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자율가변 구조의 신경망 모델을 이용한 구륜 이동 로봇의 위치 제어
김기열,김성회,김현,임호,정영화,Kim, Ki-Yeoul,Kim, Sung-Hoe,Kim, Hyun,Lim, Ho,Jeong, Young-Hwa 한국정보기술전략혁신학회 2001 情報學硏究 Vol.4 No.2
A self-structured neural network algorithm that finds optimal fuzzy membership functions and nile base to fuzzy model is proposed and a fuzzy-neural network controller is designed to get more accurate position and velocity control of wheeled mobile robot. This procedure that is composed of three steps has its own unique process at each step. The elements of output term set are increased at first step and then the rule base Is varied according to increase of the elements. The adjusted controller is in competition with controller which doesn't include any increased elements. The adjusted controller will be removed if the control-law lost. Otherwise, the controller is replaced with the adjusted system. After finished regulation of output term set and rule base, searching for input membership functions is processed with constraints and fine tuning of output membership functions is done.
An Attempt for Combining Microarray Data Sets by Adjusting Gene Expressions
김기열,Se Hyun Kim,Dong Hyuk Ki,Jaeheon Jeong,Ha Jin Jeong,정희철,정현철,라선영 대한암학회 2007 Cancer Research and Treatment Vol.39 No.2
Purpose: The diverse experimental environments in microarray technology, such as the different platforms or different RNA sources, can cause biases in the analysis of multiple microarrays. These systematic effects present a substantial obstacle for the analysis of microarray data, and the resulting information may be inconsistent and unreliable. Therefore, we introduced a simple integration method for combining microaray data sets that are derived from different experimental conditions, and we expected that more reliable information can be detected from the combined data set rather than from the separated data sets. Materials and Methods: This method is based on the distributions of the gene expression ratios among the different microarray data sets and it transforms, gene by gene, the gene expression ratios into the form of the reference data set. The efficiency of the proposed integration method was evaluated using two microarray data sets, which were derived from different RNA sources, and a newly defined measure, the mixture score.Results: The proposed integration method intermixed the two data sets that were obtained from different RNA sources, which in turn reduced the experimental bias between the two data sets, and the mixture score increased by 24.2%. A data set combined by the proposed method preserved the inter-group relationship of the separated data sets. Conclusion: The proposed method worked well in adjusting systematic biases, including the source effect. The ability to use an effectively integrated microarray data set yields more reliable results due to the larger sample size and this also decreases the chance of false negatives. (Cancer Res Treat. 2007;39:74-81)
Ti-Zr계 금속수소화물 및 수소저장실린더의 성능특성 연구
김기열,Kim, Ki-Youl 한국군사과학기술학회 2012 한국군사과학기술학회지 Vol.15 No.4
Recently fuel cell is considered to be a new technology that can substitute the ICE(Internal Combustion Engine) as well as overcome environmental issues. In military applications, fuel cell has an unique advantages, which are quietness, namely, stealth. The environmental requirement such as shock and vibration in military application, however, is very severe comparing to civilian demand. Especially, the safety concerning hydrogen storage is the most important problem. Among the candidate methods to store hydrogen, the metal hydride storage is promising method owing to the storage mechanism of chemical absorption of hydrogen to metal hydrides. In this study, the new composition of Ti-Zr type metal hydride(A composition) was suggested and investigated to increase the hydrogen storage capacity. For comparison, the hydrogen charge-discharge properties were investigated with the commercialized Ti-Zr type metal hydride(B composition) using PCT(Pressure-Composition-Temperature) measurement. Also two hydrogen storage cylinders were loaded with each metal hydride and their hydrogen charging and discharging characteristics were investigated. As a result, it was found that the new Ti-Zr type metal hydride has a slightly higher hydrogen storage capacity compared to commercial Ti-Zr type metal hydride.
