• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.14 no.7
• /
• pp.1661-1666
• /
• 2010

Due to light condition or shadow around camera, acquired image sequence is often degraded by intensity fluctuation. This artifact is called luminance flicker. As the luminance flicker corrupts the performance of motion estimation or object detection, it should be corrected before further processing. In this paper, we analyze the flicker generation model and propose the new algorithm for flicker reduction. The proposed algorithm considers gain and offset parameter separately, and stabilizes the luminance fluctuation based on these parameters. We show the performance of the proposed method by testing on the sequence with artificially added luminance flicker and real sequence with object motion.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.5
• /
• pp.429-434
• /
• 2013

This paper proposes a CPSO (Cooperative Particle Swarm Optimization)-based MPC (Model Predictive Control) scheme to deal with formation control problem of multiple nonholonomic mobile robots. In a distributed MPC framework, each robot needs to optimize control input sequence over a finite prediction horizon considering control inputs of the other robots where their cost functions are coupled by the state variables of the neighboring robots. In order to optimize the control input sequence, a CPSO algorithm is adopted and modified to fit into the formation control problem. Experiments are performed on a group of nonholonomic mobile robots to demonstrate the effectiveness of the proposed CPSO-based MPC for multi-robot formation.

• ETRI Journal
• /
• v.45 no.1
• /
• pp.93-104
• /
• 2023

Coreference resolution is a task in discourse analysis that links several headwords used in any document object. We suggest pointer networks-based coreference resolution for Korean using multi-task learning (MTL) with an attention mechanism for a hierarchical structure. As Korean is a head-final language, the head can easily be found. Our model learns the distribution by referring to the same entity position and utilizes a pointer network to conduct coreference resolution depending on the input headword. As the input is a document, the input sequence is very long. Thus, the core idea is to learn the word- and sentence-level distributions in parallel with MTL, while using a shared representation to address the long sequence problem. The suggested technique is used to generate word representations for Korean based on contextual information using pre-trained language models for Korean. In the same experimental conditions, our model performed roughly 1.8% better on CoNLL F1 than previous research without hierarchical structure.

• Journal of Astronomy and Space Sciences
• /
• v.24 no.1
• /
• pp.1-30
• /
• 2007

We present the Pre-Main Sequence (PMS) evolutionary tracks of stars with $0.065{\sim}5.0M_{\odot}$. The models were evolved from the PMS stellar birthline to the onset of hydrogen burning in the core. The convective turnover timescales which enables an observational test of theoretical model, particulary in the stellar dynamic activity, are also calculated. All models have Sun-like metal abundance, typically considered as the stars in the Galactic disk and the star formation region of Population I star. The convection phenomenon is treated by the usual mixing length approximation. All evolutionary tracks are available upon request.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.192-192
• /
• 2000

In this paper, a platoon merging is considered as a remote-controlled system with the state represented by a stochastic process. In this system, it becomes to encounter situations where a single decision maker controls a large number of subsystems, and observation and control signals are sent over a communication channel with finite capacity and significant transmission delays. Unlike classical estimation problem in which the observation is a continuous process corrupted by additive noise, there is a constraint that the observation must be coded and transmitted over a digital communication channel with finite capaci쇼. A recursive coder-estimator sequence is a state estimation scheme based on observations transmitted with finite communication capacity constraint. Using the coder-estimator sequence, the remote control station designs a feedback controller. In this paper, we introduce a stochastic model for the lead vehicle in a platoon of vehicles considering the angle between a road surface and a horizontal plane as a stochastic process. The simulation results show that the inter-vehicle distance and the deviation from the desired inter-vehicle distance are well regulated.

