• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1160-1166
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• 2013

This paper presents feedforward controllers to improve the control performance of the motion and grasping force of a surgical instrument used in an MIS (Minimally Invasive Surgery) robot. The surgical instrument has a long distance between the drive motors and its active joints. Therefore, the gripper on the instrument is controlled by a cable drive mechanism, which generates a coupled motion between the wrist joint and the grip direction. In order to solve the problem, this paper analyzes the pulley composition of the surgical instrument and proposes feedforward controllers to eliminate the coupled motion. Furthermore, feedforward controllers to regulate the grasping force are proposed to deal with another coupling problem between the grasping force of the instrument and the motion of the instrument joints. The experimental results demonstrate the improved control performance of the motion and grasping force of the instrument.

• Journal of the Ergonomics Society of Korea
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• v.32 no.3
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• pp.245-252
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• 2013

Objective: This paper analyzes the changes on stride parameters, joint angles, and trajectories of the body parts due to high heels during walking and explains the causal relationship between the changes and high heels. Background: This study aims to indicate the comprehensive gait changes by high heels on the whole body for women wearing high heels and researchers interested in high-heeled walking. Method: The experiment was designed in which two different shoe heel heights were used for walking (1cm, 9.8cm), and twelve women participated in the test. In the experiment, 35 points on the body were tracked to extract the stride parameters, joint angles, and trajectories of the body parts. Results: Double support time increased, but stride length decreased in high-heeled walking. The knee inflexed more at stance phase and the spine rotation became more severe. The trajectories of the pelvis, the trunk and the head presented outstanding fluctuations in the vertical direction. Conclusion: The double support time and the spine rotation were changed to compensate instability by high heels. Reduced range of motion of the ankle joint influenced on the stride length, the knee flexion, and fluctuations of the body parts. Application: This study can provide an insight of the gait changes by high heels through the entire body.

• Proceedings of the Korea Information Processing Society Conference
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• 2018.05a
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• pp.398-401
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• 2018

본 연구에서는 심충 합성곱 신경망(Deep CNN)과 Connectionist Temporal Classification (CTC) 알고리즘을 사용하여 강제정렬 (force-alignment)이 이루어진 코퍼스 없이도 학습이 가능한 음소 인식 모델을 제안한다. 최근 해외에서는 순환 신경망(RNN)과 CTC 알고리즘을 사용한 딥 러닝 기반의 음소 인식 모델이 활발히 연구되고 있다. 하지만 한국어 음소 인식에는 HMM-GMM 이나 인공 신경망과 HMM 을 결합한 하이브리드 시스템이 주로 사용되어 왔으며, 이 방법 은 최근의 해외 연구 사례들보다 성능 개선의 여지가 적고 전문가가 제작한 강제정렬 코퍼스 없이는 학습이 불가능하다는 단점이 있다. 또한 RNN 은 학습 데이터가 많이 필요하고 학습이 까다롭다는 단점이 있어, 코퍼스가 부족하고 기반 연구가 활발하게 이루어지지 않은 한국어의 경우 사용에 제약이 있다. 이에 본 연구에서는 강제정렬 코퍼스를 필요로 하지 않는 CTC 알고리즘을 도입함과 동시에, RNN 에 비해 더 학습 속도가 빠르고 더 적은 데이터로도 학습이 가능한 합성곱 신경망(CNN)을 사용하여 딥 러닝 모델을 구축하여 한국어 음소 인식을 수행하여 보고자 하였다. 이 모델을 통해 본 연구에서는 한국어에 존재하는 49 가지의 음소를 추출하는 세 종류의 음소 인식기를 제작하였으며, 최종적으로 선정된 음소 인식 모델의 PER(phoneme Error Rate)은 9.44 로 나타났다. 선행 연구 사례와 간접적으로 비교하였을 때, 이 결과는 제안하는 모델이 기존 연구 사례와 대등하거나 조금 더 나은 성능을 보인다고 할 수 있다.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.24 no.6
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• pp.35-48
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• 2021

In Suwon, the overall hygiene of the city is threatened by the emergence of the rook(Corvus fugilegus) in the city. Rooks began to appear in November of 2016 and has continued to appear from November to March every year. In order to eradicate or to prepare an alternative habitat for rooks, this study aimed to identify the preferred habitat and specific environmental variables. Therefore, in this work, we aim to understand the predicted distribution of rooks in Suwon City with citizen science and through MaxENT, the most widely utilized habitat modeling using citizen science to analyze the preferred habitat of harmful tides appearing in urban areas. In this study, seven environmental variables were chosen: biotope group complex, building floor, vegetation, euclidean distance from farmland, euclidean distance from streetlamp, and euclidean distance from pole and DEM. Among the estimated models, after the time period of sunrise (08:00~18:00) the contribution percentage were as following: euclidean distance from arable land(39.2%), DEM(25.5%), euclidean distance from streetlamp(22.3%), euclidean distance from pole(7.1%), biotope group complex(4.9%), building floor(1%), vegetation(0%). In the time period after sunset(18:00~08:00) the contribution percentage were as following: biotope group complex(437.4%), euclidean distance from pole(26.8%), DEM(13.4%), euclidean distance from streetlamp(11.8%), euclidean distance from farmland(7.9%), building floor(1.4%), vegetation(1.3%).

