• International Journal of Control, Automation, and Systems
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• v.6 no.4
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• pp.551-558
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• 2008

This paper deals with the real-time stable walking for a humanoid robot, ISHURO-II, on uneven terrain. A humanoid robot necessitates achieving posture stabilization since it has basic problems such as structural instability. In this paper, a stabilization algorithm is proposed using the ground reaction forces, which are measured using FSR (Force Sensing Resistor) sensors during walking, and the ground conditions are estimated from these data. From this information the robot selects the proper motion pattern and overcomes ground irregularities effectively. In order to generate the proper reaction under the various ground situations, a fuzzy algorithm is applied in finding the proper angle of the joint. The performance of the proposed algorithm is verified by simulation and walking experiments on a 24-DOFs humanoid robot, ISHURO-II.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 1997.10a
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• pp.126-131
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• 1997

Recently, the ground motion occurred by vehicles or trains has been recognized one of the major factors of damage of structures nearly the motion source. To isolate the environments from ground motions, it is necessary to understand the wave propagation in half spaces. Especially, Rayleigh wave is the primary concern because it transmits a major portion of the total source energy and decays the energy more slowly with response to distance than the other waves. In this study, the preliminary data(wave length and damping effect) to design the isolating system are obtained. For this, a field dynamic test is performed, using the exciter which can generate the 100kN vertical cyclic load in the range of 1-60 Hz is used. The fifteen accelerometers to measure the ground response are set up in 3 radial direction at intervals of 10 meters in each row. The wave lengths are calculated using the distance and the phase between the measuring points. The damping effects of the Rayleigh-wave are also observed from the experiments.

• Wind and Structures
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• v.15 no.2
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• pp.177-188
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• 2012

The meteorological events that cause most strong winds in Brazil are extra-tropical cyclones, downbursts and tornadoes. However, one hurricane formed off the coastline of southern Brazil in 2005, a tropical storm formed in 2010 and there are predictions that others may form again. Events such as those described in the paper and which have occurred before 1987, generate data for the wind map presented in the Brazilian wind loading code NBR-6123. This wind map presents the reference wind speeds based on 3-second gust wind speed at 10 m height in open terrain, with 50-year return period, varying from 30 m/s (north half of country) to 50 m/s (extreme south). There is not a separation of the type of climatological event which generated each registered velocity. Therefore, a thunderstorm (TS), an extra-tropical pressure system (EPS) or even a tropical cyclone (TC) are treated the same and its resulting velocities absorbed without differentiation. Since the flow fields generated by each type of meteorological event may be distinct, the indiscriminate combination of the highest wind velocities with aerodynamic coefficients from boundary layer wind tunnels may lead to erroneous loading in buildings.

• International Journal of Naval Architecture and Ocean Engineering
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• v.3 no.4
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• pp.225-232
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• 2011

In the present study, a new hull panel generation algorithm, namely panel cutting method, was developed to predict flow phenomena around a ship using the Rankine source potential based panel method, where the iterative method was used to satisfy the nonlinear free surface condition and the trim and sinkage of the ship was taken into account. Numerical computations were performed to investigate the validity of the proposed hull panel generation algorithm for Series 60 ($C_B$=0.60) hull and KRISO container ship (KCS), a container ship designed by Maritime and Ocean Engineering Research Institute (MOERI). The computational results were validated by comparing with the existing experimental data.

• East Asian mathematical journal
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• v.26 no.4
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• pp.463-485
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• 2010

The purpose of this paper is to investigate if the instruction using GSP to 4th graders for them to explore 'rectangles and making them' have an influence of understanding and retention of the knowledge, generation of the knowledge which is not dealt with during experimental treatment, and if they can reason based on what they have learned about it and about what has not been learned. According to the result from the data gained, learners in the experiment group show that they can retain, generate, reason better than ones in the comparison group.

• Korean Journal of Computational Design and Engineering
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• v.12 no.4
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• pp.245-254
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• 2007

This research proposed feature extraction algorithms as an input of STEP Ap214 data, and feature parameterization process to simplify further design change and maintenance. The procedure starts with suppression of blend faces of an input solid model to generate its simplified model, where both constant and variable-radius blends are considered. Most existing cell decomposition algorithms utilize concave edges, and they usually require complex procedures and computing time in recomposing the cells. The proposed algorithm using reference features, however, was found to be more efficient through testing with a few sample cases. In addition, the algorithm is able to recognize depression features, which is another strong point compared to the existing cell decomposition approaches. The proposed algorithm was implemented on a commercial CAD system and tested with selected industrial product models, along with parameterization of recognized features for further design change.

• Management & Information Systems Review
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• v.3
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• pp.353-398
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• 1999

In the more than one decade, studies of organizational citizenship behavior(OCB) have increased continuously, research on the role of job satisfaction and organizational commitment upon the relationships between OCB and Job characteristics, however, is very scarce. This study analyzed comprehensively existing studies of OCB, designed a model of mediating role of behavioral performance(job satisfaction, organizational commitment), and generated three hypotheses inherent in the model. To design the model and generate the hypotheses, this study conducted a comprehensive literature survey on OCB. To test the hypotheses, this study collected data from 847 employees at 12 large general hospitals in Pusan area through a questionnaire survey and conducted the three step mediated regression analysis using the SAS-PC Package. Conclusively, job characteristics tend to be the most influential antecedents affecting not only through mediating factors but also directing to OCB. These and other major findings from this study imply that existing American studies may be applicable the Korean organizations and that this study may complement the deficiencies of the existing studies.

• Journal of the military operations research society of Korea
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• v.14 no.1
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• pp.42-52
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• 1988

Many programmers start debugging by reading the faulty program from start to bottom without investigating carefully the erroneous program. Expert programmers, however, trace backward from a particular variable in a specific statement to identify all possible sources of influence on the value of variable (program slice). Weiser proposed a slicing algorithm (method) that is complex, iterative and still in modification [3,4]. This paper presents a method to generate a program slice by use of matrix computation which represents all possible slices of the program. The matrix representation of a program is soundly based on the graph theory of data dependency.

• 한국IT서비스학회:학술대회논문집
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• 2009.05a
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• pp.87-90
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• 2009

A u-city is a vision of a city with computers and sensors built in to its infrastructure, and data sharing among the various information systems. A u-City provides several u-City services to the u-City clients. The u-City services for local governments contain two types of functions: common function and specified function. It is needed a study on generation of specified service models of local governments. The proposed service model divides functions of the city into two service areas: common support service and specified support service. And we suggest the way to generate the u-services of each local government in this paper.

• Atmosphere
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• v.20 no.2
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• pp.211-219
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• 2010

The interannual variability of the tropical Indian Ocean SST is investigated by analyzing the ocean assimilation data. It is significant that since 1970, ENSO events frequently followed the Indian Ocean Dipole event. The SST tendency due to the dynamical SST advections over the tropical Indian Ocean sufficiently overwhelms that due to other thermodynamic process during the fall and winter of ENSO. Especially, the strong cooling due to the anomalous vertical advection by the mean upwelling and the warming due to the horizontal advection are attributed to the cold SST during the fall and the warm SST during the winter, respectively. The significant warming between winter and spring over the southwestern Indian Ocean turns out to be due to the vertical advection of the mean subsurface temperature by the anomalous upwelling during the winter and the vertical advection of the anomalous subsurface temperature by the mean upwelling from winter to spring. We speculate that when the Indian Ocean Dipole events concurred with the ENSO, the surface wind is so strong enough as to generate the change in the SST dynamically and overwhelm the SST changes associated with other effects.