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A Comparative Study between Genetic Programming and Central Pattern Generator Based Gait Generation Methods for Quadruped Robots (4족 보행로봇의 걸음새에 대한 Genetic Programming 기법과 Central Pattern Generator 기반 생성기법의 비교 연구)

  • Hyun, Soo-Hwan;Cho, Young-Wan;Seo, Ki-Sung
    • Journal of the Korean Institute of Intelligent Systems
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    • v.19 no.6
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    • pp.749-754
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    • 2009
  • Two gait generation methods using GP(genetic programming) and CPG(Central Pattern Generator) are compared to develop a fast locomotion for quadruped robot. GP based technique is an effective way to generate few joint trajectories instead of the locus of paw positions and lots of stance parameters. The CPGs are neural circuits that generate oscillatory output from a input coming from the brain. Optimization for two proposed methods are executed and analysed using Webots simulation for the quadruped robot which is built by Bioloid. Furthermore, simulation results for two proposed methods are experimented in real quadruped robot and performances and motion features of GP and CPG based methods are investigated.

Reliability Analysis of Single and Continuous Span Composite Plate and Box Girder Designed by LRFD Method under Flexure (LRFD법으로 설계된 단경간 및 연속경간 강합성 플레이트 거더 및 박스 거더의 휨에 대한 신뢰도해석)

  • Shin, Dong Ku;Roh, Joon Sik;Cho, Eun Young
    • Journal of Korean Society of Steel Construction
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    • v.20 no.1
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    • pp.183-193
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    • 2008
  • The reliability analysis of simply-supported and continuous composite plate girder and box girder bridges under flexure was performed to provide a basic data for the development of LRFD c ode. The bridges were designed based on LRFD specification with newly proposed design live load which was developed by analyzing traffic statistics from highways and local roads. A performance function for flexural failure was expressed as a function of the flexural resistance of composite section and the design moments due to permanent load and live load. For the flexural resistance, the statistical parameters obtained by analyzing over 16,000 domestic structural steel samples were used. Several different values of bias factors for the live load moment from 1.0 to 1.2 were used. Due to the lack of available domestic measured data on the moment by permanent loads, the same statistical properties used in the calibration of ASHTO-LRFD were ap plied. The reliability indices for the composite girder bridges with various span lengths, different live load factors, and bias fact or for the live load were obtained by applying the Rackwitz-Fiessler technique.

Color Change and Resistance to Subterranean Termite Attack of Mangium (Acacia mangium) and Sengon (Falcataria moluccana) Smoked Wood

  • HADI, Yusuf Sudo;MASSIJAYA, Muh Yusram;ABDILLAH, Imam Busyra;PARI, Gustan;ARSYAD, Wa Ode Muliastuty
    • Journal of the Korean Wood Science and Technology
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    • v.48 no.1
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    • pp.1-11
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    • 2020
  • Indonesian log production is dominated by young trees harvested from plantation forests. The timber contains of sapwood and juvenile wood, which are not resistant to termite attack. Smoking treatment can enhance wood resistance to termite attack, but it also changes the color. Specimens of mangium (Acacia mangium) and sengon (Falcataria moluccana) wood were exposed for 1, 2, and 3 weeks to smoke produced from the pyrolysis of salam (Syzygium polyanthum) wood. The color change of the wood was measured using the CIELab method. In addition, wood specimens were exposed to subterranean termites (Coptotermes curvignathus Holmgren) under laboratory conditions. Untreated and imidacloprid-preserved wood samples were also prepared for comparison purposes. The results showed that the color of smoked wood differed from that of untreated wood, and the color change for sengon was greater than for mangium. In addition, the 1-week smoking period changed the wood color less than the 2- and 3-week periods, which did not differ. Imidacloprid-preserved wood had distinctive color changes compared to untreated wood. Untreated mangium wood had moderate resistance to subterranean termite attack (resistance class III), while sengon had very poor resistance (resistance class V). Salam wood smoke enhanced wood resistance to termite attack, and smoke treatment of 1 week for mangium and 2 weeks for sengon resulted in the wood becoming very resistant (resistance class I). Both types of smoked wood were more resistant to subterranean termite attack than imidacloprid-preserved wood (average class II resistance).

