• Journal of Institute of Control, Robotics and Systems
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• v.21 no.9
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• pp.849-857
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• 2015

Although human-sized bipedal humanoid robots have been developed as the ideal form of human-friendly robots, studies of humanoid robots from the user perspective and of actual interaction between humanoid robots and the public in daily environments are few. This paper presents a long-term public demonstration that encouraged interaction between a humanoid robot and unspecified individuals. We have collected a significant amount of subjective evaluation data from the public by performing a storytelling demonstration that enhanced people's empathy towards the robot. The evaluation model consists of the robot's human friendliness, which involves its impression on humans, interaction with humans, and imitation of human motions and the robot's human appearance which involves gender, age, height, and body type. This study shows that there is no significant difference in human-friendliness between gender groups (male and female), while there is a significant difference between age groups (children and adults). In human appearance, it appears that there is no significant difference between either gender groups or age groups, except for the case of the robot's height.

• KIPS Transactions on Software and Data Engineering
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• v.10 no.5
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• pp.179-186
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• 2021

Manipulation of complex objects with an anthropomorphic robot hand like a human hand is a challenge in the human-centric environment. In order to train the anthropomorphic robot hand which has a high degree of freedom (DoF), human demonstration augmented deep reinforcement learning policy optimization methods have been proposed. In this work, we first demonstrate augmentation of human demonstration in deep reinforcement learning (DRL) is effective for object manipulation by comparing the performance of the augmentation-free Natural Policy Gradient (NPG) and Demonstration Augmented NPG (DA-NPG). Then three DRL policy optimization methods, namely NPG, Trust Region Policy Optimization (TRPO), and Proximal Policy Optimization (PPO), have been evaluated with DA (i.e., DA-NPG, DA-TRPO, and DA-PPO) and without DA by manipulating six objects such as apple, banana, bottle, light bulb, camera, and hammer. The results show that DA-NPG achieved the average success rate of 99.33% whereas NPG only achieved 60%. In addition, DA-NPG succeeded grasping all six objects while DA-TRPO and DA-PPO failed to grasp some objects and showed unstable performances.

• Journal of the Korean Society of Marine Environment & Safety
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• v.21 no.5
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• pp.524-530
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• 2015

In this study, I present solutions to properly regulate assembly and demonstration at sea which has not been relatively secured and regulated compared to that of on land and inland waters so it may not violate public safety and order, and at the same time to secure it as a basic human right. Firstly, to protect and regulate in the same way with assembly and demonstration on land, I suggest to make amendments to "Law on Assembly and Demonstration" so that Korea Coast Guard Station can accept applications and administrator maritime assembly and demonstration. Secondly, in special cases where there are difficulties in the application of "Law on Assembly and Demonstration" due to the special maritime environment, following the example of Japan, America and England who have regulations in related special laws, I suggest an legislative alternative to add regulations on maritime assembly and demonstration in "Law on Maritime Guard" so that we can administer maritime assembly and demonstration in a way which there should be no conflict between basic human right of people and conservation of public safety.

• The Korean Nurse
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• v.4 no.4 s.18
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• pp.37-59
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• 1965

Since the demonstration of Mycoba Abstract terium lepare murium and its recognition as the causative agent of rat leprosy, this intracellular parasite has been an object of unusual interest in connection with the problem of human leprosy. Like the human l

• Korean Security Journal
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• no.51
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• pp.293-313
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• 2017

The purpose of this study is to analyze the changes of regional clusters of national 16 areas on the assembly & demonstration in 2010 and 2015. The results of this study were as follows by using hierarchical cluster analysis. First, the regional clusters on the assembly & demonstration in 2010 were divided into three clusters in the first step: (1) Gwangju, Chungnam, Incheon, Chungbuk, Gyeongbuk, Daegu, Gangwon, Jeju, Daejeon, (2) Jeonnam, Gyeongnam, Busan, Jeonbuk, Ulsan, Gyeonggi, (3) Seoul. Second, the regional clusters on the assembly & demonstration in 2015 were divided into three clusters in the first step: (1) Ulsan, Gangwon, Chungbuk, Chungnam, Incheon, Gyeongbuk, Jeonnam, Gwangju, Jeju, Daegu, Daejeon, (2) Busan, Jeonbuk, Gyeongnam, (3) Seoul, Gyunggi. Third, The regional clusters on the assembly & demonstration were Busan, Jeonbuk, Gyeongnam of 'assembly & demonstration management area(labor related)', and Seoul, Gyeonggi of 'assembly & demonstration frequency areas' in 2015. This suggests that policing policies related to assembly & demonstration can be established and implemented flexibly in consideration of the degree of increase and decrease in assembly & demonstration by districts. Furthermore, it will be helpful to manage assembly & demonstration based on the 'police for human rights'.

