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Extended Dyna-Q Algorithm for Path Planning of Mobile Robots

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Journal of Measurement Science and Instrumentation 2011年第3期2卷 283-287页

作者： Hoang-huu VIET Sang-hyeok AN tae-choong chung Dept.of Computer Engineering School of Electronics and InformationKyung Hee University

This paper presents an extended Dyna-Q algorithm to improve efficiency of the standard Dyna-Q *** the first episodes of the standard Dyna-Q algorithm,the agent travels blindly to find a goal *** overcome this weakness,our approach is to use a maximum likelihood model of all state-action pairs to choose actions and update Q-values in the first few *** algorithm is compared with one-step Q-learning algorithm and the standard Dyna-Q algorithm for the path planning problem in maze *** results show that the proposed algorithm is more efficient than the one-step Q-learning algorithm as well as the standard Dyna-Q algorithm,especially in the large environment of states.

关键词： reinforcement learning Dyna-Q path planning mobile robots

A Framework for Enhancing Privacy and Anonymity in Blockchain-Enabled IoT Devices

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Computers, Materials & Continua 2024年第3期78卷 4263-4282页

作者： Muhammad Saad Muhammad Raheel Bhutta Jongik Kim tae-Sun chung Department of Artificial Intelligence Ajou UniversitySuwon443-749Korea Department of Electrical and Computer Engineering University of Utah Asia CampusIncheon21985Korea Department of Artificial Intelligence Chungnam National UniversityDaejeon34134Korea

With the increase in IoT(Internet of Things)devices comes an inherent challenge of *** the world today,privacy is the prime concern of every *** one’s privacy and keeping anonymity throughout the system is a desired functionality that does not come without inevitable trade-offs like scalability and increased complexity and is always exceedingly difficult to *** challenge is keeping confidentiality and continuing to make the person innominate throughout the *** address this,we present our proposed architecture where we manage IoT devices using blockchain *** proposed architecture works on and off blockchain integrated with the closed-circuit television(CCTV)security camera fixed at the rental *** this framework,the CCTV security camera feed is redirected towards the owner and renter based on the smart contract *** entity(owner or renter)can see the CCTV security camera feed at one *** is no third-party dependence except for the CCTV security camera deployment *** contributions include the proposition of framework architecture,a novel smart contract algorithm,and the modification to the ring signatures leveraging an existing cryptographic *** are made based on different systems’security and key management *** an empirical study,our proposed algorithm performed better in key generation,proof generation,and verification *** comparing similar existing schemes,we have shown the proposed architectures’*** now,we have developed this system for a specific area in the real ***,this system is scalable and applicable to other areas like healthcare monitoring systems,which is part of our future work.

关键词： Privacy anonymity blockchain IoT smart contracts

Recent progress and future research directions for electrochromic zinc-ion batteries

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Journal of Energy Chemistry 2024年第3期90卷 220-232,I0007页

作者： tae Gwang Yun Byungil Hwang Jun Young Cheong Department of Molecular Science and Technology Ajou UniversitySuwon 16499Republic of Korea School of Integrative Engineering Chung-Ang UniversitySeoul 06974Republic of Korea Bavarian Center for Battery Technology(Bay Batt)and Department of Chemistry University of Bayreuth95447 BayreuthGermany

In recent times,future energy storage systems demand a multitude of functionalities beyond their traditional energy storage *** line with this technological shift,there is active research and development of electrochromic-energy storage systems designed to visualize electrochemical charging and discharging *** conventional electrochromic-energy storage devices primarily integrated supercapacitors,known for their high power density,to enable rapid color ***,the low energy density of supercapacitors restricts overall energy storage capacity,acting as a significant barrier to expanding the application range of such *** this review,we introduce electrochromic zinc(Zn)-ion battery systems,which effectively overcome the limitation of low energy density,and provide illustrative examples of their applicability across diverse *** many recent research works are present for electrochromic Zn-ion batteries,little review has so far taken *** objective is to discuss on the current progress and future directions for electrochromic Zn-ion batteries,which are applicable for wearable electronics applications and energy storage *** review provides an initial milestone for future researchers in electrochromic energy storage and zinc-ion batteries,which will lead to a stream of future works related to them.

关键词： Electrochromic Zn-ion battery Flexible Transition metal oxide Conductive polymer

Dyna-QUF:Dyna-Q based univector field navigation for autonomous mobile robots in unknown environments

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Journal of Central South University 2013年第5期20卷 1178-1188页

作者： VIET Hoang-huu CHOI Seung-yoon chung tae-choong Department of Computer Engineering Kyung Hee University

A novel approach was presented to solve the navigation problem of autonomous mobile robots in unknown environments with dense obstacles based on a univector field method. In an obstacle-free environment, a robot is ensured to reach the goal position with the desired posture by following the univector field. Contrariwise, the univector field cannot guarantee that the robot will avoid obstacles in environments. In order to create an intelligent mobile robot being able to perform the obstacle avoidance task while following the univector field, Dyna-Q algorithm is developed to train the robot in learning moving directions to attain a collision-free path for its navigation. Simulations on the computer as well as experiments on the real world prove that the proposed algorithm is efficient for training the robot in reaching the goal position with the desired final orientation.