중풍(中風)의 치법(治法) 중(中) 평간법(平肝法)에 대(對)한 고찰(考察)
김기열,김종대,정지천,Kim, Gi-Yeol,Kim, Jong-Dae,Jeong, Ji-Cheon 대한한방내과학회 1997 大韓韓方內科學會誌 Vol.18 No.1
We had studied about the therapy of pinggan with apoplexy and the rusult were obtaind as follows. 1. The therapy of Pinggan is based on Treatise on Exogenous Febrile Diseases(傷寒論)'s ShaoyaoGancaoTang(芍藥甘草湯) on the ground of The Yellow Emperor's Internal Classic(黃帝內經). 2. Ye Tianshi(葉天士) theorized about the therapy of Pinggan. It was that the internal wind theory combind the theory of that liver and kidney having the same origin. He said that 'Through mild the liver, we calm down the liver to stop the wind, and nourish the kidney and then removed heat'. 3. The prodomal stage was treated by prescription of Ziyin-Huoxue-Xifeng(滋陰活血熄風方), WendanTang(溫膽湯), TianmaGoutongYin(天麻鉤藤飮) and ZhenganXifengTang(鎭肝熄風湯). and The therapy has been used to the symptoms of deficiendy of liver-yin and kidney-yin and psycotic symptoms In convalescence. The prescription of ZhenganXifengTang(鎭肝熄風湯), TianmaGoutongYin(天麻鉤藤飮), and DighuangYinzi(地黃飮子) waked well. 4. Internal cerebral hemorrhage, cerebral infarction, movement disorder and senile dementia were treated by the therapy of pinggan, for the action of hypotensor, lipolysis, ataralgesia, defervesence. 5. The medicines of Pinggan-Xifeng like Gastrodiae Rhizoma, Uncariae Ramulus Et Uncus, Scorpio, Bornbyx Batryticatus, Scolopendra, Saigae Tataricae Cornu, and Pinggan-qianyang like Haernatitum, Ostreae Concha, Margaritifera Usta Concha, Eretmochelyos Carapax, Tribuli Fructus were usually used.
구륜 이동 로보트의 동적 모델링과 관성측정장치를 이용한 경로추적 알고리즘에 관한 연구
김기열,임호,박종국,Kim, Ki-Yeoul,Im, Ho,Park, Chong-Kug 대한전자공학회 1998 電子工學會論文誌, S Vol.s35 No.10
본 논문에서 4-구륜 2-자유도 이동 로보트의 체계적인 동적 모델링과 경로설계 및 추적 알고리즘을 제안한다. 실시간에서 이동 로보트의 위치 측정을 위해 관성측정장치중의 3가지 요소를 이용한다. 이러한 장치들은 지구의 회전속도 및 중력가속도 등의 여러 요인으로 인해 초기 오차를 가진다. 그래서 초기오차 모델을 유도하고, 실제 데이터와 유도된 모델의 추정 데이터의 확률적 특성을 분석 ${\cdot}$ 비교하여 적합도를 판정하여 사용한다. 관성측정장치의 동작특성은 오차모델과 칼만 필터와 연계된 경우와 배제된 일반적인 경우와 비교한다. 모의실험 결과들은 제안된 경로설계 및 추적 알고리즘이 기존의 방식과 비교하여 보다 유용함을 입증한다. In this paper, we propose the dynamic modeling, path planning and tracking algorithms of 4-wheeled 2-d.o.f.(degree of freedom) mobile robot(WMR). The gaussian functions are applied to design the smooth path of WMR. To calculate the WMR position in real time, we use three components of inertial measurement units(IMU). These units have initial error because of the rotation rate of earth, gravity acceleration and so on. Therefore we derive the initial error model of IMU, and compare the fitness diagnosis about probability characteristics of real data adn estimated data. The performance of IMU with error model and Kalman filter is compared to that without filter and error model. The simulation results show that the proposed dynamic model, path planning and tracking algorithms are more useful than the conventional control algorithm.
시차분할 멀티사이클을 적용한 냉장고의 성능향상에 관한 연구
김기열(Kiyoul Kim),장용희(Yonghee Jang),정해원(Haewon Jung),김용찬(Yongchan Kim),신대식(Daesig Shin),김현주(Hyunjoo Kim) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
In this study, the performance improvement of a refrigerator with a time divided multi (TDM) cycle is experimentally investigated by optimizing system parameters. Generally, the TDM type refrigerator cycle shows higher humidity and energy efficiency than a serial type refrigerator cycle. The experiments were conducted in a bench scale TDM type refrigerator by varying the capacity of a suction line heat exchanger, a capillary tube size in the freezer side, and refrigerant charge with a refrigerant storage vessel. The bench tester consisted of the same components used in the refrigerator, which simulated the operating characteristics of the actual refrigerator. The optimization of the capillary tube in the freezer side yielded significant improvement of energy efficiency in the freezer only mode. The performance of each modified cycle was represented in detail in this study.
김기열(Kim Ki-Youl),김상호(Kim Sang-Ho),김유신(Kim Yu-Shin),이범주(Lee Beom-Joo),김석원(Kim Seog-Won) 한국철도학회 2004 한국철도학회 학술발표대회논문집 Vol.- No.-
Dawin Friction Corp. has been advanced sintered brake pad for Korean concept high speed train (so called G7 train) with KRRI, You Jin and Rotem without the assistance of foreign company. In the course of development, the evaluation of our and foreign disk pads was performed by lab scale dynamometer and full scale dynamometer. As the result of dynamo test, it is shown that our developed brake disk is equal or superior to those of foreign companies in many respects, for example, wear resistance, noise, etc. The new brake pad which is developed through "post G7-project" is equipped with G7 train and is under many tests without any problems at the present moment.