• Title/Summary/Keyword: Trajectory Following

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Calibration of Car-Following Models Using a Dual Genetic Algorithm with Central Composite Design (중심합성계획법 기반 이중유전자알고리즘을 활용한 차량추종모형 정산방법론 개발)

  • Bae, Bumjoon;Lim, Hyeonsup;So, Jaehyun (Jason)
    • The Journal of The Korea Institute of Intelligent Transport Systems
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    • v.18 no.2
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    • pp.29-43
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    • 2019
  • The calibration of microscopic traffic simulation models has received much attention in the simulation field. Although no standard has been established for it, a genetic algorithm (GA) has been widely employed in recent literature because of its high efficiency to find solutions in such optimization problems. However, the performance still falls short in simulation analyses to support fast decision making. This paper proposes a new calibration procedure using a dual GA and central composite design (CCD) in order to improve the efficiency. The calibration exercise goes through three major sequential steps: (1) experimental design using CCD for a quadratic response surface model (RSM) estimation, (2) 1st GA procedure using the RSM with CCD to find a near-optimal initial population for a next step, and (3) 2nd GA procedure to find a final solution. The proposed method was applied in calibrating the Gipps car-following model with respect to maximizing the likelihood of a spacing distribution between a lead and following vehicle. In order to evaluate the performance of the proposed method, a conventional calibration approach using a single GA was compared under both simulated and real vehicle trajectory data. It was found that the proposed approach enhances the optimization speed by starting to search from an initial population that is closer to the optimum than that of the other approach. This result implies the proposed approach has benefits for a large-scale traffic network simulation analysis. This method can be extended to other optimization tasks using GA in transportation studies.

Early Failure of Cortical-Bone Screw Fixation in the Lumbar Spinal Stenosis (요추부 협착에서의 피질골 궤도 나사못 고정의 초기 실패 사례에 대한 고찰)

  • Kwon, Ji-Won;Kim, Jin-Gyu;Ha, Joong-Won;Moon, Seong-Hwan;Lee, Hwan-Mo;Park, Yung
    • Journal of the Korean Orthopaedic Association
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    • v.55 no.5
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    • pp.405-410
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    • 2020
  • Purpose: Pedicle screw insertion has been traditionally used as a surgical treatment for degenerative lumbar spine disease. As an alternative, the cortical-bone trajectory screw allows less invasive posterior lumbar fixation and excellent mechanical stability, as reported in several biomechanical studies. This study evaluated the clinical and radiological results of a case of early failure of cortical-bone screw fixation in posterior fixation and union after posterior decompression. Materials and Methods: This study examined 311 patients who underwent surgical treatment from 2013 to 2018 using cortical orbital screws as an alternative to traditional pedicle screw fixation for degenerative spinal stenosis and anterior spine dislocation of the lumbar spine. Early fixation failure after surgery was defined as fixation failure, such as loosening, pull-out, and breakage of the screw on computed tomography (CT) and radiographs at a follow-up of six months. Results: Early fixation failure occurred in 46 out of 311 cases (14.8%), screw loosening in 46 cases (14.8%), pull-out in 12 cases (3.9%), and breakage in four cases (1.3%). An analysis of the site where the fixation failure occurred revealed the following, L1 in seven cases (15.2%), L2 in three cases (6.5%), L3 in four cases (8.7%), L4 in four cases (8.7%), L5 in four cases (8.7%), and S1 in 24 cases (52.2%). Among the distal cortical bone screws, fixation failures such as loosening, pull-out, and breakage occurred mainly in the S1 screws. Conclusion: Cortical-bone trajectory screw fixation may be an alternative with comparable clinical outcomes or fewer complications compared to conventional pedicle screw fixation. On the other hand, in case with osteoporosis and no anterior support structure particularly at L5-S1 fusion sites were observed to have result of premature fixation failures such as relaxation, pull-out, and breakage.

