• Korean Journal of Cognitive Science
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• v.6 no.2
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• pp.47-79
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• 1995

Since the early age of computer graphics, facial animation has been applied to various fields, and nowadays it has found several novel applications such as virtual reality(for representing virtual agents), teleconference, and man-machine interface.When we want to apply facial animation to the system with multiple participants connected via network, it is hard to animate facial expression as we desire in real-time because of the size of information to maintain an efficient communication.This paper's major contribution is to adapt 'Level-of-Detail'to the facial animation in order to solve the above problem.Level-of-Detail has been studied in the field of computer graphics to reperesent the appearance of complicated objects in efficient and adaptive way, but until now no attempt has mode in the field of facial animation. In this paper, we present a systematic scheme which enables this kind of adaptive control using Level-of-Detail.The implemented system can generate speech synchronized facial expressions with various types of user input such as text, voice, GUI, head motion, etc.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.2
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• pp.220-226
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• 2014

This paper proposes an enhanced fast scanning method for multi-agent robot system. Passive RFID tag can read and store the information within the range of recognizable RF tag reader. Based on this information of Passive RFID tag, the position of mobile robot can be estimated and at the same time, the efficiency of scanning process can be improved because it provides a scanning trace for other mobile robots. This paper proposes an dfficient motion planning algorithm for mobile robots in a smart floor environment.

• Progress in Medical Physics
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• v.30 no.4
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• pp.104-111
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• 2019

Purpose: Online magnetic resonance-guided adaptive radiotherapy (MRgART), an emerging technique, is used to address the change in anatomical structures, such as treatment target region, during the treatment period. However, the electron density map used for dose calculation differs from that for daily treatment, owing to the variation in organ location and, notably, air pockets. In this study, we evaluate the dosimetric effect of electron density override on air pockets during online ART for pancreatic cancer cases. Methods: Five pancreatic cancer patients, who were treated with MRgART at the Seoul National University Hospital, were enrolled in the study. Intensity modulated radiation therapy plans were generated for each patient with 60Co beams on a ViewrayTM system, with a 45 Gy prescription dose for stereotactic body radiation therapy. During the treatment, the electron density map was modified based on the daily MR image. We recalculated the dose distribution on the plan, and the dosimetric parameters were obtained from the dose volume histograms of the planning target volume (PTV) and organs at risk. Results: The average dose difference in the PTV was 0.86Gy, and the observed difference at the maximum dose was up to 2.07 Gy. The variation in air pockets during treatment resulted in an under- or overdose in the PTV. Conclusions: We recommend the re-contouring of the air pockets to deliver an accurate radiation dose to the target in MRgART, even though it is a time-consuming method.

• Physical Therapy Korea
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• v.20 no.3
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• pp.45-53
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• 2013

The purpose of this study was to examine the differentiation of proprioception, invertor and evertor muscle strength, and time to peak torque at a velocity of $300^{\circ}/sec$ of the ankle joint in people with or without functional ankle instability (FAI). Nineteen subjects with a history of ankle sprain participated. All subjects were divided into FAI group ($n_1=9$, Cumberland ankle instability tool (CAIT)${\leq}24$) and a control group ($n_2=10$) based on their CAIT scores. Isokinetic dynamometer was used to measure the sense of active joint position of the ankle at mid-range and end-range of an inversion motion and invertor as well as the evertor muscle strength and time to peak torque at $300^{\circ}/s$. The FAI group showed a statistically reduction in invertor and evertor muscle strength and time to peak torque when compared to the control group (p<.05). Muscle strength and time to peak torque of the invertor and evertor, as well as the sense of active joint position at end-range were also lower in the FAI group than in the control (p<.05). Correlations between CAIT score and position sense at end-range (r=-.577) and invertor muscle strength (r=.554) were statistically significant (p<.05). Individuals with FAI showed reduction in invertor and evertor muscle strength and recruitment time as well as in proprioception of the ankle joint. Thus, proprioception and invertor and evertor muscle strength of the ankle joint at fast angular velocity may be investigated when examining and planning care for individuals with FAI.

• Ocean Systems Engineering
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• v.6 no.4
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• pp.377-400
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• 2016

Dropped objects are among the top ten causes of fatalities and serious injuries in the oil and gas industry (DORIS, 2016). Objects may accidentally fall down from platforms or vessels during lifting or any other offshore operation. Proper planning of lifting operations requires the knowledge of the risk-free zone on the sea bed to protect underwater structures and equipment. To this end a three-dimensional (3D) theory of dynamic motion of dropped cylindrical object is expanded to also consider ocean currents. The expanded theory is integrated into the authors' Dropped Objects Simulator (DROBS). DROBS is utilized to simulate the trajectories of dropped cylinders falling through uniform currents originating from different directions (incoming angle at $0^{\circ}$, $90^{\circ}$, $180^{\circ}$, and $270^{\circ}$). It is found that trajectories and landing points of dropped cylinders are greatly influenced by the direction of current. The initial conditions after the cylinders have fallen into the water are treated as random variables. It is assumed that the corresponding parameters orientation angle, translational velocity, and rotational velocity follow normal distributions. The paper presents results of DROBS simulations for the case of a dropped cylinder with initial drop angle at $60^{\circ}$ through air-water columns without current. Then the Monte Carlo simulations are used for predicting the landing point distributions of dropped cylinders with varying drop angles under current. The resulting landing point distribution plots may be used to identify risk free zones for offshore lifting operations.