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.1
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• pp.46-51
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• 2015

In this paper, we propose a vision-based method to recognize lane changes of an autonomous vehicle. The proposed method is based on six states of driving situations defined by the positional relationship between a vehicle and its nearest lane detected. With the combinations of these states, the lane change is detected. The proposed method yields 98% recognition accuracy of lane change even in poor situations with partially invisible lanes.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.883-887
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• 2016

Navigating an unknown environment is a challenging task for a robot, especially when a large number of obstacles exist and the odometry lacks reliability. Pose tracking allows the robot to determine its location relative to its previous location. The ICP (iterative closest point) has been a powerful method for matching two point clouds and determining the transformation matrix between the maps. However, in a situation where odometry is not available and the robot moves far from its original location, the ICP fails to calculate the exact displacement. In this paper, we suggest a method that is able to match two different point clouds taken a long distance apart. Without using any odometry information, it only exploits the features of corner points containing information on the surroundings. The algorithm is fast enough to run in real time.

• Journal of the Korean Physical Society
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• v.73 no.10
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• pp.1420-1430
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• 2018

We investigate an entangled system, which is analogous to a composite system of a black hole and Hawking radiation. If Hawking radiation is well approximated by an outgoing particle generated from pair creation around the black hole, such a pair creation increases the total number of states. There should be a unitary mechanism to reduce the number of states inside the horizon for black hole evaporation. Because the infalling antiparticle has negative energy, as long as the infalling antiparticle finds its partner such that the two particles form a separable state, one can trace out such a zero energy system by maintaining unitarity. In this paper, based on some toy model calculations, we show that such a unitary tracing-out process is only possible before the Page time while it is impossible after the Page time. Hence, after the Page time, if we assume that the process is unitary and the Hawking pair forms a separable state, the internal number of states will monotonically increase, which is supported by the Almheiri-Marolf-Polchinski-Sully (AMPS) argument. In addition, the Hawking particles cannot generate randomness of the entire system; hence, the entanglement entropy cannot reach its maximum. Based on these results, we modify the correct form of the Page curve for the remnant picture. The most important conclusion is this: if we assume unitarity, semi-classical quantum field theory, and general relativity, then the black hole should violate the Bekenstein-Hawking entropy bound around the Page time at the latest; hence, the infinite production arguments for remnants might be applied for semi-classical black holes, which seems very problematic.

• Cartoon and Animation Studies
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• s.45
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• pp.451-477
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• 2016

The changes in media environments have impacted on the ways in which knowledges are formed and transmitted and therefore the relevance of the traditional school subjects have been increasingly questioned. In this context, the discourses of the reformation of the 21st century schooling have focused on convergence education and media literacy education. Therefore, it is worth paying attention to the fact that the practices of transdisciplinary integrated curriculum focusing on digital media content are grown voluntarily in schools. This research is a case study of a convergence educational project that was initiated by a middle school teacher who designed and implemented a unique program of the transdisciplinary class of Korean focusing on reading webtoons with the linked program of a 'Book Club Activity' that was a part of 'Creative Experiential Activitites'. Based on the analysis of the documents, participatory observation of a main event and the interview with the teacher, this article discusses how the webtoon-focused convergence education project might have achieved meaningful connections between a subject-focused learning and a creative experiences-focused learning; between in and out of school learning spaces; between the real and imaginative worlds; and between the boundaries of the popular culture and the arts. The main finding of the research can be summarized as follows: Firstly, webtoon as the subject of the study can be an effective medium of transdisciplinary integrated curriculum. Secondly, the convergence project based on webtoons can create meaningful learning spaces in and out of school environments in terms of creating more learner-participatory learning culture as well as connecting students' everyday lives, popular arts and their learning about culture. Another important finding of this research is the rediscovery of the teacher's role in terms of mediating the voices of students as readers in the process of constructing and implementing the integrated curriculum.

• Journal of the Korean Electrochemical Society
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• v.22 no.1
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• pp.43-52
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• 2019

As the application area of lithium secondary batteries becomes wider, performance characterization becomes difficult as well as diverse. To address this issue, battery manufacturers have to evaluate many batteries for a longer period, recruit many researchers and continuously introduce expensive equipment. Simulation techniques based on battery modeling are being introduced to solve such difficulties. Various lithium secondary battery modeling techniques have been reported so far and optimal techniques have been selected and utilized according to their purpose. In this review, the electrochemical modeling based on the Newman model is described in detail. Particularly, we will explain the physical meaning of each equation included in the model; the Butler-Volmer equation, which represents the rate of electrode reaction, the material and charge balance equations for each phase (solid and liquid), and the energy balance. Moreover, simple modeling processes and results based on COMSOL Multiphysics 5.3a will be provided and discussed.

• The Korean Journal of Food And Nutrition
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• v.36 no.1
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• pp.6-16
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• 2023

To investigate the anti-inflammatory activity of submerged culture using Cordyceps militaris mycelium, culture-including mycelia was extracted and lyophilized into postbiotics (hot-water extract; CM-HW). HW was fractionated into crude polysaccharide (CM-CP) by ethanol precipitation, and CM-CP was further dialyzed into CM-DCP by dialysis with running water using 12~14 kDa dialysis tube. When the cytotoxicity of subfractions against cells was assessed, no subfraction had a cytotoxic impact that was substantially different from the control groups. In an inflammatory model using LPS-stimulated RAW 264.7 cells, CM-DCP significantly decreased IL-6 and MCP-1 production levels compared to the LPS-control group. CM-DCP also inhibited IL-6 and IL-8 secretion in HaCaT keratinocytes stimulated with TNF-α and IFN-γ. In the meanwhile, the neutral sugar content and mannose ratio of anti-inflammatory CM-DCP were higher than the other fractions, and CM-DCP contained β-1,3/1,6-glucan of 216.1 mg/g. High pressure size exclusion chromatography revealed that CM-DCP contained molecules with a molecular weight range of 5.6 to 144.0 kDa. In conclusion, postbiotics of C. militaris mycelium significantly promoted anti-inflammatory activity, suggesting that neutral polysaccharides including Glc and Man contribute to the anti-inflammation in RAW 264.7 or HaCaT cells.