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1. Escaping Local Minima: Hybrid Artificial Potential Field with Wall-Follower for Decentralized Multi-Robot Navigation

Author

Kim, Joonkyung, Park, Sangjin, Lee, Wonjong, Kim, Woojun, Doh, Nakju, and Nam, Changjoo

Subjects
Computer Science - Robotics
Abstract

We tackle the challenges of decentralized multi-robot navigation in environments with nonconvex obstacles, where complete environmental knowledge is unavailable. While reactive methods like Artificial Potential Field (APF) offer simplicity and efficiency, they suffer from local minima, causing robots to become trapped due to their lack of global environmental awareness. Other existing solutions either rely on inter-robot communication, are limited to single-robot scenarios, or struggle to overcome nonconvex obstacles effectively. Our proposed methods enable collision-free navigation using only local sensor and state information without a map. By incorporating a wall-following (WF) behavior into the APF approach, our method allows robots to escape local minima, even in the presence of nonconvex and dynamic obstacles including other robots. We introduce two algorithms for switching between APF and WF: a rule-based system and an encoder network trained on expert demonstrations. Experimental results show that our approach achieves substantially higher success rates compared to state-of-the-art methods, highlighting its ability to overcome the limitations of local minima in complex environments, Comment: 7 pages, 7 figures

