• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.5
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• pp.663-668
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• 2018

A combined CPG (Central Pattern Generator) based foot trajectory and GA (Genetic Algorithm) based joint compensation method is presented for adaptive humanoid walking. In order to increase an adaptability of humanoid walking for rough terrains, the experiment for rolling terrains are introduced. The CPG based foot trajectory method has been successfully applied to basic slops and variable slops, but has a limitation for the rolling terrains. The experiments are conducted in an ODE based Webots simulation environment using humanoid robot Nao to verify a stability of walking for various rolling terrains. The proposed method is compared to the previous CPG foot trajectory technique and shows better performance especially for the cascade rolling terrains.

• Korean Journal of Human Ecology
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• v.13 no.5
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• pp.691-699
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• 2004

The purpose of this study was to analyze the relationship between family functioning and family violence. The SPSS 10.0 for Windows was used to analyze data obtained through 1,044 children who live in Gwangju Chonnam area. Major findings are as follows: 1. Wife abuse and child abuse showed significant difference according to family cohesion, family flexibility, and family-system types. 2. In family violence non-experience group, 'balanced family' was found in 36.2% of the sample and 'extreme family' in 7.8%. In family violence experience group, 'balanced family' was found in 12.7% of the sample and 'extreme family' in 15.4%. 3. There were significant negative correlations between family functioning and family violence. Family cohesion and family flexibility had significant negative correlation with wife abuse and child abuse.

• Korean Journal of Human Ecology
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• v.16 no.2
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• pp.251-257
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• 2007

The combined impact of maternal depression, parenting stress, infant cry, and infant temperament on family functions was examined. The sample included 257 mothers in the near communities. Questionnaires completed by the mothers who had 0-36 month old children were used to measure depressive symptoms in mothers, infant cry, infant temperament, parenting stress, and family function. Maternal depression, parenting stress, infant crying and infant temperament had negative influence on family adaptability and family cohesion. Mother's depression had negative effect particularly on infant cry. Infant cry had positive effect on infant temperament. Infant temperament had high direct effect on parenting stress. As a result, it had negative influence on family function.

• Environmental Engineering Research
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• v.19 no.4
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• pp.355-361
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• 2014

The wastewater treatment with a two-phase expanded granular sludge bed (EGSB) system for anaerobic degradation of acetate, benzoate, terephtalate and p-toluate from purified terephtalic acid (PTA) production was studied. The feasibility and effectiveness of the system was evaluated in terms of organic oxidation by chemical oxygen demand (COD), gas production, bacterial adaptability and stability in the granular sludge. Average removal efficiencies 93.5% and 72.7% were achieved in the EGSB reactors under volumetric loading rates of $1.0-15kg-COD/m^3/day$ and terephtalate and p-toluate of 351-526 mg/L, respectively. Gas production reached total methane production rate of 0.30 L/g-COD under these conditions in the sequential EGSB reactor system. Higher strength influent COD concentration above 4.8 g-COD/L related to field conditions was fed to observe the disturbance of the EGSB reactors.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.101-106
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• 2005

In this paper, we propose a behavior decision model for a robot, which is based on artificial emotion, various motivations and dynamic personality. Our goal is making a robot which can express its emotion human-like way. To achieve this goal, we applied several emotion and personality theories in psychology. Especially, we introduced the concept of dynamic personality model for a robot. Drawing on this concept, we could make a behavior decision model so that the emotion expression of the robot has adaptability to various environments through interactions between human and the robot.

• Journal of the Korea Society of Computer and Information
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• v.21 no.10
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• pp.99-105
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• 2016

The active rule system is a key element of the rule-based mobile agent middleware system for activeness and autonomy of the sensor network. The rule manager, which is the main components of active rule based mobile agent framework and active rule system, performs the control and management of the rule-related processes. In this paper, we design and implement the roles and functions of the rule manager in detail. The proposed rule manager plays an important role in the sensor network environment. The sensor data server loads the active rule on the mobile agent by the rule manager according to the situations, and the mobile agent migrates to the destination node and performs the designated action. This active rule-based mobile agent middleware system presents the usefulness for the various sensor network applications. Through the rule execution experiment using the rule-based mobile agent, we show the adaptability and applicability of rule-based mobile agent middleware system to the dynamic environmental changes in sensor networks.

• Journal of the Korean Institute of Intelligent Systems
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• v.5 no.3
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• pp.3-10
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• 1995

This paper proposedan on-line learning controller which can be applied to nonlinear systems. The proposed on-line learning controller is based on the universal approximation by the local affine mapping-based neural networks. It has self-organizing and learning capability to adapt itself to the new environment arising from the variation of operating point of the nonlinear system. Since the learning controller retains the knowledge of trained dynamics, it can promptly adapt itself to situations similar to the previously experienced one. This prompt adaptability of the proposed control system is illustrated through simulations.

• Journal of Korean Association for Spatial Structures
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• v.16 no.4
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• pp.83-89
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• 2016

Middle size of membrane retractable roof is under 25m span which consists of various moving systems. Trolley is the system that leads the membrane to parking place, transferring the load from the membrane to structural cable. When membrane closes roof completely, thus, structural behavior of trolley, which may contain various material with different friction coefficients, should be investigated by vertical load. Nummerical simulation of trolley prototypes, in this research, was performed by incrementation of vertical load. Consequently, this paper studied proper friction characteristics and provided the effective inner materials of trolley.

• International Journal of Precision Engineering and Manufacturing
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• v.9 no.3
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• pp.7-12
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• 2008

Today, manufacturers are forced to acknowledge that the life cycles of products are becoming shorter. In the case of the door trim assembly field, the highly frequent introduction of new products and the continuous increase in product varieties leads to the demand for redesigning assembly systems more often. Modular manufacturing systems can be an important issue in helping to overcome these problems. This paper presents the development of a modular assembly system for the door trim, and because it takes the change drives into consideration, this system is highly flexible in adapting to changes in the environment.

• IEMEK Journal of Embedded Systems and Applications
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• v.8 no.4
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• pp.195-204
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• 2013

The embedded software has been developed in the forms of various versions that provides similar service based on product family. For increase usefulness of product family, software must has well-structured and reusable properties. Software architecture is important to improve adaptability in model-based development of embedded software mounted onto product family. In this paper, we proposed a technique of ADD(Attribute-Driven Design)-based software architecture design for low power software development. This technique provides a chance to consider the power consumption issue in design phase of software, and makes possible to develop low power embedded software.