Observation and Analysis of Movement Characteristics of Drifting Ships (표류선박 거동특성 관측 및 분석)

  • Lee Moonjin;Kang Chang-gu;Yun Jong-hwui
    • Journal of the Korean Society for Marine Environment & Energy
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    • v.8 no.1
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    • pp.17-22
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    • 2005
  • The movement of drifting ships on the sea is closely related to marine environmental forces such as waves, currents, winds, etc. To develop a prediction model for trajectories oi drifting ships, an experiment on the movement of drifting ships was carried out in the Southeastern Sea of Korea. Five types of ships including a lire raft and tour ships with G/T 10tons, G/T 2o tons, G/T 50 tons, and G/T 80 tons, were considered in the experiment. The G/T 50 ton class ship was used as a base ship for obtaining the currents, winds and heading angles of ship following the trajectory. The trajectory of each ship was measured by DGPS(Differential Global Positioning System) and collected using APRS(Automatic Position Reporting System) installed on the base ship. The error range in position fix of DGPS are approximately ±1 m. The drift speed of ship in the experiment was between 3% to 5% of wind speed and drift direction of ship was deflected by ±90° from wind direction. Also, the heading of drifting ship was normal to wind direction.

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The Technique of Human tracking using ultrasonic sensor for Human Tracking of Cooperation robot based Mobile Platform (모바일 플랫폼 기반 협동로봇의 사용자 추종을 위한 초음파 센서 활용 기법)

  • Yum, Seung-Ho;Eom, Su-Hong;Lee, Eung-Hyuk
    • Journal of IKEEE
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    • v.24 no.2
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    • pp.638-648
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    • 2020
  • Currently, the method of user-follwoing in intelligent cooperative robots usually based in vision system and using Lidar is common and have excellent performance. But in the closed space of Corona 19, which spread worldwide in 2020, robots for cooperation with medical staff were insignificant. This is because Medical staff are all wearing protective clothing to prevent virus infection, which is not easy to apply with existing research techniques. Therefore, in order to solve these problems in this paper, the ultrasonic sensor is separated from the transmitting and receiving parts, and based on this, this paper propose that estimating the user's position and can actively follow and cooperate with people. However, the ultrasonic sensors were partially applied by improving the Median filter in order to reduce the error caused by the short circuit in communication between hard reflection and the number of light reflections, and the operation technology was improved by applying the curvature trajectory for smooth operation in a small area. Median filter reduced the error of degree and distance by 70%, vehicle running stability was verified through the training course such as 'S' and '8' in the result.

A Biomechanical Analysis of Four Different Taekwondo Body Punch Types in Horseback-Riding Stance (태권도 주춤 서 몸통지르기 유형별 생체역학적 변인 비교 분석)

  • Kang, Sung-Chul;Kim, Eui-Hwan;Shin, Hyun-Moo;Kim, Sung-Sup;Kim, Tae-Whan
    • Korean Journal of Applied Biomechanics
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    • v.17 no.4
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    • pp.201-208
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    • 2007
  • The purpose of this study is to compare 4 different body punch types(type 1: a punch using a shoulder, type 2: a punch using a waist, type 3: a punch using lower extremities, and type 4: a punch with elbows by your side at chest level) in horseback-riding stance and establish suitable teaching theory and method, which would be a useful reference to Taekwondo instructors on the spot(in Taekwondo dojangs all around Korea). Five exhibition players from Korean national Taekwondo exhibition team participated in this study. Each participant was asked to perform the four different types of punches and their kinematic and kinetic data were recorded with 7 vicon cameras(125Hz) and two force plates(AMTI, 1200Hz). We analyzed displacement, time, resultant center of body mass trajectory, velocity, trunk angular velocity, and ground reaction force(GRF) from each body segment in body punch and the result. I performed 1-way ANOVA(RM) for average values of each player after standardization and statistical significance was set as p<.05. was as the following ; First, they showed a tendency to take the body punch posture with the biggest motion at a shoulder and on descending order a waist and a knee. Second, a mean time for each body punch on ascending order 0.46sec. for type 2, 0.49sec for type 3, 0.50sec. for type 4, and 0.56sec. for type 1. Third, a mean resultant center of body mass trajectory for each body punch the longest 4.07cm for type 3 and the shortest 2.458cm for type 1. Fourth, a mean of maximal velocity of a fist strike was the fastest 5.99m/s for type 3, 5.93m/s for type 4, 5.67m/s for type 2, and 5.01m/s for type 1 on the descending order. Fifth, a mean of maximal trunk angular velocity of the fastest 495.6deg./sec. for type 4 and 337.7deg./sec. for type 1 on the descending order. Sixth, strongest value was type 3, 2 for anterior-posterior ground reaction force(left -54.89N, right 60.58N), type 4 for medial-lateral GRF(left 83.59N, right -80.12N), and type 3 for vertical GRF(left 341.79N, right 426.11N).