Published
2024

2. HyperCLOVA X Technical Report

Author

Yoo, Kang Min, Han, Jaegeun, In, Sookyo, Jeon, Heewon, Jeong, Jisu, Kang, Jaewook, Kim, Hyunwook, Kim, Kyung-Min, Kim, Munhyong, Kim, Sungju, Kwak, Donghyun, Kwak, Hanock, Kwon, Se Jung, Lee, Bado, Lee, Dongsoo, Lee, Gichang, Lee, Jooho, Park, Baeseong, Shin, Seongjin, Yu, Joonsang, Baek, Seolki, Byeon, Sumin, Cho, Eungsup, Choe, Dooseok, Han, Jeesung, Jin, Youngkyun, Jun, Hyein, Jung, Jaeseung, Kim, Chanwoong, Kim, Jinhong, Kim, Jinuk, Lee, Dokyeong, Park, Dongwook, Sohn, Jeong Min, Han, Sujung, Heo, Jiae, Hong, Sungju, Jeon, Mina, Jung, Hyunhoon, Jung, Jungeun, Jung, Wangkyo, Kim, Chungjoon, Kim, Hyeri, Kim, Jonghyun, Kim, Min Young, Lee, Soeun, Park, Joonhee, Shin, Jieun, Yang, Sojin, Yoon, Jungsoon, Lee, Hwaran, Bae, Sanghwan, Cha, Jeehwan, Gylleus, Karl, Ham, Donghoon, Hong, Mihak, Hong, Youngki, Hong, Yunki, Jang, Dahyun, Jeon, Hyojun, Jeon, Yujin, Jeong, Yeji, Ji, Myunggeun, Jin, Yeguk, Jo, Chansong, Joo, Shinyoung, Jung, Seunghwan, Kim, Adrian Jungmyung, Kim, Byoung Hoon, Kim, Hyomin, Kim, Jungwhan, Kim, Minkyoung, Kim, Minseung, Kim, Sungdong, Kim, Yonghee, Kim, Youngjun, Kim, Youngkwan, Ko, Donghyeon, Lee, Dughyun, Lee, Ha Young, Lee, Jaehong, Lee, Jieun, Lee, Jonghyun, Lee, Jongjin, Lee, Min Young, Lee, Yehbin, Min, Taehong, Min, Yuri, Moon, Kiyoon, Oh, Hyangnam, Park, Jaesun, Park, Kyuyon, Park, Younghun, Seo, Hanbae, Seo, Seunghyun, Sim, Mihyun, Son, Gyubin, Yeo, Matt, Yeom, Kyung Hoon, Yoo, Wonjoon, You, Myungin, Ahn, Doheon, Ahn, Homin, Ahn, Joohee, Ahn, Seongmin, An, Chanwoo, An, Hyeryun, An, Junho, An, Sang-Min, Byun, Boram, Byun, Eunbin, Cha, Jongho, Chang, Minji, Chang, Seunggyu, Cho, Haesong, Cho, Youngdo, Choi, Dalnim, Choi, Daseul, Choi, Hyoseok, Choi, Minseong, Choi, Sangho, Choi, Seongjae, Choi, Wooyong, Chun, Sewhan, Go, Dong Young, Ham, Chiheon, Han, Danbi, Han, Jaemin, Hong, Moonyoung, Hong, Sung Bum, Hwang, Dong-Hyun, Hwang, Seongchan, Im, Jinbae, Jang, Hyuk Jin, Jang, Jaehyung, Jang, Jaeni, Jang, Sihyeon, Jang, Sungwon, Jeon, Joonha, Jeong, Daun, Jeong, Joonhyun, Jeong, Kyeongseok, Jeong, Mini, Jin, Sol, Jo, Hanbyeol, Jo, Hanju, Jo, Minjung, Jung, Chaeyoon, Jung, Hyungsik, Jung, Jaeuk, Jung, Ju Hwan, Jung, Kwangsun, Jung, Seungjae, Ka, Soonwon, Kang, Donghan, Kang, Soyoung, Kil, Taeho, Kim, Areum, Kim, Beomyoung, Kim, Byeongwook, Kim, Daehee, Kim, Dong-Gyun, Kim, Donggook, Kim, Donghyun, Kim, Euna, Kim, Eunchul, Kim, Geewook, Kim, Gyu Ri, Kim, Hanbyul, Kim, Heesu, Kim, Isaac, Kim, Jeonghoon, Kim, Jihye, Kim, Joonghoon, Kim, Minjae, Kim, Minsub, Kim, Pil Hwan, Kim, Sammy, Kim, Seokhun, Kim, Seonghyeon, Kim, Soojin, Kim, Soong, Kim, Soyoon, Kim, Sunyoung, Kim, Taeho, Kim, Wonho, Kim, Yoonsik, Kim, You Jin, Kim, Yuri, Kwon, Beomseok, Kwon, Ohsung, Kwon, Yoo-Hwan, Lee, Anna, Lee, Byungwook, Lee, Changho, Lee, Daun, Lee, Dongjae, Lee, Ha-Ram, Lee, Hodong, Lee, Hwiyeong, Lee, Hyunmi, Lee, Injae, Lee, Jaeung, Lee, Jeongsang, Lee, Jisoo, Lee, Jongsoo, Lee, Joongjae, Lee, Juhan, Lee, Jung Hyun, Lee, Junghoon, Lee, Junwoo, Lee, Se Yun, Lee, Sujin, Lee, Sungjae, Lee, Sungwoo, Lee, Wonjae, Lee, Zoo Hyun, Lim, Jong Kun, Lim, Kun, Lim, Taemin, Na, Nuri, Nam, Jeongyeon, Nam, Kyeong-Min, Noh, Yeonseog, Oh, Biro, Oh, Jung-Sik, Oh, Solgil, Oh, Yeontaek, Park, Boyoun, Park, Cheonbok, Park, Dongju, Park, Hyeonjin, Park, Hyun Tae, Park, Hyunjung, Park, Jihye, Park, Jooseok, Park, Junghwan, Park, Jungsoo, Park, Miru, Park, Sang Hee, Park, Seunghyun, Park, Soyoung, Park, Taerim, Park, Wonkyeong, Ryu, Hyunjoon, Ryu, Jeonghun, Ryu, Nahyeon, Seo, Soonshin, Seo, Suk Min, Shim, Yoonjeong, Shin, Kyuyong, Shin, Wonkwang, Sim, Hyun, Sim, Woongseob, Soh, Hyejin, Son, Bokyong, Son, Hyunjun, Son, Seulah, Song, Chi-Yun, Song, Chiyoung, Song, Ka Yeon, Song, Minchul, Song, Seungmin, Wang, Jisung, Yeo, Yonggoo, Yi, Myeong Yeon, Yim, Moon Bin, Yoo, Taehwan, Yoo, Youngjoon, Yoon, Sungmin, Yoon, Young Jin, Yu, Hangyeol, Yu, Ui Seon, Zuo, Xingdong, Bae, Jeongin, Bae, Joungeun, Cho, Hyunsoo, Cho, Seonghyun, Cho, Yongjin, Choi, Taekyoon, Choi, Yera, Chung, Jiwan, Han, Zhenghui, Heo, Byeongho, Hong, Euisuk, Hwang, Taebaek, Im, Seonyeol, Jegal, Sumin, Jeon, Sumin, Jeong, Yelim, Jeong, Yonghyun, Jiang, Can, Jiang, Juyong, Jin, Jiho, Jo, Ara, Jo, Younghyun, Jung, Hoyoun, Jung, Juyoung, Kang, Seunghyeong, Kim, Dae Hee, Kim, Ginam, Kim, Hangyeol, Kim, Heeseung, Kim, Hyojin, Kim, Hyojun, Kim, Hyun-Ah, Kim, Jeehye, Kim, Jin-Hwa, Kim, Jiseon, Kim, Jonghak, Kim, Jung Yoon, Kim, Rak Yeong, Kim, Seongjin, Kim, Seoyoon, Kim, Sewon, Kim, Sooyoung, Kim, Sukyoung, Kim, Taeyong, Ko, Naeun, Koo, Bonseung, Kwak, Heeyoung, Kwon, Haena, Kwon, Youngjin, Lee, Boram, Lee, Bruce W., Lee, Dagyeong, Lee, Erin, Lee, Euijin, Lee, Ha Gyeong, Lee, Hyojin, Lee, Hyunjeong, Lee, Jeeyoon, Lee, Jeonghyun, Lee, Jongheok, Lee, Joonhyung, Lee, Junhyuk, Lee, Mingu, Lee, Nayeon, Lee, Sangkyu, Lee, Se Young, Lee, Seulgi, Lee, Seung Jin, Lee, Suhyeon, Lee, Yeonjae, Lee, Yesol, Lee, Youngbeom, Lee, Yujin, Li, Shaodong, Liu, Tianyu, Moon, Seong-Eun, Moon, Taehong, Nihlenramstroem, Max-Lasse, Oh, Wonseok, Oh, Yuri, Park, Hongbeen, Park, Hyekyung, Park, Jaeho, Park, Nohil, Park, Sangjin, Ryu, Jiwon, Ryu, Miru, Ryu, Simo, Seo, Ahreum, Seo, Hee, Seo, Kangdeok, Shin, Jamin, Shin, Seungyoun, Sin, Heetae, Wang, Jiangping, Wang, Lei, Xiang, Ning, Xiao, Longxiang, Xu, Jing, Yi, Seonyeong, Yoo, Haanju, Yoo, Haneul, Yoo, Hwanhee, Yu, Liang, Yu, Youngjae, Yuan, Weijie, Zeng, Bo, Zhou, Qian, Cho, Kyunghyun, Ha, Jung-Woo, Park, Joonsuk, Hwang, Jihyun, Kwon, Hyoung Jo, Kwon, Soonyong, Lee, Jungyeon, Lee, Seungho, Lim, Seonghyeon, Noh, Hyunkyung, Choi, Seungho, Lee, Sang-Woo, Lim, Jung Hwa, and Sung, Nako

