• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.4
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• pp.451-456
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• 2009

In this paper, a virtual force is generated and fed back to the operator to make the teleoperation more reliable, which reflects the relationship between a slave robot and an uncertain remote environment as a form of an impedance. In general, for the teleoperation, the teleoperated mobile robot takes pictures of the remote environment and sends the visual information back to the operator over the Internet. Because of the limitations of communication bandwidth and narrow view-angles of camera, it is not possible to watch certain regions, for examples, the shadow and curved areas. To overcome this problem, a virtual force is generated according to both the distance between the obstacle and the robot and the approaching velocity of the obstacle w.r.t the collision vector based on the ultrasonic sensor data. This virtual force is transferred back to the master (two degrees of freedom joystick) over the Internet to enable a human operator to estimate the position of obstacle at the remote site. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. It is demonstrated by experiments that this collision vector based haptic reflection improves the performance of teleoperated mobile robot significantly.

• Polymer(Korea)
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• v.25 no.2
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• pp.279-292
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• 2001

Two kinds of (hydroxypropyl)cellulose(HPCs) with different molar substitution (MS) and three types of derivatives based on the HPCs: (acetoxypropyl)celluloses, (ethoxypropyl)celluloses, and (cyanoethoxyprofyl)celluloses were synthesized, and their thermal and mesomorphic properties were investigated. All samples, which exhibit cholesteric reflection colours at room temperature, formed right-handed helicoidal structures whose optical pitches (λ$_{ms}$ ) increase with temperature. However, the isotropization ($T_{i}$) and glass temperatures, the magnitude of λ$_{m}$ of the mesophase at the same temperature, and the temperature dependence of λ$_{m}$ of the investigated derivatives highly depended on MS and the length and structure of the side chain introduced in HPC. The results were discussed in terms of the difference in the polarity and flexibility of the substituents and the distance between the main chains. For all derivatives, Am values approached infinity at temperatures above the $T_{i}$, of the mesophase, and no reversal in the sense of the pitch with temperature was detected.

• Korean Institute of Interior Design Journal
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• v.24 no.6
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• pp.229-239
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• 2015

The 21st century is a multiplication age and social and cultural phenomena have become diverse and peoples' desires and individuality have become important. Accordingly, the sensibility that reflects human taste is also required in the exhibition space. The exhibitions in this age induce the direct cognition of senses or take interactive forms that contact diverse media and react. The purpose of this research is to define the concept of haptic presentation method in which the audience perceive in the exhibition space by themselves and the visual elements spread into other senses and perceive complexly, and to present the directional nature. To conduct this research, first, this researcher recognized that haptic sensory experiential research by analyzing the roles and transition history of exhibition space is needed for the present age Second, based on philosophical theories, four haptic sensory expression characteristics (medium nature, experiential nature, attractiveness, sensitiveness) were derived by substituting Giles Deleuze's four haptic spatial characteristics (grasping short distance, dispersed gaze, cognition of bodily movement, formation of synesthesia through complex senses) and six formative factors of exhibition space (space, form, size, light, quality of materials, and color). And the effective exhibition presentation methods were analyzed through six cases of experiential exhibition spaces. Accordingly, what matters in the experiential exhibition space is to produce the four characteristics: medium nature, experientiality, attractiveness, and sensitiveness in equilibrium. It is necessary for the designers to reflect it appropriately in producing so that the audience can think and experience by themselves. Accordingly, in this thesis, it could be seen that to produce the haptic production characteristics in the experiential exhibition space in equilibrium is the important factor in the experiential exhibition space. In conclusion, experiences in the exhibition space should be approached with the transcendental haptic presentation method by which even the space of actually unexperienced cognition can be expanded and experienced through the metastasis and tension of various senses. Also, researches on such senses should be developed continuously, and this researcher expects that this will become a stimulant to present a new directivity.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.6
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• pp.1481-1487
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• 2014

Recently, with the popularization of smartphones, augmented reality has become even more familiar to the public as an application that can provide realistic images as a tool for location-based services. Therefore, as a location-based application for smartphones that is appropriate for the application of augmented reality technology, the study develops a golf information system. Golf is the sport for which we should exactly know the accurate shape or distance to the destinations or obstacles, so the sport is suitable for applying the augmented reality technology. Even though the sport of golf has constantly increasing population to play it with the popularization of it, presently released golf-related smartphone apps are established as 2D images or in GPS basis; thus, they lack a sense of realism unfortunately. Thereupon, this study develops a golf information system by modifying and complementing usefully Mixare, the open source for augmented reality, for the sport of golf into an augmented reality-based system that can provide various information according to the actual environment of the golf course and describes how to apply it actually to the golf course.

• Journal of the Korean earth science society
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• v.40 no.4
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• pp.353-381
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• 2019

The general world model for homogeneous and isotropic universe has been proposed. For this purpose, we introduce a global and fiducial system of reference (world reference frame) constructed on a (4+1)-dimensional space-time, and assume that the universe is spatially a 3-dimensional hypersurface embedded in the 4-dimensional space. The simultaneity for the entire universe has been specified by the global time coordinate. We define the line element as the separation between two neighboring events on the expanding universe that are distinct in space and time, as viewed in the world reference frame. The information that determines the kinematics of the geometry of the universe such as size and expansion rate has been included in the new metric. The Einstein's field equations with the new metric imply that closed, flat, and open universes are filled with positive, zero, and negative energy, respectively. The curvature of the universe is determined by the sign of mean energy density. We have demonstrated that the flat universe is empty and stationary, equivalent to the Minkowski space-time, and that the universe with positive energy density is always spatially closed and finite. In the closed universe, the proper time of a comoving observer does not elapse uniformly as judged in the world reference frame, in which both cosmic expansion and time-varying light speeds cannot exceed the limiting speed of the special relativity. We have also reconstructed cosmic evolution histories of the closed world models that are consistent with recent astronomical observations, and derived useful formulas such as energy-momentum relation of particles, redshift, total energy in the universe, cosmic distance and time scales, and so forth. The notable feature of the spatially closed universe is that the universe started from a non-singular point in the sense that physical quantities have finite values at the initial time as judged in the world reference frame. It has also been shown that the inflation with positive acceleration at the earliest epoch is improbable.