关键词： Dyna-Q mobile robot reinforcement learning univector field

M1-polarized macrophage-derived cellular nanovesicle-coated lipid nanoparticles for enhanced cancer treatment through hybridization of gene therapy and cancer immunotherapy

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Acta Pharmaceutica Sinica B 2024年第7期14卷 3169-3183页

作者： Ha Eun Shin Jun-Hyeok Han Seungyong Shin Ga-Hyun Bae Boram Son tae-Hyung Kim Hee Ho Park Chun Gwon Park Wooram Park Department of Integrative Biotechnology Sungkyunkwan University(SKKU)SuwonGyeonggi 16419Republic of Korea Deparment of Inteligent Precision Healthcare Convergence SKKUSuwonGyeonggi 16419Republic of Korea Department of MetaBioHealth SKKU Institute for ConvergenceSKKUSuwonGyeonggi 16419Republic of Korea Department of Bioengineering Hanyang UniversitySeoul 04763Republic of Korea Department of Integrative Engineering Chung-Ang UniversitySeoul 06974Republic of Korea Department of Biomedical Engineering SKKUSuwonGyeonggi 16419Republic of Korea Korea Institute of Science and Technology(KIST) Seoul 02792Republic of Korea

Optimum genetic delivery for modulating target genes to diseased tissue is a major obstacle for profitable gene *** nanoparticles(LNPs),considered a prospective vehicle for nucleic acid delivery,have demonstrated efficacy in human use during the COVID-19 *** study introduces a novel biomaterial-based platform,M1-polarized macrophage-derived cellular nanovesicle-coated LNPs(M1-C-LNPs),specifically engineered for a combined gene-immunotherapy approach against solid *** dual-function system of M1-C-LNPs encapsulates Bcl2-targeting siRNA within LNPs and immune-modulating cytokines within M1 macrophage-derived cellular nanovesicles(M1-NVs),effectively facilitating apoptosis in cancer cells without impacting T and NK cells,which activate the intratumoral immune response to promote granule-mediating killing for solid tumor *** retention within tumor was observed upon intratumoral administration of M1-C-LNPs,owing to the presence of adhesion molecules on M1-NVs,thereby contributing to superior tumor growth *** findings represent a promising strategy for the development of targeted and effective nanoparticle-based cancer genetic-immunotherapy,with significant implications for advancing biomaterial use in cancer therapeutics.

关键词： Genetic-immunotherapy M1 macrophage-derived cellular nanovesicles Lipid nanoparticles(LNPs) Gene therapy siRNA Cancer immunotherapy Solid tumor Tumor microenvironment(TME)

Silver nanowires with semiconducting ligands for low- temperature transparent conductors

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Nano Research 2016年第2期9卷 392-400页

作者： Brion Bob Ariella Machness Tze-Bin Song Huanping Zhou choong-Heui chung Yang Yang Department of Materials Science and Engineering and California NanoSystems Institute University of California Los Angeles LosAngeles CA 90025 USA Department of Materials Science and Engineering Hanbat National University Daejeon 305-719 Republic of Korea

Metal nanowire networks represent a promising candidate for the rapid fabrication of transparent electrodes with high transmission and low sheet-resistance values at very low deposition temperatures. A commonly encountered challenge in the formation of conductive nanowire electrodes is establishing high-quality electronic contact between nanowires to facilitate long-range current transport through the network. A new system involving nanowire ligand removal and replacement with a semiconducting sol-gel tin oxide matrix has enabled the fabrication of high-performance transparent electrodes at dramatically reduced temperatures with minimal need for post-deposition treatment.

关键词： silver nanowires sol-gel transparent electrodes nanocomposites

A GIS-Based Framework for Real-Time Debris-Flow Hazard Assessment for Expressways in Korea

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International Journal of Disaster Risk Science 2016年第3期7卷 293-311页

作者： Han-Saem Kim choong-Ki chung Sang-Rae Kim Kyung-Suk Kim Earthquake Research Center Korea Institute of Geoscience and Mineral Resources Department of Civil and Environmental Engineering Seoul National University Department of Civil and Environmental Engineering Northwestern University Expressway and Transportation Research Institute Korea Expressway Corporation