Subjects
Computer Science - Computation and Language, Computer Science - Artificial Intelligence
Abstract

We introduce HyperCLOVA X, a family of large language models (LLMs) tailored to the Korean language and culture, along with competitive capabilities in English, math, and coding. HyperCLOVA X was trained on a balanced mix of Korean, English, and code data, followed by instruction-tuning with high-quality human-annotated datasets while abiding by strict safety guidelines reflecting our commitment to responsible AI. The model is evaluated across various benchmarks, including comprehensive reasoning, knowledge, commonsense, factuality, coding, math, chatting, instruction-following, and harmlessness, in both Korean and English. HyperCLOVA X exhibits strong reasoning capabilities in Korean backed by a deep understanding of the language and cultural nuances. Further analysis of the inherent bilingual nature and its extension to multilingualism highlights the model's cross-lingual proficiency and strong generalization ability to untargeted languages, including machine translation between several language pairs and cross-lingual inference tasks. We believe that HyperCLOVA X can provide helpful guidance for regions or countries in developing their sovereign LLMs., Comment: 44 pages; updated authors list and fixed author names

Published
2024

13. Effect of coherent edge-localized mode on transition to high-performance hybrid scenarios in KSTAR

Author

Lee, Youngho, primary, Kim, SangKyeun, additional, Kim, Jaewook, additional, Kim, Boseong, additional, Park, Minseo, additional, Kwon, Jaemin, additional, Choi, Minjun J., additional, Hahn, Sang-Hee, additional, Lee, M W, additional, Yang, SeongMoo, additional, Hong, SeulChan, additional, Lee, Chan-Young, additional, Park, Sangjin, additional, Byun, Cheol-Sik, additional, Kim, Hyun-Seok, additional, Chung, Jinil, additional, and Na, Yong-Su, additional

Published
2023
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27. ISO 15926–based integration of process plant life-cycle information including maintenance activity.