A Study of Longitudinal Changes in Mother-Child Interaction and its Effect on Media Device Addiction (모-자녀 상호작용 변화 양상에 따른 자녀의 미디어 기기 중독 차이)

  • Yeon, Eun Mo;Choi, Hyo-Sik
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.21 no.12
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    • pp.346-353
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    • 2020
  • The purpose of this study was to explore types of longitudinal changes in interactions between mothers and 4-year-old children in primary school as well as the effects on media device addiction. To explore interaction types between mothers and children, latent class growth modeling (LCGM) and BCH were used in a three-step approach. Data from the 6-10th wave of the Panel Study of Korea Children were used. First, the trajectory of the mother-child interactions was linear and decreased across time. This linear decrease was classified into the following three trajectories: high-decreasing, average-deceasing, and low-decreasing. Second, BCH was performed to examine media device addiction in each trajectory, and the findings show that children who had low initial mother-child interactions over time were more likely to experience daily disturbances in adaptive functions such as withdraw or tolerance than other groups of children. The results indicate that maximizing the quality of mother-child interactions in childhood through primary school can lower media device addiction in children.

Prevalence and Characteristics of Chemotherapy-related Cognitive Impairment in Patients with Breast Cancer (유방암 환자에서 화학요법관련 인지기능저하의 발생률과 발생양상)

  • Park, Jin-Hee;Bae, Sun Hyoung;Jung, Yong-Sik;Jung, Young-Mi
    • Journal of Korean Academy of Nursing
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    • v.45 no.1
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    • pp.118-128
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    • 2015
  • Purpose: Evidence suggests that some patients with breast cancer experience cognitive difficulties following chemotherapy. This longitudinal study was done to examine the prevalence of cognitive impairment and trajectory of cognitive function over time in women with breast cancer, who received adjuvant chemotherapy. Methods: Participants were 137 patients with breast cancer. They completed neuropsychological tests and the Functional Assessment of Cancer Therapy-Cognitive Function before adjuvant therapy (pretest), toward the end of adjuvant therapy (posttest), and 6 months after the completion of adjuvant therapy (follow-up test). Of the patients, 91 were treated with adjuvant chemotherapy and 46 patients who did not receive chemotherapy made up the comparison group. A reliable-change index and repeated-measure ANOVA were used for statistical analyses. Results: At the posttest point, over 30% of patients showed complex cognitive impairment and reported greater difficulty in subjective cognitive function. At the follow-up test point, 22.0% of patients exhibited complex cognitive impairment and 30.8% of patients complained of subjective cognitive impairment. Repeated-measure ANOVA showed significant decreases after receiving chemotherapy followed by small improvements 6 months after the completion of chemotherapy in cognitive domains of change for attention and concentration, memory, executive function, and subjective cognitive function. Conclusion: These results suggest that chemotherapy in patients with breast cancer may be associated with objective and subjective cognitive impairments. Further studies are needed to explore the potential risk factors and predictor of chemotherapy-related cognitive changes. Also nursing interventions for prevention and intervention of cognitive impairments should be developed and tested.

Hydrogen Surface Coverage Dependence of the Reaction between Gaseous and Chemisorbed Hydrogen Atoms on a Silicon Surface

  • Ree, Jong-Baik;Chang, Kyung-Soon;Kim, Yoo-Hang
    • Bulletin of the Korean Chemical Society
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    • v.23 no.2
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    • pp.205-214
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    • 2002
  • The reaction of gas-phase atomic hydrogen with hydrogen atoms chemisorbed on a silicon surface is studied by use of the classical trajectory approach. Especially, we have focused on the mechanism changes with the hydrogen surface coverage difference. On the sparsely covered surface, the gas atom interacts with the preadsorbed hydrogen atom and adjacent bare surface sites. In this case, it is shown that the chemisorption of H(g) is of major importance. Nearly all of the chemisorption events accompany the desorption of H(ad), i.e., adisplacement reaction. Although much less important than the displacement reaction, the formation of $H_2(g)$ is the second most significant reaction pathway. At gas temperature of 1800 K and surface temperature of 300 K, the probabilities of these two reactions are 0.750 and 0.065, respectively. The adsorption of H(g) without dissociating H(ad) is found to be negligible. In the reaction pathway forming $H_2$, most of the reaction energy is carried by $H_2(g)$. Although the majority of $H_2(g)$ molecules are produced in sub-picosecond, direct-mode collisions, there is a small amount of $H_2(g)$ produced in multiple impact collisions, which is characteristic of complex-mode collisions. On the fully covered surface, it has been shown that the formation of $H_2(g)$ is of major importance. All reactive events occur on a subpicosecond scale, following the Eley-Rideal mechanism. At gas temperature of 1800 K and surface temperature of 300 K, the probability of the $H_2(g)$ formation reaction is 0.082. In this case, neither the gas atom trapping nor the displacement reaction has been found.

