• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.8
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• pp.1250-1258
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• 1997

This paper reports on the development of a new foot for a quadrupedal jointed-leg type walking robot. The foot has 2 toes, one at the front and the other at the rear side, for stable landing on uneven ground by point contact. The toes can move up and down independantly, guided by double-wishbone shaped parallel links which enable the lower leg to rotate with respect to a remote center on the ground surface. The motion of each toe is damped by a hydropneumatic shock absorber integrated in the foot in order to absorb the dynamic landing shock. Furthermore, the new foot can reduce the maximum hip joint drive torque by shortening the moment arm length between the hip joint and the landing force vector on the ground. Intensive experiments were carried out in this study by using a one-leg walking model to investigate the soft landing performance of the foot which could be hardly offered by conventional robot feet such as a flat plate with a gimbal type ankle joint. And it was confirmed that the hip joint torque of the leg walking on the flat surface could be reduced remarkably by using the new foot.

• Journal of KIISE:Computer Systems and Theory
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• v.27 no.1
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• pp.34-43
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• 2000

Replicated data that is used for fault tolerant distributed system requires replica control protocol to maintain data consistency. The one of replica control protocols is quorum consensus method which accesses replicated data by getting majority approval. If site failure or communication link failure occurs and any one can't get quorum consensus, it degrades the availability of data managed by quorum consensus protocol. So it needs for ghost to replace the failed site. Because ghost is not full replica but process which has state information using meta data, it is important to simplify meta data. In order to maintain availability and simplify meta data, we propose a method to use cohort set as ghost's meta data. The proposed method makes it possible to organize meta data in 2N+logN bits and to have higher availability than quorum consensus only with cohort set and dynamic linear voting protocol. Using Markov model we calculate proposed method's availability to analyze availability and compare it with existing protocols.

• Health Policy and Management
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• v.20 no.1
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• pp.37-63
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• 2010

Public expenditures on long-term care are a matter of concern for Korea as in many other countries. The expenditure is expected to accelerate and to put pressure on public budgets, adding to that arising from insufficient retirement schemes and other forms of social spending. This study tried to foresee how much health care spending could increase in the future considering demographic and non-demographic factors as the drivers of expenditure. Previous projections of future long-term expenditure were mainly based on a given relation between spending and age structure. However, although demographic factors will surely put upward pressure on long-term care costs, other non-demographic factors, such as labor cost increase and availability of informal care, should be taken into account as well. Also, the possibility of dynamic link between health status and longevity gains needs to be considered. The model in this study is cell-base and consists of three main parts. The first part estimated the numbers of elderly people with different levels of health status by age group, gender, household type. The second part estimated the levels of long-term care services required, by attaching a probability of receiving long-term care services to each cell using from the sample from current year. The third part of the model estimated long-term care expenditure, along the demographic and non-demographic factors' change in various scenarios. Public spending on long-term care could rise from the current level of 0.2~0.3% of GDP to around 0.44~2.30% by 2040.

• Steel and Composite Structures
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• v.34 no.5
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• pp.625-641
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• 2020

The realistic modeling of the beam-column semi-rigid connection in steel frames attracted the attention of many researchers in the past for the seismic analysis of semi-rigid frames. Comparatively less studies have been made to investigate the behavior of steel frames with semi-rigid connections under different types of earthquake. Herein, the seismic behavior of semi-rigid steel frames is investigated under both far and near-field earthquakes. The semi-rigid connection is modeled by the multilinear plastic link element consisting of rotational springs. The kinematic hysteresis model is used to define the dynamic behavior of the rotational spring, describing the nonlinearity of the semi-rigid connection as defined in SAP2000. The nonlinear time history analysis (NTHA) is performed to obtain response time histories of the frame under scaled earthquakes at three PGA levels denoting the low, medium and high-level earthquakes. The other important parameters varied are the stiffness and strength parameters of the connections, defining the degree of semi-rigidity. For studying the behavior of the semi-rigid frame, a large number of seismic demand parameters are considered. The benchmark for comparison is taken as those of the corresponding rigid frame. Two different frames, namely, a five-story frame and a ten-story frame are considered as the numerical examples. It is shown that semi-rigid frames prove to be effective and beneficial in resisting the seismic forces for near-field earthquakes (PGA ≈ 0.2g), especially in reducing the base shear to a considerable extent for the moderate level of earthquake. Further, the semi-rigid frame with a relatively weaker beam and less connection stiffness may withstand a moderately strong earthquake without having much damage in the beams.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1995.04a
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• pp.869-879
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• 1995

The new field of learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this task. The simplest forms of learning control are based on the same concept as integral control, but operating in the domain of the repetitions of the task. In the previous paper, I had studied the use of such controllers in a decentralized system, such as a robot with the controller for each link acting independently. The basic result of the paper is to show that stability of the learning controllers for all subsystems when the coupling between subsystems is turned off, assures stability of the decentralized learning in the coupled system, provided that the sample time in the digital learning controller is sufficiently short. In this paper, we present two examples. The first illustrates the effect of coupling between subsystems in the system dynamics, and the second studies the application of decentralized learning control to robot problems. The latter example illustrates the application of decentralized learning control to nonlinear systems, and also studies the effect of the coupling between subsystems introduced in the input matrix by the discretization of the system equations. The conclusion is that for sufficiently small learning gain, and sufficiently small sample time, the simple learning control law based on integral control applied to each robot axis will produce zero tracking error in spite o the dynamic coupling in the robot equations. Of course, the results of this paper have much more general application than just to the robotics tracking problem. Convergence in decentralized systems is seen to depend only on the input and output matrices, provided the sample time is suffiently small.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.15 no.5
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• pp.113-118
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• 2015

