• 한국정보통신학회논문지
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• 제14권7호
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• pp.1661-1666
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• 2010

영상 시퀀스는 획득과정에서 주변부의 밝기 변화와 그림자 등으로 인해 원치 않는 밝기 변화가 포함될 수 있다. 시각적으로 성가신 훼손 형태로 표현되는 이러한 플리커(flicker)는 움직임 벡터의 계산이나 물체의 추출과 같은 후 처리에 많은 영향을 미치므로 미리 제거하는 것이 바람직하다. 본 논문은 플리커를 발생시키는 모델을 분석하고 이를 제거하는 새로운 알고리즘을 제안한다. 제안하는 알고리즘은 플리커를 유발하는 게인과 오프셋 파라미터를 분리하여 추정하고 이를 훼손된 영상에 보정하여 영상 시퀀스를 안정화 시킨다. 제안하는 방법을 장면에서 움직임이 없는 인위적인 테스트 영상 시퀀스와 움직임이 있는 실제 영상 시퀀스에 적용하여 알고리즘의 성능을 보였다.

• 제어로봇시스템학회논문지
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• 제19권5호
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• pp.429-434
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• 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
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• 제45권1호
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• pp.93-104
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• 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
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• 제24권1호
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• pp.1-30
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• 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
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.192-192
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• 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
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• 제2권2호
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• pp.101-108
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• 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
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• 제39권3호
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• pp.284-291
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• 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
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1443-1448
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• 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.

• 한국지능시스템학회논문지
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• 제16권2호
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• pp.222-227
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• 2006

현재 막대한 병렬성을 갖는 DNA 컴퓨팅을 이용하여 Traveling Salesman Problem (TSP)를 해결하기 위한 연구가 진행되고 있다. 하지만 기존의 방법은 그래프 문제의 표현에서 DNA의 특성을 고려하지 않아, 실제 생물학적 실험 결과와의 차이가 발생하고 있다. 따라서 DNA의 특성을 반영하고 생물학적 실험 오류를 줄일 수 있는 DNA 서열 생성 알고리즘이 필요하다. 본 논문에서는 DNA 컴퓨팅에 진화 모델의 하나인 DNA 코딩 방법을 적용한 DNA 서열 생성 알고리즘을 제안한다. 제안한 알고리즘은 TSP에 적용하여 기존에 단순 유전자 알고리즘과 비교하였다. 그 결과 제안한 알고리즘은 오류를 최소화한 우수한 서열을 생성하고 생물학적 실험 오류율도 줄일 수 있었다.

• 한국산학기술학회논문지
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• 제18권2호
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• pp.704-710
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• 2017

본 연구팀은 프레스 공정의 협소공간에서 작업이 가능한 6자유도 로봇을 개발하고 있으며, 본 논문은 개발된 로봇의 작업 시간을 최소화하기 위한 작업 시퀀스 최적화 방법을 제안하였다. 우선 6 자유도 로봇의 기구학을 모델링하고 작업 시간 예측 방법을 기술하였다. 그리고 작업 시퀀스 최적화를 위하여 수학적 모델을 제시하고, 이를 바탕으로 개미 집단 시스템(ant colony system), 시뮬레이트 어니일링(simulated annealing), 유전자 알고리즘(genetic algorithm)의 세 가지 최적화 방법을 적용하고 결과를 비교 분석하였다. 시뮬레이션 결과 유전자 알고리즘이 가장 좋은 결과를 보임을 확인할 수 있었으며, 계산 속도 측면에서도 가장 빨리 최적값에 수렴하였다. 또한, 개미집단시스템과 시뮬레이티드 어니일링의 경우 여러 파라미터 값들의 설정에 따라 수렴된 최적값의 편차가 비교적 큰 것에 비하여, 유전자 알고리즘은 파라미터 값에 상관없이 안정적으로 근사 최적값을 찾을 수 있었다. 마지막으로, 로봇의 작업시퀀스 최적화 방법을 시각적으로 검증하기 위하여 Mathworks 사의 Matlab과 Coppelia Robotics 사의 V-REP (virtual robot experimentation platform)를 사용한 시뮬레이션을 수행하였다.