Variation of Concentration of Air Pollutants with Air Mass Back-Trajectory Analysis in Gyeongju (기단 역궤적분석에 의한 경주시 대기오염물질의 농도 변화)

  • Kim, Kyung-Won;Bang, So-Yung;Jung, Jong-Hyun
    • Journal of Korean Society for Atmospheric Environment
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    • v.24 no.2
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    • pp.162-175
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    • 2008
  • Gyeongju, which was the central city of the ancient civilization at Silla Kingdom, has various kinds of stone cultural properties. It is significantly important to preserve historical sources of Korea. However, recent air quality data measured in Gyeongju did not show good air quality level. In order to investigate variation of the concentration of the air pollutants with meteorological condition, an air quality monitoring and an aerosol sampling were conducted during the intensive monitoring period in Gyeongju. Impacts of the meteorological factors on the air pollutants were also analyzed based on the air mass pathway categories using HYSPLIT model and the local wind patterns using MM5 model. The prevailing air mass pathways were classified into four categories as following; category I affected by easterly marine aerosols, category II affected by northwesterly continental aerosols, category III affected by southwesterly continental aerosols, and category IV affected by northerly continental aerosols. The concentrations of the air quality standards were relatively lower during the fall intensive monitoring period. At that time, the easterly marine air mass pattern was dominated. The seasonal average mass concentration of $PM_{10,Opt}$, which optically measured at the monitoring site, was the highest value of $77.6{\pm}28.3\;{\mu}g\;m^{-3}$ during the spring intensive monitoring period but the lowest value of $20.1{\pm}5.3\;{\mu}g\;m^{-3}$ during the fall intensive monitoring period. The concentrations of $SO_2$ and CO were relatively higher when the air mass came from the northwestern continent or the northern continent. The concentrations of ${SO_4}^{2-}$ and ${NO_3}^-$ increased under the northwesterly continental condition. It was estimated that the acidic aerosols were dominated in the atmosphere of Gyeongju when the air mass came from the continental regions.

Thermal Structure of the East China Sea Upper Layer Observed by a Satellite Tracked Drifter Experiment (위성추적부이를 이용한 동중국해 상층 수온구조 관측)

  • Lee, Seok;Lie, Heung-Jae;Cho, Cheol-Ho;Song, Kyu-Min;Lee, Jae-Hak
    • Ocean and Polar Research
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    • v.30 no.3
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    • pp.361-372
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    • 2008
  • A satellite tracked drifter experiment was conducted to observe thermal structure and surface circulation in the northeastern East China Sea. For this experiment, four ADOS buoys, assembled with surface float and thermister chain, were deployed on August 2007 in southern Jeju-do, where the Kuroshio Branch Current is separated from the main stream. Thermal structure in the upper layer of the northeastern East China Sea was successfully observed during the following $1{\sim}3$ months. Strong thermo-haline front in a northeast-southwest direction was observed. In the frontal zone, warm and saline Kuroshio origin water intermixes with fresher coastal water and flows toward the Korean Strait. Typhoon Nari, which passed over the East China Sea 20 days after commencement of study, caused distinct signals in the thermal structure and trajectory of buoys. During the typhoon, surface temperature abruptly dropped to about $4^{\circ}C$, while the thermocline formed at $30{\sim}50$ m depth vanished due to strong vertical mixing. Internal inertial oscillation occurred several days after the typhoon. The fortuitous occurrence of typhoon Nari showed that ADOS buoys can provide useful and accurate air-sea interaction data during typhoons.