• 한국정밀공학회지
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• 제15권1호
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• pp.78-86
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• 1998

This paper presents a numerical method of the minimum-time trajectory planning for a robot manipulator amid obstacles. Each joint displacement is represented by the linear combination of the finite-term quintic B-splines which are the known functions of the path parameter. The time is represented by the linear function of the same path parameter. Since the geometric path is not fixed and the time is linear to the path parameter, the coefficients of the splines and the time-scale factor span a finite-dimensional vector space, a point in which uniquely represents the manipulator motion. The displacement, the velocity and the acceleration conditions at the starting and the goal positions are transformed into the linear equality constraints on the coefficients of the splines, which reduce the dimension of the vector space. The optimization is performed in the reduced vector space using nonlinear programming. The total moving time is the main performance index which should be minimized. The constraints on the actuator forces and that of the obstacle-avoidance, together with sufficiently large weighting coefficients, are included in the augmented performance index. In the numerical implementation, the minimum-time motion is obtained for a planar 3-1ink manipulator amid several rectangular obstacles without simplifying any dynamic or geometric models.

• Journal of applied mathematics & informatics
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• 제32권3_4호
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• pp.359-375
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• 2014

In this paper, a multiobjective nondifferentiable fractional programming problem (MFP) is considered where the objective function contains a term involving the support function of a compact convex set. A vector valued (generalized) ${\alpha}$-univex function is defined to extend the concept of a real valued (generalized) ${\alpha}$-univex function. Using these functions, sufficient optimality criteria are obtained for a feasible solution of (MFP) to be an efficient or weakly efficient solution of (MFP). Duality results are obtained for a Mond-Weir type dual under (generalized) ${\alpha}$-univexity assumptions.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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• pp.405-407
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• 2009

SVM(Support Vector Machine) is a classification method which is recently watched in mechanical learning system. Vapnik, Osuna, Platt etc. had suggested methodology in order to solve needed QP(Quadratic Programming) to realize SVM so that have extended application field. SVM find hyperplane which classify into 2 class by converting from input space converter vector to characteristic space vector using Kernel Function. This is very systematic and theoretical more than neural network which is experiential study method. Although SVM has superior generalization characteristic, it depends on Kernel Function. There are three category in the Kernel Function as Polynomial Kernel, RBF(Radial Basis Function) Kernel, Sigmoid Kernel. This paper has analyzed performance of SVM against kernel using virtual data.

• 대한전기학회논문지:시스템및제어부문D
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• 제53권8호
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• pp.578-584
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• 2004

The CSVM(Current Support Vector Machine) that is a digital architecture performing all phases of recognition process including kernel computing, learning, and recall of SVM(Support Vector Machine) on a chip is proposed. Concurrent operation by parallel architecture of elements generates high speed and throughput. The classification problems of bio data having high dimension are solved fast and easily using the CSVM. Quadratic programming in original SVM learning algorithm is not suitable for hardware implementation, due to its complexity and large memory consumption. Hardware-friendly SVM learning algorithms, kernel adatron and kernel perceptron, are embedded on a chip. Experiments on fixed-point algorithm having quantization error are performed and their results are compared with floating-point algorithm. CSVM implemented on FPGA chip generates fast and accurate results on high dimensional cancer data.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1993년도 봄 학술발표회논문집
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• pp.61-68
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• 1993

A computer program for free vibration analysis of plane framed structures has been developed by object oriented programming technique using C" language. The object oriented programming concepts such as object, class, method and inheritance are represented. The static and free vibration analyses for framed structures were satisfactorily performed by this program which consists of TOP, VECTOR, MATRIX, STRU, GUI and other classes. Numerical test shows the validity and capability of the present study which can be expandable to develop a general purpose object oriented finite element analysis program of structures ,res ,

• Structural Engineering and Mechanics
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• 제4권2호
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• pp.139-148
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• 1996

