• 제어로봇시스템학회논문지
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• 제12권5호
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• pp.450-456
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• 2006

Monte Carlo localization is known to be one of the most reliable methods for pose estimation of a mobile robot. Although MCL is capable of estimating the robot pose even for a completely unknown initial pose in the known environment, it takes considerable time to give an initial pose estimate because the number of random samples is usually very large especially for a large-scale environment. For practical implementation of MCL, therefore, a reduction in sample size is desirable. This paper presents a novel approach to reducing the number of samples used in the particle filter for efficient implementation of MCL. To this end, the topological information generated through the thinning technique, which is commonly used in image processing, is employed. The global topological map is first created from the given grid map for the environment. The robot then scans the local environment using a laser rangefinder and generates a local topological map. The robot then navigates only on this local topological edge, which is likely to be similar to the one obtained off-line from the given grid map. Random samples are drawn near the topological edge instead of being taken with uniform distribution all over the environment, since the robot traverses along the edge. Experimental results using the proposed method show that the number of samples can be reduced considerably, and the time required for robot pose estimation can also be substantially decreased without adverse effects on the performance of MCL.

• Communications for Statistical Applications and Methods
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• 제24권3호
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• pp.241-254
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• 2017

Drawing a sample can be costly or time consuming in some studies. However, it may be possible to rank the sampling units according to some baseline auxiliary covariates, which are easily obtainable, and/or cost efficient. Ranked set sampling (RSS) is a method to achieve this goal. In this paper, we propose a modified approach of the RSS method to allocate units into an experimental study that compares L groups. Computer simulation estimates the empirical nominal values and the empirical power values for the test procedure of comparing L different groups using modified RSS based on the regression approach in analysis of covariance (ANCOVA) models. A comparison to simple random sampling (SRS) is made to demonstrate efficiency. The results indicate that the required sample sizes for a given precision are smaller under RSS than under SRS. The modified RSS protocol was applied to an experimental study. The experimental study was designed to obtain a better understanding of the pathways by which positive experiences (i.e., goal completion) contribute to higher levels of happiness, well-being, and life satisfaction. The use of the RSS method resulted in a cost reduction associated with smaller sample size without losing the precision of the analysis.

• JSTS:Journal of Semiconductor Technology and Science
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• 제4권3호
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• pp.204-209
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• 2004

A partial matched filter (PMF) for semi-coherent correlation code acquisition of the DSSS-CPFSK signal is proposed. It is a calculation-reduced structure of the hard-limited signal based FIR filter, yet its code acquisition time is equal to that of the hard-limited signal based FIR filter. The PMF eliminates duplicate calculations by utilizing the characteristic that the hard-limited DSSS-CPFSK signal has same value in several consecutive samples. For example, the PMF can achieve about 95% reduction in gate size, as compared to the hard-limited signal based FIR filter, when the modulation index of the DSSS-CPFSK signal is equal to 1.5 and the sample rate is equal to 40 sample/chip.

• Elastomers and Composites
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• 제50권1호
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• pp.13-17
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• 2015

A study of the effects of MWCNT as a nucleating agent on the formation reactions of the rigid polyurethane foams (RPUFs) was carried out. Sample PUFs, formulated with grease-type master batch of MWCNT/surfactant, were fabricated by free-rising method. Temperature changes with time during foaming process were measured using a digital thermometer. RPUF foaming process was observed to undergo 2-step processes with temperature inflection around 60 sec after the start of reaction, and then reached slowly the max. temperature. While the max. temperature of neat PUF was measured as ca. $120^{\circ}C$, that of the samples with MWCNT were as higher value as ca. $130^{\circ}C$, and, even the time to reach that temperature was reduced by about 15 sec. Average cell size of PUF samples decreased from 185.1 for the neat PUF to $162.9{\mu}m$ for the sample of 0.01 phr of MWCNT. As the result, it was considered that MWCNT in RPUF foaming process could play a roll both as a nucleating agent and as a catalyst.

• 한국초전도학회:학술대회논문집
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• 한국초전도학회 2000년도 High Temperature Superconductivity Vol.X
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• pp.21-21
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• 2000

The Josephson Plasma resonance in single crystalling Bi2Sr2CaCu2O8 has been investigated at a microwave frequency of 35 GHz in a cavity resonator. A sharp resonance is observed in a perpendicular oscillating magnetic field. The former is independent of the sample dimension, shile the latter shift to higher field as the sample size L is reduced, and it disappears when L becomes smaller than the critical length. The longitudinal plasma mode is a Nambu-Goldston mode in a superconductor, the experimental distinction between the longitudinal and the transverse mode leads to the conclusion that the existence of the Nambu-Goldston mod as predicted by Anderson was experimentally confirmed by direct observation of the Josephson plasma resonance with longitudinal excitations. The finite gap found in Josephson plasma resonance also provides a direct proof of the Anderson-Higgs mechanism within the context of the spontaneously broken phase symmetry of the Gauge-field theory in a superconductor.