Intervention analysis for spread of COVID-19 in South Korea using SIR model (SIR 모형을 이용한 한국의 코로나19 확산에 대한 개입 효과 분석)

  • Cho, Sumin;Kim, Jaejik
    • The Korean Journal of Applied Statistics
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    • v.34 no.3
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    • pp.477-489
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    • 2021
  • COVID-19 has spread seriously around the world in 2020 and it is still significantly affecting our whole daily life. Currently, the whole world is still undergoing the pandemic and South Korea is no exception to it. During the pandemic, South Korea had several events that prevented or accelerated its spread. To establish the prevention policies for infectious diseases, it is very important to evaluate the intervention effect of such events. The susceptible-infected-removed (SIR) model is often used to describe the dynamic behavior of the spread of infectious diseases through ordinary differential equations. However, the SIR model is a deterministic model without considering the uncertainty of observed data. To consider the uncertainty in the SIR model, the Bayesian approach can be employed, and this approach allows us to evaluate the intervention effects by time-varying functions of the infection rate in the SIR model. In this study, we describe the time trend of the spread of COVID-19 in South Korea and investigate the intervention effects for the events using the stochastic SIR model based on the Bayesian approach.

Function and Meaning of Color Gray in Korean Films : Memory and Oblivion (한국영화에 표현된 회색의 기능과 의미 : 기억과 망각)

  • Kim, Jong-Guk
    • Journal of Information Technology Applications and Management
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    • v.28 no.3
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    • pp.77-87
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    • 2021
  • The color gray in the cinema expresses the private or public memory and oblivion in the reminiscence scenes. The aesthetic function and meaning of gray that interacts with other elements in cinematic time and space are expanded in various ways. This study was analyzed the cases in which gray was used as the main visual style by limiting the scope to Korean films. Based on the traditional cultural symbolic meaning of gray, I analyzed how it was applied and transformed in films, and interpreted the cultural-social meaning by the interaction between gray and other elements. In film history starting from monochrome, gray has been used as a visual device suitable for realizing cinematic or imaginary reality. Gray is adopted when dreams or recollections are visualized as imaginary reality, and it is used when dreamy imaginations of daydreaming are demonstrated. Gray, which reproduces the dreamlike reality of imagination, is the concrete and realistic way of expression. First, in Korean films, gray is a flashback visual device that recalls the past, and is an intermediary visual form that materializes the imaginary. In films such as Ode to My Father (2014), DongJu (2015), A Resistance(2019) and The Battle : Roar to Victory (2019), the gray of the past is a visual device for cultural memory that builds the homogeneity and identity of the group. In the era of hyper-visibility, gray in black and white images is intended to be clearly remembered by unfamiliarity rather than blurry oblivion by familiarity. Second, in genre films with disaster materials such as Train To Busan (2016) and Ashfall (2019), the grays of rain, fog, clouds, shadows and smoke highlight other elements, and the gray color causes anxiety and fear. In war films such as TaeGukGi: Brotherhood Of War (2003) and The Front Line (2011), gray shows a more intense brutality than the primary color. In sports films such as 4th Place (2015), Take Off (2009) and Forever The Moment (2007), gray expresses uncertainty and immaturity. Third, gray visualizes the historical memory of A Petal (1996), the oblivion in Oh! My Gran (2020) and Poetry (2010), and the reality of daydreaming Gagman (1988) and Dream (1990). At the boundary between imagination and reality, gray is a visual form of dreams, memories and forgetfulness.

Modeling of High-throughput Uranium Electrorefiner and Validation for Different Electrode Configuration (고효율 우라늄 전해정련장치 모델링 및 전극 구성에 대한 검증)

