• Journal of Broadcast Engineering
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• v.25 no.4
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• pp.487-496
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• 2020

For the purpose of next generation technology for robot perfomances, a RAoRA (Robot Actor on Robot Arm) structure was proposed using a robot arm joined with a humanoid robot actor. Mechanical analysis, machine design and fabrication were performed for motions combined with the robot arm and the humanoid robot actor. Kinematical analysis for 3D model, spline interpolation of positions, motion control algorithm and control devices were developed for movements of the robot actor. Preliminary visualization, simulation tools and integrated operation of consoles were constructed for the non-professionals to produce intuitive and safe contents. Air walk was applied to test the developed platform. The air walk is a natural walk close to a floor or slow ascension to the air. The RAoRA also executed a performance with 5 minute-running time. Finally, the proposed platform of robot performance presented intensive and live motions which was impossible in conventional robot performances.

• The Journal of Korea Robotics Society
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• v.4 no.4
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• pp.305-311
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• 2009

FastSLAM is a factored solution to SLAM problem using a Rao-Blackwellized particle filter. In this paper, we propose a practical FastSLAM implementation method using an infrared camera for indoor environments. The infrared camera is equipped on a Pioneer3 robot and looks upward direction to the ceiling which has infrared tags with the same height. The infrared tags are detected with theinfrared camera as measurements, and the Nearest Neighbor method is used to solve the unknown data association problem. The global map is successfully built and the robot pose is predicted in real time by the FastSLAM2.0 algorithm. The experiment result shows the accuracy and robustness of the proposed method in practical indoor environment.

• Journal of Communications and Networks
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• v.7 no.3
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• pp.284-293
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• 2005

A critical issue in applications involving networks of wireless sensors is their ability to synchronize, and mitigate the fading propagation channel effects. Especially when distributed 'slave' sensors (nodes) reach-back to communicate with the 'master' sensor (gateway), low power cooperative schemes are well motivated. Viewing each node as an antenna element in a multi-input multi-output (MIMO) multi-antenna system, we design pilot patterns to estimate the multiple carrier frequency offsets (CFO), and the multiple channels corresponding to each node-gateway link. Our novel pilot scheme consists of non-zero pilot symbols along with zeros, which separate nodes in a time division multiple access (TDMA) fashion, and lead to low complexity schemes because CFO and channel estimators per node are decoupled. The resulting training algorithm is not only suitable for wireless sensor networks, but also for synchronization and channel estimation of single- and multi-carrier MIMO systems. We investigate the performance of our estimators analytically, and with simulations.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.1
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• pp.413-435
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• 2018

Although the accuracy of handwritten character recognition based on deep networks has been shown to be superior to that of the traditional method, the use of an overly deep network significantly increases time consumption during parameter training. For this reason, this paper took the training time and recognition accuracy into consideration and proposed a novel handwritten character recognition algorithm with newly designed network structure, which is based on an extended nonlinear kernel residual network. This network is a non-extremely deep network, and its main design is as follows:(1) Design of an unsupervised apriori algorithm for intra-class clustering, making the subsequent network training more pertinent; (2) presentation of an intermediate convolution model with a pre-processed width level of 2;(3) presentation of a composite residual structure that designs a multi-level quick link; and (4) addition of a Dropout layer after the parameter optimization. The algorithm shows superior results on MNIST and SVHN dataset, which are two character benchmark recognition datasets, and achieves better recognition accuracy and higher recognition efficiency than other deep structures with the same number of layers.

• Journal of Navigation and Port Research
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• v.41 no.3
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• pp.87-92
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• 2017

To enhance the reliability and/or resilience of the PNT service included in the e-Navigation strategy of the IMO, the evaluation of the AIS-TWR method for the asynchronous R-mode for maritime service, which is available even in the absence of the GNSS, is described. For the AIS-TWR, which is capable of ranging through message exchange even without high precision synchronization, the operation scenario and the error factors according to the AIS system specifications are proposed and analyzed. Cramer-Rao Lower Bound is presented for the performance evaluation of the AIS-TWR algorithm. A simulation by AIS-TWR method of two AIS systems in a 3 km static environment shows estimation error of about 41m compared to the real value..

• Earthquakes and Structures
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• v.20 no.3
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• pp.353-364
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• 2021

Natural hazards like earthquakes, high winds, and tsunami are a threat all the time for multi-story structures. The environmental forces cannot be clogged but the structures can be prevented from these natural hazards by using protective systems. The structural control can be achieved by using protective systems like the passive, active, semi-active, and hybrid protective systems; but the semi-active protective system has gained importance because of its adaptability to the active systems and reliability of the passive systems. Therefore, a semi-active protective system for the earthquake forces has been adopted in this work. Magneto-Rheological (MR) damper is used in the structure as a semi-active protective system; which is connected to the current driver and proposed controller. The Proportional Integral Derivative (PID) controller and reliable PID controller are two proposed controllers, which will actuate the MR damper and the desired force is generated to mitigate the vibration of the structural response subjected to the earthquake. PID controller and reliable PID controller are designed and tuned using Ziegler-Nichols tuning technique along with the MR damper simulated in Simulink toolbox and MATLAB to obtain the reduced vibration in a three-story benchmark structure. The earthquake is considered to be uncertain; where the proposed control algorithm works well during the presence of earthquake; this paper considers robustness to provide satisfactory resilience against this uncertainty. In this work, two different earthquakes are considered like El-Centro and Northridge earthquakes for simulation with different controllers. In this paper performances of the structure with and without two controllers are compared and results are discussed.

