs, and typicality of random structures. We conclude with suggestions for further work.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.44 no.2
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• pp.55-61
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• 2007

In this paper, we represent the maximum detection probability formulas of symbol synchronization timing at each received delay signal in multipath channel delay profile in the multiplied correlation and difference type correlated symbol synchronization timing detection method. The computer simulation results show that the correlation symbol timing detection method have maximum detection probability at the lead of received delay signal of highest amplitude, but the difference type of correlation symbol timing detection method always have maximum detection probability at the lead of first received delay signal in the multipath channel models. Using this results, we show the BER characteristics difference between the IEEE802.11a OFDM signals which is obtained in case of the symbol synchronization timing is taken at zero error(perfect) timing position and at -1 sample error symbol timing position from perfect timing position in the multipath channel models regardless the length of channel delay spread.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.12A
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• pp.1260-1266
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• 2007

Error propagation of source-relay (S-R) link limits the performance of decode-and-forward (DF) relay and prohibits DF relay from achieving full diversity gain. In order to solve this problem, the proposed deployment strategy focuses on two objectives. One is to achieve full diversity gain, and the other is to minimize the used power of the DF relay system. In order to achieve full diversity, the error probability of S-R link should be lower than that of maximal ratio combining (MRC) at destination without error propagation since the error probability of the weaker link dominates the total error probability. The proposed strategy of relay positioning points out the range of the relay position for achieving full diversity, and the used power of the relay is minimized by this range. Analysis of error probability and simulation results prove that the two objectives are achieved by the proposed strategy of the relay position.