  • Kim, Young Min;Kim, Dae Young;Yoo, Bung Uk;Jang, Jun Hyuk;Lee, Sung Jai;Park, Sung Bin;Lee, Han soo;Lee, Jong Hyeon
    • Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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    • v.15 no.4
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    • pp.321-332
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    • 2017
  • In order to build a general model of a high-throughput uranium electrorefining process according to the electrode configuration, numerical analysis was conducted using the COMSOL Multiphysics V5.3 electrodeposition module with Ordinary Differential Equation (ODE) interfaces. The generated model was validated by comparing a current density-potential curve according to the distance between the anode and cathode and the electrode array, using a lab-scale (1kg U/day) multi-electrode electrorefiner made by the Korea Atomic Energy Research Institute (KAERI). The operating temperature was $500^{\circ}C$ and LiCl-KCl eutectic with 3.5wt% $UCl_3$ was used for molten salt. The efficiency of the uranium electrorefining apparatus was improved by lowering the cell potential as the distance between the electrodes decreased and the anode/cathode area ratio increased. This approach will be useful for constructing database for safety design of high throughput spent nuclear fuel electrorefiners.

Quality Evaluation for Usability of Internet Shopping Mall (인터넷 쇼핑몰 사용성에 대한 품질평가)

  • Lee, Myung-Sook;Lee, Keum-Suk
    • Journal of the Korea Society of Computer and Information
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    • v.12 no.6
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    • pp.59-68
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    • 2007
  • The purpose of this paper is to evaluate usability quality through investigating the factors of usability for internet shopping mall websites. For this study, previous studies were investigated and experts' discussions were held. In result, six characters of usability were chosen such as content satisfaction. customer attraction satisfaction, price information satisfaction, public security satisfaction, user interface satisfaction. and process of transaction satisfaction that affect usability of shopping mall websites and the evaluation models of 72 detailed measure factors were established. Since these 72 sub-factors inc)ode the key words of HTML, XML, JSP, and ASP from the target websites. 33 measurable sub-factors in the information were measured through usability evaluation experiment. In addition, a questionnaire about usability measure factors was executed after preferable websites and not preferable websites are selected. After that, we verified the reasonability of usability measure model factors comparing the results of the evaluation experiment with the result of the questionnaire. The time it takes to measure the usability of shopping mall websites can be reduced by using this measurement supporting tool. Also, this tool may be used to estimate the usability during the development of a shopping mall website.

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Protein tRNA Mimicry in Translation Termination

  • Nakamura, Yoshikazu
    • Proceedings of the Korean Society for Applied Microbiology Conference
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    • 2001.06a
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    • pp.83-89
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    • 2001
  • Recent advances in the structural and molecular biology uncovered that a set of translation factors resembles a tRNA shape and, in one case, even mimics a tRNA function for deciphering the genetic :ode. Nature must have evolved this 'art' of molecular mimicry between protein and ribonucleic acid using different protein architectures to fulfill the requirement of a ribosome 'machine'. Termination of protein synthesis takes place on the ribosomes as a response to a stop, rather than a sense, codon in the 'decoding' site (A site). Translation termination requires two classes of polypeptide release factors (RFs): a class-I factor, codon-specific RFs (RFI and RF2 in prokaryotes; eRFI in eukaryotes), and a class-IT factor, non-specific RFs (RF3 in prokaryotes; eRF3 in eukaryotes) that bind guanine nucleotides and stimulate class-I RF activity. The underlying mechanism for translation termination represents a long-standing coding problem of considerable interest since it entails protein-RNA recognition instead of the well-understood codon-anticodon pairing during the mRNA-tRNA interaction. Molecular mimicry between protein and nucleic acid is a novel concept in biology, proposed in 1995 from three crystallographic discoveries, one, on protein-RNA mimicry, and the other two, on protein-DNA mimicry. Nyborg, Clark and colleagues have first described this concept when they solved the crystal structure of elongation factor EF- Tu:GTP:aminoacyl-tRNA ternary complex and found its overall structural similarity with another elongation factor EF-G including the resemblance of part of EF-G to the anticodon stem of tRNA (Nissen et al. 1995). Protein mimicry of DNA has been shown in the crystal structure of the uracil-DNA glycosylase-uracil glycosylase inhibitor protein complex (Mol et al. 1995; Savva and Pear 1995) as well as in the NMR structure of transcription factor TBP-TA $F_{II}$ 230 complex (Liu et al. 1998). Consistent with this discovery, functional mimicry of a major autoantigenic epitope of the human insulin receptor by RNA has been suggested (Doudna et al. 1995) but its nature of mimic is. still largely unknown. The milestone of functional mimicry between protein and nucleic acid has been achieved by the discovery of 'peptide anticodon' that deciphers stop codons in mRNA (Ito et al. 2000). It is surprising that it took 4 decades since the discovery of the genetic code to figure out the basic mechanisms behind the deciphering of its 64 codons.