• The Journal of the Society of Korean Medicine Diagnostics
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• v.9 no.2
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• pp.83-93
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• 2005

It is well known that Treatise on Exogenous Febrile Disease is one of the oldest and most authoritative books in Oriental Medicine, suggesting the concept of Exogenous Febrile and Six channels as a theoretical basis of clinical experience and prescription. But, since Thang Thongjing had written the book, the numberous medical practitioners and theorists asserted their various and different views on the concept of Exogenous Febrile and its Six channels. 3UM-3YANG of Treatise on Exogenous Febrile Disease is basically the thing of specialization UM-YANG, eventually UM-YANG are two functional characteristics in human body. It is specialized to 3UM-3YANG by spatial and time criteria Therefore, it is important to apprehend the concept correctly that was written on Treatise on Exogenous Febrile Disease. I'd like to look into a bodily state by answering the question that is easy to access and based on Six Channels.

• Proceedings of the Korea Information Processing Society Conference
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• 2019.05a
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• pp.485-486
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• 2019

Simulated driving behavior is an important aspect of realistic simulation systems. To simulate natural driving behavior, this paper proposes an imitation learning method based on active learning that combines demonstration and experience. Driving demonstrations are collected from human drivers in a driving simulator. A driving behavior policy is learned from these demonstrations. The driving demonstration dataset is augmented with new demonstrations that the original demonstrations did not contain, in the form of behaviors from another driving behavior policy learned from experience. The final driving behavior policy is learned from an augmented demonstration dataset.

• Journal of Information Processing Systems
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• v.8 no.3
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• pp.409-420
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• 2012

The decision-making by agents in games is commonly based on reinforcement learning. To improve the quality of agents, it is necessary to solve the problems of the time and state space that are required for learning. Such problems can be solved by Macro-Actions, which are defined and executed by a sequence of primitive actions. In this line of research, the learning time is reduced by cutting down the number of policy decisions by agents. Macro-Actions were originally defined as combinations of the same primitive actions. Based on studies that showed the generation of Macro-Actions by learning, Macro-Actions are now thought to consist of diverse kinds of primitive actions. However an enormous amount of learning time and state space are required to generate Macro-Actions. To resolve these issues, we can apply insights from studies on the learning of tasks through Programming by Demonstration (PbD) to generate Macro-Actions that reduce the learning time and state space. In this paper, we propose a method to define and execute Macro-Actions. Macro-Actions are learned from a human subject via PbD and a policy is learned by reinforcement learning. In an experiment, the proposed method was applied to a car simulation to verify the scalability of the proposed method. Data was collected from the driving control of a human subject, and then the Macro-Actions that are required for running a car were generated. Furthermore, the policy that is necessary for driving on a track was learned. The acquisition of Macro-Actions by PbD reduced the driving time by about 16% compared to the case in which Macro-Actions were directly defined by a human subject. In addition, the learning time was also reduced by a faster convergence of the optimum policies.

• Journal of Chest Surgery
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• v.25 no.11
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• pp.1240-1244
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• 1992

Human sparganosis caused by Sparganum mansoni, the larval plerocercoid worm of the genus Spirometra, is not uncommon in Korea and is mostly found in subcutaneous or adipose tissue of the abdominal, thoracic wall and inguinal region, but is rarely found in the orbital cavity, brain and breast. It, at present, is a surgical disease because its diagnosis depends almost on the demonstration of the larva[e] from lesion or finding the worm section in surgical pathology specimens. We experienced a case of human sparganosis from a 48 years old woman who had a history of eating a raw frog. We report the case and review the related literatures.

• The Journal of the Korean dental association
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• v.10 no.9
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• pp.585-586
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• 1972

The demonstration of glycoprotein in developing mandibular bone was observed histochemically, using Clara method and Von Kossa method. The glycoprotein reaction showed slight activity in New bilding bone matrix.