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Model Learning with Local Gaussian Process Regression based on Overlapping Clustering
Seung-Yoon Cho(조승윤),Ju-Jang Lee(이주장) 제어로봇시스템학회 2011 제어로봇시스템학회 각 지부별 자료집 Vol.2011 No.12
In robot manipulator position control problem, modeling of inverse dynamics is important because it can allow accurate robot control using model based control methods such as PD control with computed feedfoward. However, modeling rigid-body inverse dynamics is not accurate in some case, because of unmodeled nonlinearities such as hydraulic cable dynamics, complex friction or actuator dynamics. Instead of rigid-body dynamics, nonparametric regression such as Locally Weighted Projection Regression (LWPR), Gaussian Process Regression (GPR) is proposed as alternative. LWPR is fast, but it is difficult to tune because of many user-parameters. GPR has high accuracy but low computation speed. High complexity of computation is drawback of GPR. To improve the low computation speed, Local Gaussian Process Regression (LGPR) is proposed. In this paper, Modified Local Gaussian Process Regression (MLGPR) is suggested for improving accuracy and computation time of Local Gaussian Process Regression (LGPR). In MLPGR, overlapping method is used for partitioning the training data. MLGPR uses overlapping clustering method, depending on the similarity measure. Proposed method is demonstrated by 2-dimension regression example and learning inverse dynamics of SARCOS arm.
팀제와 임파워먼트가 IT 프로세스 향상에 미치는 영향에 관한 연구
조영춘,권태상,김승윤,남기찬,이재범 한국경영과학회 2002 한국경영과학회 학술대회논문집 Vol.2002-A No.-
In several decades, there have been the efforts of improving or innovating business process for better organizational performance, The main streams are the researches of team structure in organizational structure and empowerment in human resource management. However they have not been adopted in information systems area, This paper researches how team structure and empowerment Improve information technology process that is the process that is the process of information systems organization based on the business process change management framework.<br/> Through a single case study, it is exculpated that the higher level of team structure can have influence on the improvement of information technology process. The lower level of empowerment hindered people's will in improving the process.<br/> This research can make a contribution toward seeking after the factors improving the information technology process. More researches need to find the relationship among the various dimensions of BPC framework, Which can influence the process improvement of information systems organization.
Fast-Curable Tissue Adhesives for Corneal Wound Healing
이혜선,양승윤,Ajeesh Chandrasekharan,성금용,조연지,이종수 한국고분자학회 2021 한국고분자학회 학술대회 연구논문 초록집 Vol.46 No.2
As a promising alternative of conventional sutures, glue-type tissue adhesives for wound closure is gaining popularity. However, difficulty in controlling adhesion time and poor wet adhesion of existing tissue adhesives limit their practical use in the clinic. Herein, we report in situ hydrogel-forming tissue glues based on photocrosslinkable hyaluronic acid (HA), providing firm tissue adhesion under wet and dynamic conditions. Depending on the degree of photocrosslinkable groups in HA polymer chains, mechanical properties and adhesive performance were improved. In the rabbit corneal incision model, the HA glue quickly sealed the incision site following low-energy UV exposure for 5 seconds and showed uniform corneal wound healing compared to control groups. Considering high biocompatibility and drug-loading capacity of HA hydrogels, the fast-curable HA glue can be applied for diverse biomedical applications, requiring long-term tissue adhesion and sustained drug delivery.
확장된 블로토 대령 게임에서 최적 전략의 수학적 분석과 시각화
정은후,조승윤,최준혁,박상훈,송상헌 한국과학영재교육학회 2023 과학영재교육 Vol.15 No.3
블로토 대령 게임은 현실의 다양한 사회 현상에 적용할 수 있는 게임이론으로 여러 가지 변형에 관한 선행연구도 진행되고 있다. 본 연구는 각 전장 배치에 가중치를 부여한 블로토 대령 게임에서 내시 균형의 확장인 양자 반응 균형 개념을 이용한 전략 선택 모델을 구축하고, 서로 다른 전략의 유효성을 파악하여 그 결과를 시각화하고자 하였다. 이를 위해 블로토 대령 게임의 규칙과 진행 과정을 수학적으로 정의하고 최적의 확률적 전략을 분석하였다. C++을 이용해 얻은 결과를 두 가지 방법(병력 배치 특성 지표에 기반한 방법과 PCA 차원 축소 알고리즘을 적용하는 방법)으로 시각화하여 나타냈다. 모델의 전략 선택 변동성이 작을수록 균등 분배 전략이 우세하며 변동성이 클수록 균등 분배 전략을 비롯한 몇 가지 특징적인 전략이 순환하는 관계를 이룸을 알 수 있었다. The Colonel Blotto Game is a game theory that can be applied to various social phenomena in reality, and prior research on various variations is also being conducted. This study attempted to build a strategy selection model using the concept of Quantal Response Equilibrium, an extension of the Nash Equilibrium, in the Colonel Blotto Game that assigned weights to each battlefield arrangement, identify the effectiveness of different strategies, and visualize the results. For this purpose, the rules and progression of the Colonel Blotto Game were mathematically defined and the optimal probabilistic strategy was analyzed. The results obtained using C++ were visualized and presented in two ways (a method based on troop deployment characteristic indicators and a method applying the PCA algorithm for dimensionality reduction). It was found that the smaller the model’s strategy selection volatility, the more dominant the equal distribution strategy is, and as the volatility increases, several characteristic strategies, including the equal distribution strategy, form a cyclical relationship.
차별화 서비스 망에서 low-delay 멀티캐스트 서비스 제공 방안
문영성 ( Young-song Mun ),조승윤 ( Seoung-yun Cho ),정병철 ( Byung-chul Chung ) 한국인터넷정보학회 2001 인터넷정보학회논문지 Vol.2 No.2
차별화 서비스(Differentiated Services) 망에서 실시간 멀티캐스트를 지원하기 위해서 EF(Expedite Forwarding) PHB(Per Hop Behavior)를 사용하여 전송한다면 EF PHB와 멀티캐스트 플로우의 특성 때문에 EF 멀티캐스트 플로우가 증가하게 될 경우 망의 관리나 자원 관리가 어렵다. 또한 LBE(Lower Than Best-effort) PHB를 이용한 멀티캐스트 전송은 전송지연을 보장할 수 없다는 단점이 있다. 이러한 문제를 해결하기 위하여 본 논문에서는 AF(Assured Forwarding) PHB를 이용하여, 허용 가능한 홉 당 지연시간 이내에서 처리를 해줄 수 있는 저지연 멀티캐스트(Low-delay Multicast)라는 새로운 PHB를 제안하고, 이를 위한 차별화 서비스 망에서의 핵심요소인 첫 홉 라우터, 내부 라우터, 경계 라우터들의 큐 구조를 설계하고 각 라우터들에서의 큐 관리 및 스케줄링 기법을 설계한다. To support real-time multicast, the existing DS network may use the EF PHB for transmission. However, because of the dynamic characteristics of the multicast flow and the features of the EF PHB, it is very difficult to make a provision of resources or to manage the network when EF multicast flows increase. Also, the existing LBE PHB can not guarantee the transmission delay bounds required for the real-time multicast traffic, In this paper, a new concept of PHB, namely, low-delay multicast PHB, that may guarantee approximately the per-hop delay is proposed, For the low-delay multicast PHB, router architectures are devised, The queue management algorithm on a low-delay multicast queue and a scheduling method are also devised. This new architecture of the LDM AF class is simple to be implemented.