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The Movement of Boron Compound by Infusion Method and Combination of Injection and Bandage-Wrapping

  • DAMAYANTI, Ratih;SRIBUDIANI, Evi;SOMADONA, Sonia;Djarwanto, Djarwanto;TARMADI, Didi;AMIN, Yusup;YUSUF, Sulaeman;SATITI, Esti Rini;ARSYAD, Wa Ode Muliastuty;SULAEMAN, Rudianda;Syafrinal, Syafrinal;PRAMASARI, Dwi Ajias
    • Journal of the Korean Wood Science and Technology
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    • v.48 no.4
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    • pp.513-526
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    • 2020
  • The existing preservation methods are difficult to be applied to a large dimension log which is needed for making traditional wooden ship 'Jalur' in Riau Province. Novel techniques to provide the use of readily available species to replace traditional species alternative were investigated. These included infusion and a combination of injection and bandage-wrapping methods for preserving living trees of Balam (Macaranga conifera (Rchb.f. & Zoll.) Müll.Arg.) and Bintangor (Calophyllum soulattri Burm.f.). Water-based boron compounds were applied as wood preservatives. In total, 18 discs from the bottom, middle, and top of four trees and two controls were used. Trees undergoing treatment were also used to see how wood anatomical structure might affect the boron penetration. The overall aim was to identify the best method for use in Jalur manufacturing. The results showed that in infused Balam tree where the hose position for the preservative intake was deep (10-15 cm from the bark), no boron compound was observed in the outer sapwood. Combination of injection and bandage-wrapping method gave higher percentage of boron penetration at bottom and middle of Balam tree. However, infused Bintangor showed 100% boron penetration. The larger vessel diameter, the absence of tyloses, and the simple perforation plates in Bintangor wood were likely to have contributed to the higher penetration of boron. The combination of bandage-wrapping and infusion, or alternatively by infusing the living trees close to the bark, and at as low as position in the stem gives better protection when treatments are applied to living trees.

An Semiotic analysis on Spirited Away (애니메이션(센과 치히로의 행방불명)에 대한 기호학적분석)

  • Lee Yun-Hui
    • Broadcasting and Media Magazine
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    • v.10 no.1
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    • pp.99-112
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    • 2005
  • Christian Metz, the precursor of cine-semiology, considered cinema as a language in the sense that it is a set of messages grounded in a given matter of expression, and a signifying practice characterized by specific codifications. According to Metz, film forms a structured network produced by the interweaving of cinematic codes, within which cinematic subcodes represent specific usages of the particular code. For Metz, cinematic language is a totality of cinematic codes and subcodes, and history of the cinema is the trace of the competition, incorporations and exclusions of the subcodes. He also suggested a filmic text is not just a list of codes in effect, but a process of constant displacement and deformation of codes. Following Metz' textual analysis methodology, I investigated the formal configuration of Hayao Miyazaki‘s animation, Spirited Away. It is interesting to trace the interweaving of cinematic codes in Spirited Away, i.e. codes of lighting, color, movement, and auteurism, across the animation. I focused on the first scene at the bridge to Yubaba's bathhouse, analyzing each cinematic code and its subcode applied. The first bridge scene is carefully constructed to stand out the confrontation of Chihiro (with Haku) and the bathhouse. The bathhouse is not just a building, it represents the powerful witch, Yubaba, yet to appear on the scene, and functions as an antipode to Chihiro. In each shot, every subcode within the codes of framing, direction, angle, color, lighting and movement is used to maximize the contrast between the dominant bathhouse and the feeble 10-year-old girl. In Spirited Away, the subcodes within each cinematic ode are constantly competing and displacing each other to augment the antithesis between the characters and develop the narrative. As Metz's argument that film constitutes a quasi-linguistic practice as a pluricodic medium, Spirited Away communicates with the spectators with the combination and displacement of these cinematic codes and subcodes.