• Journal of the Korea Computer Graphics Society
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• v.1 no.2
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• pp.201-212
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• 1995

This paper presents a new method of dynamics-based synthesis of bipedal, especially human, walking. The motion of the body at a time point is determined by ground reaction force and torque under the support foot and joint torques of the body at that time point. Motion synthesis involves specifying conditions that constrain ground reaction force and torque, and joint torques so that a given desired motion may be achieved. There are conditions on a desired motion which end-users can think of easily, e.g. the goal position and orientation of the swing foot for a single step and the time period of a single step. In this paper, we specify constraints on the motion of the support foot, which end-users would find difficult to specify. They are constraints which enforce non-sliding, non-falling, and non-spinning the support foot. They are specified in terms of joint torques and ground reaction force and torque. To satisfy them, both joint torques and ground reaction force and torque should be determined appropriately. The constraints on the support foot themselves do not give any good clues as to how to determine ground reaction force and torque. For that purpose, we specify desired trajectories of the application point of vertical ground reaction force (ground pressure) and the application point of horizontal ground reaction (friction) force. The application points of vertical pressure and friction force are good control variables, because they are indicators to kinds of walking motions to synthesize. The synthesis of a bipedal walking motion, then, consists of finding a trajectory of joint torques to achieve a given desired motion, so that the constraints are satisfied under the condition of the prescribed center of pressure and center of friction. Our approach is distinguished from many other approaches, e.g. the inverted-pendulum approach, in that it captures and formulates dynamics of the support foot and reasonable constraints on it.

• Smart Structures and Systems
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• v.22 no.5
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• pp.561-574
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• 2018

In this paper, for efficiently reducing the computational cost of the model updating during the optimization process of damage detection, the structural response is evaluated using properly trained surrogate model. Furthermore, in practice uncertainties in the FE model parameters and modelling errors are inevitable. Hence, an efficient approach based on Monte Carlo simulation is proposed to take into account the effect of uncertainties in developing a surrogate model. The probability of damage existence (PDE) is calculated based on the probability density function of the existence of undamaged and damaged states. The current work builds a framework for Probability Based Damage Detection (PBDD) of structures based on the best combination of metaheuristic optimization algorithm and surrogate models. To reach this goal, three popular metamodeling techniques including Cascade Feed Forward Neural Network (CFNN), Least Square Support Vector Machines (LS-SVMs) and Kriging are constructed, trained and tested in order to inspect features and faults of each algorithm. Furthermore, three wellknown optimization algorithms including Ideal Gas Molecular Movement (IGMM), Particle Swarm Optimization (PSO) and Bat Algorithm (BA) are utilized and the comparative results are presented accordingly. Furthermore, efficient schemes are implemented on these algorithms to improve their performance in handling problems with a large number of variables. By considering various indices for measuring the accuracy and computational time of PBDD process, the results indicate that combination of LS-SVM surrogate model by IGMM optimization algorithm have better performance in predicting the of damage compared with other methods.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.12
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• pp.8210-8221
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• 2015

The goal of this study is to examine the effects of a leader's behavioral integrity on subordinates' intention to leave with the mediating roles of their cognitive and affective trust in their leader. After collecting data from 357 employees in a variety of organizations, we tested hypotheses with structural equation modeling(SEM). This study shows that there are statistically significant relationships among a leader's behavioral integrity, subordinates' cognitive/affective trust and intention to leave. A leader's behavioral integrity with the fully mediating roles of subordinates' cognitive and affective trust affects on their intention to leave negatively. Limitations in this study and suggestions for the future study are discussed.

• Proceedings of the Korea Society of Information Technology Applications Conference
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• 2005.11a
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• pp.229-232
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• 2005

In this paper, an image-based "approach-align -grasp" visual servo control design is proposed for the problem of object grasping, which is based on the binocular stand-alone system. The basic idea consists of considering a vision system as a specific sensor dedicated a task and included in a control servo loop, and we perform automatic grasping follows the classical approach of splitting the task into preparation and execution stages. During the execution stage, once the image-based control modeling is established, the control task can be performed automatically. The proposed visual servoing control scheme ensures the convergence of the image-features to desired trajectories by using the Jacobian matrix, which is proved by the Lyapunov stability theory. And we also stress the importance of projective invariant object/gripper alignment. The alignment between two solids in 3-D projective space can be represented with view-invariant, more precisely; it can be easily mapped into an image set-point without any knowledge about the camera parameters. The main feature of this method is that the accuracy associated with the task to be performed is not affected by discrepancies between the Euclidean setups at preparation and at task execution stages. Then according to the projective alignment, the set point can be computed. The robot gripper will move to the desired position with the image-based control law. In this paper we adopt a constant Jacobian online. Such method describe herein integrate vision system, robotics and automatic control to achieve its goal, it overcomes disadvantages of discrepancies between the different Euclidean setups and proposes control law in binocular-stand vision case. The experimental simulation shows that such image-based approach is effective in performing the precise alignment between the robot end-effector and the object.