• The Journal of Engineering Geology
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• v.8 no.1
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• pp.13-23
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• 1998

An intensity of the 1997 Kyungju earthquake(M=4.3) was estimated at three hundred locations based on the field survey and questionaires from 2200 residents. The isoseismal shows almost circular pattern which doesnot reflect some specific geological trends. However,most of the Kyeongsang basin except the southwestern part is included within the area of MM intensity V. There occurred strong shaking, numerous cracks on the wall of the houses, and movement of slate on the roofs, falling of the tiles from the monument. The isoseismal of the highest MM intensity VII, 1-3 km in width and 9 km in length, is elongated along the Yangsan fault, which is located about 1.5 km west from epicenter. The lineaments near the epicenter exhibit almost N-S and NNE directions. The lineament distribution, the pattern of damage area and the solution of fault plane suggest that the Kyongju earthquake occurred with strike-slip sense along the Yangsan fault. The calculated intensity attenuation(I) with distance(R) is as follows : $I{\;}={\;}I_o{\;}+{\;}0.3461{\;}-{\;}0.3274{\;}{\times}{\;}1nR{\;}-{\;}0.086{\;}{\times}{\;}R$.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 1999.11a
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• pp.224-229
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• 1999

In the field of speech recognition, the research area can be classified into the following two categories: one which is concerned with the development of phoneme-level recognition system, the other with the efficiency of word-level recognition system. The resonable phoneme-level recognition system should detect the phonemic boundaries appropriately and have the improved recognition abilities all the more. The traditional LPC methods detect the phoneme boundaries using Itakura-Saito method which measures the distance between LPC of the standard phoneme data and that of the target speech frame. The MFCC methods which treat spectral transitions as the phonemic boundaries show the lack of adaptability. In this paper, we present new speech recognition system which uses auto-correlation method in the phonemic boundary detection process and the multi-layered Feed-Forward neural network in the recognition process respectively. The proposed system outperforms the traditional methods in the sense of adaptability and another advantage of the proposed system is that feature-extraction part is independent of the recognition process. The results show that frame-unit phonemic recognition system should be possibly implemented.

• Journal of Biomedical Engineering Research
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• v.40 no.5
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• pp.143-150
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• 2019

To evaluate the toxicity of ophthalmic drug, the Draize test and Bovine Corneal Opacity and Permeability (BCOP) test commonly used. In Draize test, experimental animals were under stress and pain due to long-term exposure of drug. In addition, regarding physiological functions, animal model is not perfectly reflected a human eye condition. Although some models such as $EpiOcular^{TM}$, HCE model, LabCyte Cornea-Model, and MCTT $HCE^{TM}$ were already presented advanced cornea ex-vivo model to replace animal test. In this sense, cornea tissue structure mimicked ex-vivo toxicity model was fabricated in this study. The corneal epithelial cells (CECs) and keratocytes (CKs) isolated from rabbit eyeball were seeded on non-patterned silk film (n-pSF) and patterned silk film (pSF) at $32,500cells/cm^2$ and $6,500cells/cm^2$. Sequentially, n-pSF and pSF were stacked to mimic a multi-layered stroma structure. The thickness of films was about $15.63{\mu}m$ and the distance of patterns was about $3{\mu}m$. H&E stain was performed to confirm the cell proliferation on silk film. F-actin of CKs was also stained with Phalloidin to observe the cytoskeletal alignment along with patterns of the pSF. In the results, CECs and CKs were shown the good cell attachment on the n-pSF and pSFs. Proliferated cells expressed the specific phenotype of cornea epithelium and stroma. In conclusion, we successfully established the ex-vivo cornea toxicity model to replace the eye irritation tests. In further study, we will set up the human ex-vivo cornea toxicity model and then will evaluate the drug screening efficacy.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.26 no.11
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• pp.1653-1659
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• 2022

Virtual reality content provides users with a high sense of immersion by using HMD devices. However, while wearing the HMD device, it is difficult to determine the user's location or distance from obstacles, resulting in injuries due to physical collisions. In this paper, we propose a reminder module to prevent accidents by notifying the risk of collision with obstacles while wearing the HMD device. The proposed module receives the user's state from the acceleration and gyro sensor and determines the motion that is likely to cause a collision. If there is an obstacle in the expected collision range, a buzzer sounds to the wearer. As a result of the experiment, the accuracy of obstacle detection in the state of wearing the HMD was 86.6% in the 1st stage and 83.3% in the 2nd stage, confirming the performance of the accident prevention reminder.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.46 no.3
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• pp.143-151
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• 2009

In this paper, a new extraction algorithm for artificial structure in 3D cloud points of terrestrial LIDAR is described, considering that various obstacles in terrestrial LIDAR make it difficult to apply conventional algorithms which are designed for air-born LIDAR data. Firstly we use the R, G, B color information from the terrestrial LIDAR data to discriminate among the massive 3D cloud points. Hough transform is then applied to estimate the straight lines that correspond to the target structure. Finally, the structure is extracted by comparing the distance between the estimated line and 3D cloud points. The proposed algorithm is efficient in the sense that it requires the user interaction only when the reference colors are obtained. Computer simulation shows the performance to be quite satisfactory.