• Journal of Plant Biotechnology
• /
• v.2 no.2
• /
• pp.101-108
• /
• 2000

The liverwort Pellia borealis is a diploid, monoecious, allopolypliod species (n=18) that as it was postulated, originated after hybridization and duplication of chromosome sets of two cryptic species: Pellia epiphylta-species N (n=9) and Pellia epiphylla-species 5 (n=9). Our recent results have supported the allopolyploid origin of P.borealis. We have shown that the nuclear genome of P.borealis consists of two nuclear genomes: one derived from P.epiphylla-species N and the other from P.epiphylla-species 5. In this paper we show the origin of chloroplast and mitochondrial genomes in an allopolyploid species P.borealis. To our knowledge there is no information concerning the way of mitochondria and chloroplast inheritance in Brophyta. Using an allopolyploid species of p. borealis as a model species we have decided to look into chloroplast and mitochondrial genomes of P.borealis, P.epiphylla-species N and P.epiphylla-species S for nucleotide sequences that would allow us to differentiate between both cryptic species and to identify the origin of organelle genomes in the alloploid species. We have amplified and sequenced a chloroplast $tRNA^{Leu}$ gene (anticodon UAA) containing an intron that has shown to be highly variable in a nucleotide sequence and used for plant population genetics. Unfortunately these sequences were identical in all three liverwort species tested. The analysis of the nucleotide sequence of chloroplast, an intron containing $tRNA^{Gly}$ (anticodon UCC) genes, gave expected results: the intron nucleotide sequence was identical in the case of both P.borealis and P.epiphyllaspecies N, while the sequence obtained from P.epiphyllasperies S was different in several nucleotide positions. These results were confirmed by the nucleotide sequence of another chloroplast molecular marker the chloroplast, an intron-contaning $tRNA^{Lys}$ gene (anticodon UUU). We have also sequenced mitochondrial, an intron-containing $tRNA^{Ser}$ gene (anticodon GCU) in all three liverwort species. In this case we found that, as in the case of the chloroplast genome, P.borealis mitochondrial genome was inherited from P.epiphylla-species N. On the basis of our results we claim that both organelle genomes of P.borealis derived from P.epiphylla-species N.

• BMB Reports
• /
• v.39 no.3
• /
• pp.284-291
• /
• 2006

In this study, the cDNA of a new peptide from the venom of the scorpion, Buthotus saulcyi, was cloned and sequenced. It codes for a 64 residues peptide (Bsaul1) which shares high sequence similarity with depressant insect toxins of scorpions. The differences between them mainly appear in the loop1 which connects the $\beta$-strand1 to the $\alpha$-helix and seems to be functionally important in long chain scorpion neurotoxins. This loop is three amino acids longer in Bsaul1 compared to other depressant toxins. A comparative amino acid sequence analysis done on Bsaul1 and some of $\alpha$-, $\beta$-, excitatory and depressant toxins of scorpions showed that Bsaul1 contains all the residues which are highly conserved among long chain scorpion neurotoxins. Structural model of Bsaul1 was generated using Ts1 (a $\beta$-toxin that competes with the depressant insect toxins for binding to $Na^+$ channels) as template. According to the molecular model of Bsaul1, the folding of the polypeptide chain is being composed of an anti-parallel three-stranded $\beta$-sheet and a stretch of $\alpha$-helix, tightly bound by a set of four disulfide bridges. A striking similarity in the spatial arrangement of some critical residues was shown by superposition of the backbone conformation of Bsaul1 and Ts1.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1443-1448
• /
• 2003

Model Predictive Control (MPC) has recently found wide acceptance in industrial applications, but its potential has been much impounded by linear models due to the lack of a similarly accepted nonlinear modelling or data based technique. The authors have recently developed a new method for obtaining Volterra kernels of up to third order by use of pseudorandom M-sequence. By use of this method, nonparametric NMPC is derived in discrete-time using multi-dimensional convolution between plant data and Volterra kernel measurements. This approach is applied to an industrial polymerisation process using Volterra kernels of up to the third order. Results show that the nonparametric approach is very efficient and effective and considerably outperforms existing methods, while retaining the original data-based spirit and characteristics of linear MPC.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.16 no.2
• /
• pp.222-227
• /
• 2006

Recently the research for Traveling Salesman Problem (TSP) using DNA computing with massive parallelism has been. However, there were difficulties in real biological experiments because the conventional method didn't reflect the precise characteristics of DNA when it express graph. Therefore, we need DNA sequence generation algorithm which can reflect DNA features and reduce biological experiment error. In this paper we proposed a DNA sequence generation algorithm that applied DNA coding method of evolution model to DNA computing. The algorithm was applied to TSP, and compared with a simple genetic algorithm. As a result, the algorithm could generate good sequences which minimize error and reduce the biologic experiment error rate.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.18 no.2
• /
• pp.704-710
• /
• 2017

Our research team is developing a 6-DOF manipulator that is adequate for the narrow workspace of press forming processes. This paper addresses the task sequence optimization methods for the manipulator to minimize the task-finishing time. First, a kinematic model of the manipulator is presented, and the anticipated times for moving among the task locations are computed. Then, a mathematical model of the task sequence optimization problem is presented, followed by a comparison of three meta-heuristic methods to solve the optimization problem: an ant colony system, simulated annealing, and a genetic algorithm. The simulation shows that the genetic algorithm is robust to the parameter settings and has the best performance in both minimizing the task-finishing time and the computing time compared to the other methods. Finally, the algorithms were implemented and validated through a simulation using Mathworks' Matlab and Coppelia Robotics' V-REP (virtual robot experimentation platform).