• Journal of Internet Computing and Services
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• v.6 no.3
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• pp.107-119
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• 2005

The Mobile IP has evolved from providing mobility support for portable computers to support wireless handheld devices with high mobility patterns. The Mobile IP secures mobility, but does not guarantee security, In this paper, the Mobile IP has been adapted to allow AM protocol that supports authentication, authorization and accounting for authentication and collection of accounting information of network usage by mobile nodes, For this goal, we propose a new security handoff mechanism to intensify the Mobile IP security and to achieve fast handoff. In the proposed mechanism, we provide enough handoff achievement time to maintain the security of mobile nodes, According to the analysis of modeling result, the proposed mechanism composed the basic Mobile IP along with AM protocol is up to about $60\%$ better in terms of normalized surcharge for the handoff failure rate that considers handoff time.

• The KIPS Transactions:PartD
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• v.11D no.1
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• pp.115-122
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• 2004

Software system modeling has a goal for finding and solving system's problems by describing and analyzing system model in formal notations. Petri nets, as graphical formalism, have been used in describing and analyzing the software systems such as parallel systems, real-time system, and protocols. In the analysis of Petri nets, general system properties such as deadlock and liveness are analyzed by the reachability analysis. On the other side, specific properties such as functional requirements and constraints are checked by model-checking. However, since these analysis methods are based on enumeration of ail possible states, there nay be state explosion problem, which means that system states exponentially increase as the size of system is larger. In this paper, we propose a new method for mechanically checking system properties with avoiding state explosion problem. At first, system properties are described in property nets then the system model and the property net are composed and analyzed. In the compositional analysis, system parts irrelevant to the specific property are reduced to minimize the analysis domain of the system. And it is possible to mechanically check whether a specific property is satisfied or not.

• The KIPS Transactions:PartC
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• v.12C no.4 s.100
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• pp.481-488
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• 2005

The Mobile W provides an efficient and scalable mechanism for host mobility within the Internet. However, the mobility implies higher security risks than static operations in fixed networks. In this paper, the Mobile IP has been adapted to allow AAA protocol that supports authentication, authorization, and accounting(AAA) for security and collection for accounting information of network usage by mobile nodes(MNs). For this goal, we Propose the boundary tone overlapped network structure while solidifying the security for the authentication of an MN. That is, the Proposed scheme delivers the session keys at the wired link for MN's security instead of the wireless one, so that it provides a fast and seamless handoff mechanism. According to the analysis of modeling result, the proposed mechanism compared to the existing session key reuse method is up to about $40\%$ better in terms of normalized surcharge for the handoff failure rate that considers handoff total time.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.8
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• pp.619-624
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• 2013

To predict the probabilistic service life, statistical factors should be included to consider the uncertainty of parameters. Generally the probabilistic analysis is one of the common methods to account the uncertainty of parameters on the structural failure. In order to apply probabilistic analysis on the deterministic life analysis, it would be necessary to introduce Probability of Failure(PoF) and conduct risk assessment. In this work, we have studied probabilistic risk assessment of aircraft structures by using PoF approach. To achieve this goal, the Bayesian method was utilized to model PoF estimation since this method is known as the proper method to express the uncertainty of parameters. A series of proof tests were also conducted in order to verify the result of PoF estimation. The results from this efforts showed that the PoF estimation model can calculate quantitatively the value of PoF. Furthermore effectiveness of risk assessment approach for the aircraft structures was also demonstrated.

• Journal of the korean society of oceanography
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• v.39 no.1
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• pp.46-56
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• 2004

Spectral attenuation of light and upwelling radiance were measured in the western coast of Korea on board the R/V Inchon 888 of the Korean National Fisheries Research and Development Institute(NFRDI) during four seasons. The goal of these efforts was to determine the spatial and temporal distribution of the inherent and apparent optical properties of the water, and the factors that control their distribution. Our data indicate that while stratification of the water column, phytoplankton, and wind stress determined the vertical distribution of the optical parameters offshore, it was the tidal current and sediment type that controlled both the vertical and horizontal distribution in the coastal areas. These findings led to the development of a model that estimates the spectral attenuation of light with respect to depth and time for the Yellow Sea. The model integrates water leaving radiance from satellites, sediment types, current vectors, sigma-t, bathymetry, and in situ optical measurements in a learning algorithm capable of extracting optical properties with only knowledge of the environmental conditions of the Yellow Sea. The performance of the model decreases with increase in depth. The mean absolute percentage error (MAPE) of the model is 2% for the upper five meters, 8-10% between 6 and 50 meters, and 15% below 51 meters.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.11
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• pp.6922-6931
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• 2014

The development of modern science and technology and computer engineering breakthroughs in the field of information and communication have brought about many changes in lifestyle. The government announced the goal of educational policy in 2030 to educate people in future society on a future-oriented perspective. Changes in the curriculum along with changes in educational facilities are essential. Therefore, the operation of a classroom should be associated with classroom spatial information. The BIM design based on 3D geometry information was designed. The BIM design can link the design information and non-geometric information of spatial information. This study examined the operation of school facilities based on classroom spatial information with BIM. This study suggests standardization of classroom spatial information based on BIM. The scenarios of BIM ordering and design for departmentalized classrooms management is proposed.