Debris flows caused by heavy rainfall in mountain areas near expressways lead to severe social and economic losses and sometimes result in ***, the development of a real-time system for debris-flow hazard assessment is necessary to provide preliminary information for rapid decision making about evacuations or restoration measures, as well as to prevent secondary disasters caused by debris flows. Recently,various map-based approaches have been proposed using multi-attribute criteria and assessment methods for debrisflow susceptibilities. For the macrozonation of debris-flow hazard at a national scale, a simplified method such as the Korea Expressway Corporation(KEC) debris-flow hazard assessment method can be applied for systematic analysis based on geographic information systems(GIS) and monitoring networks. In this study, a GIS-based framework of real-time debris-flow hazard assessment for expressway sections is proposed based on the KEC debris-flow hazard assessment method. First, the KEC-based method was standardized in a systematic fashion using Arc GIS,enabling the objective and quantitative acquisition of various attribute datasets. The quantification of rainfall criteria also was considered. A safety management system for debris-flow hazard was developed based on the GIS platform. Finally, the method was applied and verified on three expressway sections in Korea. The grading standard for each individual influencing attribute was subsequently modified to more accurately assess the debris-flow hazards.

关键词： Debris-flow hazard Expressway management GIS Korea Real-time hazard assessment

Modified analogue forecasting in the hidden Markov frameworkfor meteorological droughts

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Science China(Technological Sciences) 2019年第1期62卷 151-162页

作者： CHEN Si chung GunHui KIM Byung Sik KIM tae-Woong Department of Civil and Environmental Engineering Hanyang University Department of Civil Engineering Hoseo University Department of Urban Environmental Disaster Prevention Engineering Kangwon National University

An analogue method(AM) is a nonparametric approach that has been applied to predict the future states of a dynamic system by following the evolution of the analogues in the historical archive. In this study, we proposed a hidden Markov model(HMM)framework for a modified analogue forecasting(MAF) approach for meteorological droughts in Korea. The unobservable(hidden) state process in the framework aims to model the underlying drought state, while the observation process was formed from the time series of the standardized precipitation index(SPI) as a drought index. Within the framework, the likelihood estimator was used as the measure of similarity between past SPI analogues and current data. The MAF approach was conducted on the selected analogues to make forecasts at lead times of one and three months. The proposed model was applied to five selected stations in Korea using the SPI data from 1973 to 2016. The forecasting performance of the proposed model was tested during the validation period(2003–2016) using several statistical criteria and it was compared to a persistence-based benchmark model. The results showed significant improvement in the forecasting capacity, and satisfactory performance for numerical SPI forecasting and categorical drought forecasting. The results also suggested that the proposed model was able to provide useful information for determining future drought categories for early drought warning with a lead time of up to three months.

关键词： modified analogue forecasting hidden Markov model meteorological drought standardized precipitation index

Bedside index for severity in acute pancreatitis:comparison with other scoring systems in predicting severity and organ failure

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Hepatobiliary & Pancreatic Diseases International 2013年第6期12卷 645-650页

作者： Ji Young Park tae Joo Jeon tae Hwan Ha Jin tae Hwang Dong Hyun Sinn tae-Hoon Oh Won Chang Shin Won-choong Division of Gastroenterology Department of Internal MedicineInje University Sanggye Paik Hospital

BACKGROUND:The early identification of severe acute pancreatitis is important for the management and for improving *** bedside index for severity in acute pancreatitis(BISAP)has been considered as an accurate method for risk stratification in patients with acute *** study aimed to evaluate the comparative usefulness of the ***:We retrospectively analyzed 303 patients with acute pancreatitis diagnosed at our hospital from March 2007to December ***,APACHE-II,Ranson criteria,and CT severity index(CTSI)of all patients were *** stratified the number of patiants with severe pancreatitis,pancreatic necrosis,and organ failure as well as the number of deaths by BISAP *** used the area under the receiveroperating curve(AUC)to compare BISAP with other scoring systems,C-reactive protein(CRP),hematocrit,and body mass index(BMI)with regard to prediction of severe acute pancreatitis,necrosis,organ failure,and ***:Of the 303 patiants,31(10.2%)were classified as having severe acute *** failure occurred in 23(7.6%)patients,pancreatic necrosis in 40(13.2%),and death in6(2.0%).A BISAP score of 2 was a statistically significant cutoff value for the diagnosis of severe acute pancreatitis,organ failure,and *** for BISAP predicting severe pancreatitis and death were 0.80 and 0.86,respectively,which were similar to those for APACHE-II(0.80,0.87)and Ranson criteria(0.74,0.74)and greater than AUCs for CTSI(0.67,0.42).The AUC for organ failure predicted by BISAP,APACHE-II,Ranson criteria,and CTSI was 0.93,0.95,0.84 and 0.57,*** for BISAP predicting severity,organ failure,and death were greater than those for CRP(0.69,0.80,0.72),hematocrit(0.45,0.35,0.14),and BMI(0.41,0.47,0.17).CONCLUSION:The BISAP predicts severity,death,and especially organ failure in acute pancreatitis as well as APACHE-II does and better than Ranson criteria,CTSI,CRP,hematocrit,and BMI.

关键词： acute pancreatitis scoring system pancreatic necrosis organ failure