Vector algorithms and the relative importance of the four basic modules (computation of element stiffness matrices, assembly of the global stiffness matrix, solution of the system of linear simultaneous equations, and calculation of stresses and strains) of a finite element computer program for inelastic analysis of reinforced concrete shells are presented. Performance of the vector program is compared with a scalar program. For a cooling tower problem, the speedup factor from the scalar to the vector program is 34 for the element stiffness matrices calculation, 25.3 for the assembly of global stiffness matrix, 27.5 for the equation solver, and 37.8 for stresses, strains and nodal forces computations on a Gray Y-MP. The overall speedup factor is 30.9. When the equation solver alone is vectorized, which is computationally the most intensive part of a finite element program, a speedup factor of only 1.9 is achieved. When the rest of the program is also vectorized, a large additional speedup factor of 15.9 is attained. Therefore, it is very important that all the modules in a nonlinear program are vectorized to gain the full potential of the supercomputers. The vector finite element computer program for inelastic analysis of RC shells with layered elements developed in the present study enabled us to perform mesh convergence studies. The vector program can be used for studying the ultimate behavior of RC shells and used as a design tool.

• Journal of the Korean Statistical Society
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• 제1권1호
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• pp.18-24
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• 1973

Study on convexity has been improved in many statistical fields, such as linear programming, stochastic inverntory problems and decision theory. In proof of main theorem in Section 3, M. Loeve already proved this theorem with the $r$-th absolute moments on page 160 in [1]. Main consideration is given to prove this theorem using convex theorems with the generalized $t$-th mean when some convex properties hold on a real linear vector space $R_N$, which satisfies all properties of finite dimensional Hilbert space. Throughout this paper $\b{x}_j, \b{y}_j$ where $j = 1,2,......,k,.....,N$, denotes the vectors on $R_N$, and $C_N$ also denotes a subspace of $R_N$.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.42.4-42
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• 2002

With the research of simplified neural networks, we propose an AND/OR neural network; a kind of brief, fast network Then, we present an OCR solution that equip the network in one-chip FPGA and design it by using HDL. We selected the representative hexadecimal character as the recognition feature class and used a Feature Vector Recognition Method in the statistic pattern recognition. The result feature vector was encoded into a 7 bit array and inputted into the AND/OR network to finish learning.

• Communications for Statistical Applications and Methods
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• 제6권3호
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• pp.843-848
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• 1999

Support vector machine(SVM) is a new and very promising classification and regression technique developed by Bapnik and his group at AT&T Bell laboratories. However it has failed to establish itself as common machine learning tool. This is partly due to the fact that SVM is not easy to implement and its standard implementation requires the optimization package for quadratic programming. In this paper we present simple iterative Kernl Adatron algorithm for nonparametric regression which is easy to implement and guaranteed to converge to the optimal solution and compare it with neural networks and projection pursuit regression.

• 대한토목학회논문집
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• 제14권1호
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• pp.119-129
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• 1994

본 연구에서는 기존의 구조적 프로그래밍 방법의 단점들을 개선한 새로운 객체지향 프로그래밍기법으로 구조물의 정적해석과 자유진동해석이 가능한 PC용 $C^{{+}{+}}$ 구조해석 프로그램을 개발하였다. 객체지향 프로그램은 기존의 구조적 프로그램에 비하여 프로그램의 재사용성 및 확장성이 뛰어나므로 프로그램의 수정과 개발이 용이하고 다양한 지능과 메뉴선택을 제공하며 소프트웨어의 개발시간과 프로그램의 크기를 줄일 수 있다. 본 연구에서 개발한 객체지향 자유진동해석 프로그램은 벡터 및 행렬의 연산을 수행하는 VECTOR 및 MATRIX클래스, 뼈대 구조물의 자유진동해석을 위한 STRU클래스 및 사용자 환경을 위한 GUI클래스로 구성되며 모든 프로그램은 객체지향 언어인 $C^{{+}{+}}$로 작성되었다. 여러가지 예제해석을 통하여 본 연구에서 개발된 객체지향 $C^{{+}{+}}$ 자유진동해석 프르그램의 효율성과 타당성을 검증하였다.