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Deep Learning Approach for Linear Locomotion Control of Spherical Robot
Daniel W Nam,Chaehyeuk Lee,Jaehwan Choi,Yeonjun Kim,Soon-Geul Lee 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
Spherical robot is a typical nonlinear underactuated nonholonomic system that is difficult to control accurate path trajectory and uniform and stable posture during transfer. In this paper, we propose a method called controller guided model learning (CGML) to control its posture and trajectory path simultaneously. This model-based control algorithm is a combination of traditional classical control techniques and model learning through deep neural networks. CGML implemented with artificial neural network improves data efficiency in learning by using reliability advantage of classical controller. The proposed method can reduce the learning time required for convergence, which is suitable for direct online learning. The simulation environment experiment of the spherical robot showed that CGML is superior to other algorithms in terms of data efficiency.
구연 / 제 2 회의장 / 위장관 44 : Fibroblast Growth Factor - 10 ( FGF - 10 ) 의 장관 염증 조절 기전에 관한 연구
한동수(D . S . Han),조윤주(Y . J . Cho),손영우(Y . W . Sohn),이오영(O . Y . Lee),전용철(Y . C . Jeon),손주현(J . H . Sohn),윤병철(B . C . Yoon),최호순(Ho Soon Choi),함준수(J . S . Hahm),이민호(M . H . Lee),이동후(D . H . Lee),기춘석(C . 대한소화기학회 1999 대한소화기학회 추계학술대회 Vol.1999 No.-
이중우(Jung W. Lee),손세호(Seo H. Son),권순학(Soon H. Kwon) 한국지능시스템학회 2001 한국지능시스템학회논문지 Vol.11 No.1
본 논문에서는 정규화된 데이터 공간과 가우스함수에 의한 산 함수 형성 그리고 형성된 산의 기울기를 이용한 산봉우리 붕괴를 특징으로 하는 개선된 산 클러스터링 방법을 제안한다. 이 개선된 방법은 기존의 Yager등에 의하여 제안된 방법이 조정해야 하는 매개변수가 3 개이고 발견된 클러스터 중심 주위에 원치 않는 다른 중심이 발생할 수 있는데 반하여 단지 하나의 매개변수 ω의 조정으로 더욱 타당한 중심을 찾아내는 점에서 유용하다 할 수 있다. 또한 매개변수 ω에 대한 적절한 선정 방법을 제시하고, 수치 자료에 대한 컴퓨터 모의실험을 통하여 개선된 산 클러스터링 방법의 유용성을 입증한다. We introduce an advanced mountain clustering method which uses a normalized data space, a gaussian type mountain function and a destruction method based on a mountain slope. This advanced method is more useful than Yager's mountain method because it needs just one parameter to tune instead of three and finds out more resonable cluster centers having no another centers neighboring to the first center. In addition, we present an adequate selection method for the only parameter ω. Finally, computer simulation results on numerical examples are presented to show the validity of the advanced mountain method.
Are foreign institutional investors long-term investors?: Korean evidence
Kyung Soon Kim,Jin Hwon Lee,Yun W. Park 한국재무학회 2020 한국재무학회 학술대회 Vol.2020 No.08
There has been limited research on the incentives foreign institutional investors face in foreign markets. We investigate whether foreign institutional investors are long term investors using the Korean stock market data. We measure the influence level of foreign institutions using the trading share of foreign institutions in the total trading volume of a firm as well as ownership of foreign institutions. We find a positive relationship between the influence level of foreign institutional investors and opportunistic earnings management. This result suggests that they have a short investment horizon and seek information-based trades. We also find that the positive relationship between foreign institutional investors and earnings management intensifies during periods of low market growth, and in firms with lower managerial ownership or firms unaffiliated with large conglomerates. These findings suggest that monitoring incentive and investment horizon of foreign institutional investors depend on economic environment, market growth and corporate governance characteristics in emerging markets.
Development and Characterization of New Animal Model for Alzheimer`s Disease
( Dae Y. Hwang ),( Yong Kyu Kim ),( Chuel Kyu Kim ),( Bung Guk Kim ),( Sun B. Shim ),( Seung W. Jee ),( Su H. Lee ),( Ji Soon Sin ),( Chang Jun Bae ),( Byoung Chun Lee ),( Su Jin Seo ),( Jung Sik Cho 한국응용약물학회 2007 학술대회 Vol.2007 No.1