Mobile wireless networks have received a lot of attention as a future wireless network due to its rapid deployment without communication infrastructure. In these networks communication path between two arbitrary nodes break down because some links in the path are beyond transmission range($r_0$) due to the mobility of the nodes. The set of total path break down time(${\bigcup}T_i$), which is the union of path break down time of every node pair, can be a good measure of the connectivity of the dynamic mobile wireless network. In this paper we show that the distribution of the total path break down time can be approximated as a exponential probability density function and confirms it through experimental data. Statistical knowledge of break down time enables quantitative prediction of delay, packet loss between two nodes, thus provides confidence in the simulation results of mobile wireless networks.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.1
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• pp.115-121
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• 2010

As internet becomes widespread, a lot of information is opened to public and users of Internet can access effectively information using web searching service. To construct web searching service, the web searching method for collecting of information is needed to obtain web page view. As a number of web page view increases, it is necessary to collect information of high quality information to be searched, therefore, a variety of web engine for searching mechanism is developed. Method of link extraction with javascript in dynamic web page and design of web searching robot are presented m this paper. To evaluate performance analyzes, we fixed one searching model with the proposed method. The searching time takes 2 minute 67 sec for 299 web pages and 12.33 sec for 10 searching model.

• Journal of the Korean Geographical Society
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• v.51 no.1
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• pp.41-56
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• 2016

This study investigates the employment and spatial mismatch as a significant acting factor of deepening urban poverty and analyses the placeness of regional labor market that the more efficient place-based labor market intervention needs to take into account. The change of unemployment rate as a regional labor market outcome in metropolitan cities is determined by the dynamic interaction between disequilibrium of labor supply and demand and employment mismatch according to various labor market conditions and its process is certainly differentiated across the metropolitan regional labor markets. In addition, it is analyzed that during the employment suburbanization the spatial mismatch puts differentiated impacts on different labor groups through human capital requirements and industry-selective job opportunities. As a result, because this whole process works with its unique process within individual regional labor markets, in order to link between urban poverty and employment mismatch and to promote problem-solving labor market intervention, we need to develop place-based policy based on the placeness of regional labor marekt.

• Journal of Communications and Networks
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• v.7 no.3
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• pp.325-336
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• 2005

Mobile ad hoc networks (MANET) are composed of moving wireless hosts which, within range of each other, form wireless networks. For communication to occur between hosts that are not within each other's range, routes involving intermediate nodes must be established; however, since the hosts may be in motion, a host that was part of a route may move away from its upstream and downstream partners, thus breaking the route. In this paper, we propose anticipated route maintenance (ARM) protocol with two extensions to route discovery based routing scheme: Extend the route when nodes on a link move apart from each other and they have common neighbor that can be 'inserted' in the path, and shrink route when a node discovers that one of its neighbor which is not the next hop is also on the same route several hops later on. By utilizing only local geographic information (now a part of some route finding algorithms), a host can anticipate its neighbor's departure and, if other hosts are available, choose a host to bridge the gap, keeping the path connected. We present a distributed algorithm that anticipates route failure and performs preventative route maintenance using location information to increase a route lifespan. The benefits are that this reduces the need to find new routes (which is very expensive) and prevents interruptions in service. As the density of nodes increases, the chance to successfully utilize our route maintenance approach increases, and so does the savings. We have compared the performance of two protocols, pure dynamic source routing (DSR) protocol and DSR with ARM. The simulation results show how ARM improves the functionality of DSR by preventing the links in the route from breaking. Packets delivery ratio could be increased using ARM and achieved approximately $\100%$ improvement. The simulations clarify also how ARM shows a noticeable improvement in dropped packets and links stability over DSR, even though there is more traffic and channel overhead in ARM.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.8
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• pp.3168-3186
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• 2020

Automatic topic essay generation (TEG) is a controllable text generation task that aims to generate informative, diverse, and topic-consistent essays based on multiple topics. To make the generated essays of high quality, a reasonable method should consider both diversity and topic-consistency. Another essential issue is the intrinsic link of the topics, which contributes to making the essays closely surround the semantics of provided topics. However, it remains challenging for TEG to fill the semantic gap between source topic words and target output, and a more powerful model is needed to capture the semantics of given topics. To this end, we propose a pretraining-based contextual self-attention (PC-SAN) model that is built upon the seq2seq framework. For the encoder of our model, we employ a dynamic weight sum of layers from BERT to fully utilize the semantics of topics, which is of great help to fill the gap and improve the quality of the generated essays. In the decoding phase, we also transform the target-side contextual history information into the query layers to alleviate the lack of context in typical self-attention networks (SANs). Experimental results on large-scale paragraph-level Chinese corpora verify that our model is capable of generating diverse, topic-consistent text and essentially makes improvements as compare to strong baselines. Furthermore, extensive analysis validates the effectiveness of contextual embeddings from BERT and contextual history information in SANs.