• Journal of Nutrition and Health
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• v.56 no.3
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• pp.300-314
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• 2023

Purpose: This study sought to predict the reasons for skipping breakfast by adolescents aged 13-18 years using the 7^th Korea National Health and Nutrition Examination Survey (KNHANES). Methods: The participants included 1,024 adolescents. The data were analyzed using a complex-sample t-test, the Rao Scott χ²-test, and the classification and regression tree (CART) algorithm for decision tree analysis with SPSS v. 27.0. The participants were divided into two groups, one regularly eating breakfast and the other skipping it. Results: A total of 579 and 445 study participants were found to be breakfast consumers and breakfast skippers respectively. Breakfast consumers were significantly younger than those who skipped breakfast. In addition, breakfast consumers had a significantly higher frequency of eating dinner, had been taught about nutrition, and had a lower frequency of eating out. The breakfast skippers did so to lose weight. Children who skipped breakfast consumed less energy, carbohydrates, proteins, fats, fiber, cholesterol, vitamin C, vitamin A, calcium, vitamin B1, vitamin B2, phosphorus, sodium, iron, potassium, and niacin than those who consumed breakfast. The best predictor of skipping breakfast was identifying adolescents who sought to control their weight by not eating meals. Other participants who had low and middle-low household incomes, ate dinner 3-4 times a week, were more than 14.5 years old, and ate out once a day showed a higher frequency of skipping breakfast. Conclusion: Based on these results, nutrition education targeted at losing weight correctly and emphasizing the importance of breakfast, especially for adolescents, is required. Moreover, nutrition educators should consider designing and implementing specific action plans to encourage adolescents to improve their breakfast-eating practices by also eating dinner regularly and reducing eating out.

• The Journal of Korean Society for Radiation Therapy
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• v.28 no.2
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• pp.171-178
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• 2016

Purpose : In order to minimize the dose of femoral head as an appropriate treatment plan for rectal cancer radiation therapy, we compare and evaluate the usefulness of 3-field 3D conformal radiation therapy(below 3fCRT), which is a universal treatment method, and 5-field 3D conformal radiation therapy(below 5fCRT), and Volumetric Modulated Arc Therapy (VMAT). Materials and Methods : The 10 cases of rectal cancer that treated with 21EX were enrolled. Those cases were planned by Eclipse(Ver. 10.0.42, Varian, USA), PRO3(Progressive Resolution Optimizer 10.0.28) and AAA(Anisotropic Analytic Algorithm Ver. 10.0.28). 3fCRT and 5fCRT plan has $0^{\circ}$, $270^{\circ}$, $90^{\circ}$ and $0^{\circ}$, $95^{\circ}$, $45^{\circ}$, $315^{\circ}$, $265^{\circ}$ gantry angle, respectively. VMAT plan parameters consisted of 15MV coplanar $360^{\circ}$ 1 arac. Treatment prescription was employed delivering 54Gy to recum in 30 fractions. To minimize the dose difference that shows up randomly on optimizing, VMAT plans were optimized and calculated twice, and normalized to the target V100%=95%. The indexes of evaluation are D of Both femoral head and aceta fossa, total MU, H.I.(Homogeneity index) and C.I.(Conformity index) of the PTV. All VMAT plans were verified by gamma test with portal dosimetry using EPID. Results : D of Rt. femoral head was 53.08 Gy, 50.27 Gy, and 30.92 Gy, respectively, in the order of 3fCRT, 5fCRT, and VMAT treatment plan. Likewise, Lt. Femoral head showed average 53.68 Gy, 51.01 Gy and 29.23 Gy in the same order. D of Rt. aceta fossa was 54.86 Gy, 52.40 Gy, 30.37 Gy, respectively, in the order of 3fCRT, 5fCRT, and VMAT treatment plan. Likewise, Lt. Femoral head showed average 53.68 Gy, 51.01 Gy and 29.23 Gy in the same order. The maximum dose of both femoral head and aceta fossa was higher in the order of 3fCRT, 5fCRT, and VMAT treatment plan. C.I. showed the lowest VMAT treatment plan with an average of 1.64, 1.48, and 0.99 in the order of 3fCRT, 5fCRT, and VMAT treatment plan. There was no significant difference on H.I. of the PTV among three plans. Total MU showed that the VMAT treatment plan used 124.4MU and 299MU more than the 3fCRT and 5fCRT treatment plan, respectively. IMRT verification gamma test results for the VMAT plan passed over 90.0% at 2mm/2%. Conclusion : In rectal cancer treatment, the VMAT plan was shown to be advantageous in most of the evaluation indexes compared to the 3D plan, and the dose of the femoral head was greatly reduced. However, because of practical limitations there may be a case where it is difficult to select a VMAT treatment plan. 5fCRT has the advantage of reducing the dose of the femoral head as compared to the existing 3fCRT, without regard to additional problems. Therefore, not only would it extend survival time but the quality of life in general, if hospitals improved radiation therapy efficiency by selecting the treatment plan in accordance with the hospital's situation.