• Communications for Statistical Applications and Methods
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• 제23권2호
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• pp.179-187
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• 2016

The fixed effects panel probit model faces "incidental parameters problem" because it has a property that the number of parameters to be estimated will increase with sample size. The maximum likelihood estimation fails to give a consistent estimator of slope parameter. Unlike the panel regression model, it is not feasible to find an orthogonal reparameterization of fixed effects to get a consistent estimator. In this note, a hierarchical Bayesian model is proposed. The model is essentially equivalent to the frequentist's random effects model, but the individual specific effects are estimable with the help of Gibbs sampling. The Bayesian estimator is shown to reduce reduced the small sample bias. The maximum likelihood estimator in the random effects model is also efficient, which contradicts Green (2004)'s conclusion.

• 한국세라믹학회지
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• 제27권6호
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• pp.769-776
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• 1990

This study deals with the refinement of Hwasun flint clay by grinding, classifying, magnetic separation and acid treatment in sequence. Results are as follows ; 1. Fine kaolinite particles of median size in the range of 4.8 and 1.7$\mu\textrm{m}$ was collected, with the yield of 87.4% by dry grinding and classifying process. 2. It is proven that the iron bearing are of Hwasun flint clay is mainly consisted of chloritoid and iron rich muscovite. 3. As the results of the high gradient magnetic separation, the bleaching and iron removal degree of the dry grinding and classifying sample was 4-58% and 5-62% respectively. 4. As the results of the acid treatment, bleaching and weight loss degree of the dry grinding and classifying sample was reduced to 16-82% and 6-29% respectively.

• 상하수도학회지
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• 제19권1호
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• pp.92-97
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• 2005

This research is to investigate the effect of the dual coagulant using inorganic coagulants($AICl3{\cdot}6H2O$) and polymer on the coagulant process. Jar-test was conducted by using Kaolin injected raw water. PDA(Photometric Dispersion Analyzer) equipment in order to analyze the size of the particles and the characteristics of the shapes. The change in the rate of sample ores' residual deposited after coagulants were also compared. According to the result derived from this experiment, the concentration of inorganic coagulant reduced 50% and the residual was lower by using dual coagulants compared to using single coagulant. However the dual coagulant required sufficient mixing time, and affected particle characteristics, with the effect of the injection order of coagulants, the simultaneous injection of inorganic coagulant and polymer showed the most effective in the particle removal.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2007년도 하계학술대회 논문집
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• pp.241-243
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• 2007

Two-stage charge equalization scheme for HEV lithium-ion battery string is proposed with the optimal power rating design rule in this paper, where in the first stage the over charged energy of higher voltage cells is drawn out to the single common output capacitor and then, that discharged energy is recovered into the overall battery stack in the second stage. To achieve charge equalization of sort, the conventional flyback DC/DC converters of low power and minimized size are employed. The industrial sample employing both the proposed two-stage cell balancing scheme and the optimal power rating design rule shows good cell balancing performance with reduced size as well as low voltage stresses of the electronic devices.

• 한국임상수의학회지
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• 제29권1호
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• pp.58-62
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• 2012

To protect aquatic animal health of importing countries from the potential risks associated with exotic diseases introduced through international trade of live aquatic animals, inspection of designated commodities at ports of entry is a critical component of the safeguarding system. The only way to be 100% confident that no fishes in a shipment are infected with a specific agent is to test every fish in the commodity imported with a perfect diagnostic test. For the majority of cases, this is unrealistic since the group of interest may very large particularly for aquatic animals, or imperfect tests are often available. It is, therefore, more common to test a fixed proportion of a group by preplanned sampling schemes. However, decision making based on results of testing the sample can provide quite a chance that infected groups may be misclassified as uninfected, depending on sampling strategy employed. The objective of this study was to determine the possibility that one or more fishes in the group imported being infected but tests negative after inspecting samples. This question is critical to government authorities to examine whether sampling plan is sufficient to achieve the purpose intended for. At fixed population size, the maximum number of infected fishes when all tests negative was decreased as the sampling fraction increased. The probability of including at least one undetected but infected fish in a group for negative tests increased with the number of fish tested or true prevalence. The risk was much lesser where high sensitivity test was assumed; when increasing test sensitivity from 0.9 to 0.99, this risk was dramatically reduced to about a tenth or a fourth for prevalence ranges from 2 to 10%, given sample size ranges from 10 to 200. Based on the preliminary analysis, the author concluded that current sampling plan testing 4-8% of the import proposal for human consumption still can yield high false negative results. Therefore, from the quarantine inspection point of view, an enforced commodity-specific sampling design that accounts for the cost of testing with an imperfect test at the specified design prevalence is urgent.