Author

Kim, Byung Chul, Kim, Bongcheol, Park, Sangjin, Teijgeler, Hans, and Mun, Duhwan

Subjects
MAINTENANCE, SYSTEM integration, INTERNATIONAL organization, STANDARDIZATION, DATA integration, DATA modeling
Abstract

Many organizations in different locations with different cultures and languages participate in the construction and operation of process plants. The data generated by each stakeholder involved in the plant life-cycle are closely related to each other. Therefore, it is important to link and integrate the various data created by each stakeholder. In this study, a method of integrating plant life-cycle data, including the equipment maintenance history, was proposed based on the International Organization for Standardization 15926 standard. To this end, a data model for integrating plant life-cycle data, including maintenance, was developed using the International Organization for Standardization 15926 standard. The proposed method was validated by developing a prototype system and performing experiments converting and visualizing life-cycle data, including maintenance history in the International Organization for Standardization 15926 format, using sample data from a refinery plant. [ABSTRACT FROM AUTHOR]

Published
2020
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45. Failure mechanisms of LiNi0.5Mn1.5O4 electrode at elevated temperature

Author

Yoon, Taeho, Park, Sangjin, Mun, Junyoung, Ryu, Ji Heon, Choi, Wonchang, Kang, Yoon-Sok, Park, Jin-Hwan, and Oh, Seung M.

Subjects
*LITHIUM-ion batteries, *NICKEL electrodes, *EFFECT of temperature on metals, *MANGANESE oxides, *METAL microstructure, *ALUMINUM foil
Abstract

Abstract: Failure mechanisms involved in the high-voltage LiNi0.5Mn1.5O4 electrode are studied at an elevated temperature (60 °C). At ambient temperature (25 °C), this oxygen-deficient spinel-structured electrode shows a reasonable cycle performance, but a rapid capacity decay after 40 cycles at 60 °C. An increase of electrode polarization and formation of electrically isolated active material, both of which become prominent from the 40th cycle, suggest that the electrode failure is mainly caused by the breakdown of electrically conductive network that is made between the active material, carbon and current collector in the composite electrode. The post-mortem electron microscope study reveals a crack formation at the electrode layer/aluminum current collector interface as well as inside the composite electrode layer, which can account for the electrode polarization and electrical isolation. The failure can, however, be mitigated by increasing the load of conductive carbon or polymeric binder, and also by using an etched aluminum foil as the current collector. All these countermeasures seem to be beneficial to reinforce the electrically conductive network. [Copyright &y& Elsevier]

Published
2012
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46. Linkage of the locus for canine dewclaw to chromosome 16

Author

Park, Kiyun, Kang, Joohyun, Park, Sangjin, Ha, Jihong, and Park, Chankyu

Subjects
*CUSPIDS, *MICROSATELLITE repeats, *GENOMES, *CHROMOSOMES
Abstract

The canine species, including wolf and jackal, have four digits on the hind limb. It was thought that an extra first digit on the hind limb, named dewclaw, was a hereditary defect. For genetically related canine pedigrees with 73 members with dewclaws, we carried out a genome-wide scan for linkage with microsatellites. With an assumption of autosomal dominant mode of inheritance, significant linkages were detected for the markers on canine chromosome 16. The maximum two-point lod score of 20.76 was obtained for the REN85M08/REN85N14 markers at a recombination fraction of 0.00. For efficient analysis of linkage, a revised order of the chromosomal markers was established by assigning all the existing markers from the previous linkage and radiation hybrid maps. A chromosome-wide haplotype analysis revealed the location of the dewclaw locus within a few centimorgan intervals delimited by the UCMCF12 and CXX876 markers. Canine chromosome 16 is known to have syntenic relationships with human chromosomes 4q, 7q, and 8p. [Copyright &y& Elsevier]

Published
2004
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