• Proceedings of the Korean Vacuum Society Conference
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• 2014.02a
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• pp.489.2-489.2
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• 2014

The planar type flexible piezoelectric energy harvesters (PEH) based on PbZr0.52Ti0.48O3 (PZT) thin films on the flexible substrates are demonstrated to convert mechanical energy to electrical energy. The planar type energy harvesters have been realized, which have an electrode pair on the PZT thin films. The PZT thin films were deposited on double side polished sapphire substrates using conventional RF-magnetron sputtering. The PZT thin films on the sapphire substrates were transferred by PDMS stamp with laser lift-off (LLO) process. KrF excimer laser (wavelength: 248nm) were used for the LLO process. The PDMS stamp was attached to the top of the PZT thin films and the excimer laser induced onto back side of the sapphire substrate to detach the thin films. The detached thin films on the PDMS stamp transferred to adhesive layer coated on the flexible polyimide substrate. Structural properties of the PZT thin films were characterized using X-ray diffraction (XRD) and scanning electron microscopy (SEM). To measure piezoelectric power generation characteristics, Au/Cr inter digital electrode (IDE) was formed on the PZT thin films using the e-beam evaporation. The ferroelectric and piezoelectric properties were measured by a ferroelectric test system (Precision Premier-II) and piezoelectric force microscopy (PFM), respectively. The output signals of the flexible PEHs were evaluated by electrometer (6517A, Keithley). In the result, the transferred PZT thin films showed the ferroelectric and piezoelectric characteristics without electrical degradation and the fabricated flexible PEHs generated an AC-type output power electrical energy during periodically bending and releasing motion. We expect that the flexible PEHs based on laser transferred PZT thin film is able to be applied on self-powered electronic devices in wireless sensor networks technologies. Also, it has a lot of potential for high performance flexible piezoelectric energy harvester.

• Archives of design research
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• v.19 no.4 s.66
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• pp.81-90
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• 2006

Robot design serves as the crucial link between a human and a robot, the cutting edge technology. The importance of the robot design certainly will be more emphasized when the consumer robot market matures. For coexistence of a human and a robot, human friendly interface design and robot design with consideration of human interaction need to be developed. This research extracts series of functions in need which are consisted of series of case studies for planning and designing of 'A Shopping Support Robot'. The plan for the robot is carried out according to HRI aspects of Design and the designing process fellows. Definite results are derived by the application of series of HRI aspects such as gestures, expressions and sound. In order to verify the effectiveness of application of HRI aspects, this research suggests unified interaction that is consisted of motion-capture, animation, brain waves and sound between a human and a robot.

• Journal of the Korean Society of Hazard Mitigation
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• v.8 no.3
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• pp.95-103
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• 2008

Knowledge of expected losses in terms of physical, economic, and social damages due to a potential earthquake will be helpful in the effort to mitigate seismic hazards. In this study, losses due to a magnitude 6.7 scenario earthquake in the Gyeongju area have been estimated using the deterministic method in HAZUS. The attenuation relation proposed by Sadigh et al.(1997) for site classes B, C, and D, which are assumed to represent the characteristics of the strong-motion attenuation in the Korean Peninsula, has been applied. Losses due to the hypothetical earthquake have been also calculated using other attenuation relationships to examine their roles in the loss estimation. The findings indicate differences among the estimates based on various attenuation relationships. Estimated losses of the Gyeongju area by a scenario earthquake using HAZUS should be seriously considered in the planning of disaster response and hazard mitigation.

• Journal of Biomedical Engineering Research
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• v.10 no.2
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• pp.117-124
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• 1989

The intelligent trajectory control method that controls moving direction and average velocity for a prosthetic arm is proposed by pattern recognition and force estimations using EMG signals. Also, we propose the real time trajectory planning method which generates continuous accelleration paths using 3 stage linear filters to minimize the impact to human body induced by arm motions and to reduce the muscle fatigue. We use combination of MLP and fuzzy filter for pattern recognition to estimate the direction of a muscle and Hogan`s method for the force estimation. EMG signals are acquired by using a amputation simulator and 2 dimensional joystick motion. The simulation results of proposed prosthetic arm control system using the EMf signals show that the arm is effectively followed the desired trajectory depended on estimated force and direction of muscle movements.

• Journal of Information Processing Systems
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• v.15 no.6
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• pp.1472-1488
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• 2019

Critical elements in the China's Lunar Exploration reside in that the lunar rover travels over the surrounding undetermined environment and it conducts scientific exploration under the ground control via teleoperation system. Such an interplanetary transportation mission teleoperation system belongs to the ground application system in deep space mission, which performs terrain reconstruction, visual positioning, path planning, and rover motion control by receiving telemetry data. It plays a vital role in the whole lunar exploration operation and its so-called trustworthy evidence must be assessed before and during its implementation. Taking ISO standards and China's national military standards as trustworthy evidence source, the net assessment model and net assessment method of teleoperation system are established in this paper. The multi-dimensional net assessment model covering the life cycle of software is defined by extracting the trustworthy evidences from trustworthy evidence source. The qualitative decisions are converted to quantitative weights through the net assessment method (NAM) combined with fuzzy analytic hierarchy process (FAHP) and entropy weight method (EWM) to determine the weight of the evidence elements in the net assessment model. The paper employs the teleoperation system for interplanetary transportation as a case study. The experimental result drawn shows the validity and rationality of net assessment model and method. In the final part of this paper, the untrustworthy elements of the teleoperation system are discovered and an improvement scheme is established upon the "net result". The work completed in this paper has been applied in the development of the teleoperation system of China's Chang'e-3 (CE-3) "Jade Rabbit-1" and Chang'e-4 (CE-4) "Jade Rabbit-2" rover successfully. Besides, it will be implemented in China's Chang'e-5 (CE-5) mission in 2019. What's more, it will be promoted in the Mars exploration mission in 2020. Therefore it is valuable to the development process improvement of aerospace information system.