arXiv subjects

Jae-Won Jung

Publications and source records attributed to Jae-Won Jung.

6 recordsLinked to original sources

arXiv2024

LiCS: Navigation using Learned-imitation on Cluttered Space

In this letter, we propose a robust and fast navigation system in a narrow indoor environment for UGV (Unmanned Ground Vehicle) using 2D LiDAR and odometry. We used behavior cloning with Transformer neural network to learn the optimization-based baseline algorithm. We inject Gaussian noise during expert demonstration to increase the robustness of learned policy. We evaluate the performance of LiCS using both simulation and hardware experiments. It outperforms all other baselines in terms of navigation performance and can maintain its robust performance even on highly cluttered environments. During the hardware experiments, LiCS can maintain safe navigation at maximum speed of $1.5\ m/s$.

cs.RO↗

arXiv2024

Joint probability densities of an active particle coupled to two heat reservoirs

We derive a Fokker-Planck equation for joint probability density for an active particle coupled two heat reservoirs with harmonic, viscous, random forces. The approximate solution for the joint distribution density of all-to-all and three others topologies is solved, which apply an exponential correlated Gaussian force in three-time regions of correlation time. Mean squared displacement, velocity behaviors in the form of super-diffusion, while the mean squared displacement, velocity has the Gaussian form, normal diffusion. Concomitantly, the Kurtosis, correlation coefficient, and moment from moment equation are approximately and numerically calculated. In this paper, we derive an altered Fokker-Planck equation for an active particle with the harmonic, viscous, and random forces, coupled to two heat reservoirs. We attain the solution for the joint distribution density of our topology, including the center topology, the ring topology, and the chain topology, subject to an exponential correlated Gaussian force. The mean squared displacement and the mean squared velocity behavior as the super-diffusions in the short-time domain and for the characteristic time=0, while those have the Gaussian forms in the long-time domain and for the characteristic time=0. We concomitantly calculate and analyze the non-equilibrium characteristics of the kurtosis, the correlation coefficient, and the moment from the derived moment equation.

cond-mat.stat-mech↗

arXiv2024

Joint probability density with radial, tangential, and perturbative forces

We study the Fokker-Planck equation for an active particle with both the radial and tangential forces and the perturbative force. We find the solution of the joint probability density. In the limit of the long-time domain and for the characteristic time=0 domain, the mean squared radial velocity for an active particle leads to a super-diffusive distribution, while the mean squared tangential velocity with both the radial and tangential forces and the perturbative force behaviors as the Gaussian diffusion. Compared with the self-propelled particle, the mean squared tangential velocity is matched with the same value to the time ~t^2, while the mean squared radial velocity is the same as the time ~t.

cond-mat.stat-mech↗

arXiv2024

On the motion of passive and active particles with harmonic and viscous forces

In this paper, we solve the joint probability density for the passive and active particles with harmonic, viscous, and perturbative forces. After deriving the Fokker-Planck equation for a passive and a run-and-tumble particles, we approximately get and analyze the solution for the joint distribution density subject to an exponential correlated Gaussian force in three kinds of time limit domains. Mean squared displacement (velocity) for a particle with harmonic and viscous forces behaviors in the form of super-diffusion, consistent with a particle having viscous and perturbative forces. A passive particle with both harmonic, viscous forces and viscous, perturbative forces has the Gaussian form with mean squared velocity ~t. Particularly, In our case of a run-and-tumble particle, the mean squared displacement scales as super-diffusion, while the mean squared velocity has a normal diffusive form.In addition, the kurtosis, the correlation coefficient, and the moment from moment equation are numerically calculated.

cond-mat.stat-mech↗

arXiv2024

Joint probability density of a passive article with force and magnetic field

We firstly study the Navier-Stokes equation for the motion of a passive particle with harmonic, viscous, perturbative forces, subject to an exponentially correlated Gaussian force. Secondly, from the Fokker-Planck equation in an incompressible conducting fluid of magnetic field, we approximately obtain the solution of the joint probability density by using double Fourier transforms in three-time domains. In addition, the kurtosis, the correlation coefficient, and the moment from moment equation are numerically calculated.

cond-mat.stat-mech↗

arXiv2021

Dynamical prediction of two meteorological factors using the deep neural network and the long short-term memory $(2)$

This paper presents the predictive accuracy using two-variate meteorological factors, average temperature and average humidity, in neural network algorithms. We analyze result in five learning architectures such as the traditional artificial neural network, deep neural network, and extreme learning machine, long short-term memory, and long-short-term memory with peephole connections, after manipulating the computer-simulation. Our neural network modes are trained on the daily time-series dataset during seven years (from 2014 to 2020). From the trained results for 2500, 5000, and 7500 epochs, we obtain the predicted accuracies of the meteorological factors produced from outputs in ten metropolitan cities (Seoul, Daejeon, Daegu, Busan, Incheon, Gwangju, Pohang, Mokpo, Tongyeong, and Jeonju). The error statistics is found from the result of outputs, and we compare these values to each other after the manipulation of five neural networks. As using the long-short-term memory model in testing 1 (the average temperature predicted from the input layer with six input nodes), Tonyeong has the lowest root mean squared error (RMSE) value of 0.866 $(%)$ in summer from the computer-simulation in order to predict the temperature. To predict the humidity, the RMSE is shown the lowest value of 5.732 $(%)$, when using the long short-term memory model in summer in Mokpo in testing 2 (the average humidity predicted from the input layer with six input nodes). Particularly, the long short-term memory model is is found to be more accurate in forecasting daily levels than other neural network models in temperature and humidity forecastings. Our result may provide a computer-simuation basis for the necessity of exploring and develping a novel neural network evaluation method in the future.

cs.LG↗