• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.3
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• pp.388-397
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• 2009

There are many tasks which require robotic manipulators interaction with environment. It consists of three control problems, i.e., position control, impact control and force control. The position control means the way of reaching to the environment. The moment of touching to the environment yields the impact control problem and the force control is to maintain the desired force trajectory after the impact with the environment. These three control problems occur in sequence, so each control algorithm can be developed independently. Especially for redundant manipulators, each of these three control problems has been important independent research topic. For example, joint torque minimization and impulse minimization are typical techniques for such control problems. The three control problems are considered as a single task in this paper. The position control strategy is developed to improve the performance of the task, i.e., minimization of the individual joint torques and impulse. Therefore, initial conditions of the impact control problem are optimized at the previous position control algorithm. Such a control strategy yields improved result of the impact control. Similarly, the initial conditions for the force control problem are indirectly optimized by the previous position control and impact control strategies. The force control algorithm uses the individual joint torque minimization concept. It also minimizes the force disturbances. The simulation results show the proposed control strategy works well.

• Journal of Korea Port Economic Association
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• v.29 no.3
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• pp.113-133
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• 2013

Since 1995, Korean enterprises have been rapidly expanding their business, especially to Eastern European countries such as Poland, Slovakia, Czech Republic, Hungary and so on. After the establishment of Korea-EU FTA in 2011, close relationship between the two through economic cooperation has been maintained. To efficiently connect the seaport regions to inland factories located in Eastern European countries, researches on mode choice in the intermodal sector are needed to perform. However, there is a scant of research for mode choice factors on intermodal transportation service in Europe. Therefore, the aim of this research is to understand the current situation of intermodal transportation sector in Europe, identify key factors of mode choice, and weigh the importance among factors influencing intermodal selection in the perspective of Korean exporters or forwarders with overseas cargo to Europe. A survey and in-depth interviews to CEOs and executives who have more than 20 to 30 years of career in logistics sector were carried out from April 01 to May 01, 2013. Using the fuzzy theory as the methodology, 'Reliability of arrival time', 'Transit time', and 'Freight Rate' are equally ranked as the most important factor in the selection of intermodal transportation.

• Journal of KIISE:Databases
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• v.28 no.3
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• pp.494-511
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• 2001

In the environment that database management systems manage disk spaces for storing databases directly, this paper proposes a correct and efficient scheme of performing pending actions for the removal of database files. As for performing pending actions, upon performing recovery, the recovery process must identify unperformed pending actions of not-yet-terminated transactions and then perform those actions completely. Making the recovery process identify those actions through the analysis of log records in the log file is the basic idea of this paper. This scheme, as an extension of the execution of transactions, fuzzy checkpoint, and recovery of ARIES, uses the following methods: First, to identify not-yet-terminated transactions during recovery, transactions perform pending actions after writing 'pa_start'log records that signify both the commit of transactions and the start of executing pending actions, and then write 'eng'log records. Second, to restore pending-actions-lists of not-yet-terminated transactions during recovery, each transaction records its pending-actions-list in 'pa_start'log record and the checkpoint process records pending-actions-lists of transactions that are decided to be committed in 'end_chkpt'log record. Third, to identify the next pending action to perform during recovery, whenever a page is updated during the execution of pending actions, transactions record the information that identifies the next pending action to perform in the log record that has the redo information against the page.

• Journal of Korean Society of Transportation
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• v.19 no.6
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• pp.75-87
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• 2001

Inter-port competition is fiercer than in the past because of technological evolution in transport systems : the increasing side of containerships implies only a few calls in three or four ports at each end of the trade and the rest of the traffic being served by smaller feederships. It is therefore essential for big ports to be selected as one of these calls by the main shipowners, consortia and alliances to avoid rmarginalisation. In order to compete effectively, many ports have been obliged to modernise and extend considerably its existing ports or to build new port facilities. With the advent of major environmental legislation around the world, however, amenities such as fish and wildlife, clean air and water, access to the waterfront, and view protection took on greater importance. Ports are now being forced to incorporate environmental considerations into their planning and management functions in order to avoid additional costs or timing delays. The aim of this paper is to analyse the port value by which port comparison(or selection) will be made with HFP(Hierarchical Fuzzy Process) method. This was done by extracting and grouping the evaluation factors of port value by port experts : facility and location factor, logistics service factor environment and amenity factor, city and economic factor, and human and system factor. For empirical test of this method, 6 major ports in Northeast Asia were chosen and analysed. The order of importance for five evaluation factors were 1) facility and location factor 2) logistics service factor 3) human and system factor, 4) city and economic factor, and 5) environment and amenity factor. This means that geographical location and logistics services are still being considered as the most important factor to call the port by port users. even though environment and amenity factor shows relatively low figure. Among 6 major ports, Port of Kobe was ranked the first position in a comprehensive evaluation, while Ports of Busan and Kwangyang were 4th and 5th respectively. This implies that Port of Busan should make much efforts to enhance the existing facilities as well as management system.

• Journal of the Korea Convergence Society
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• v.12 no.1
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• pp.99-104
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• 2021

In this paper, we propose health risk management using feature extraction and cluster analysis considering time flow. The proposed method proceeds in three steps. The first is the pre-processing and feature extraction step. It collects user's lifelog using a wearable device, removes incomplete data, errors, noise, and contradictory data, and processes missing values. Then, for feature extraction, important variables are selected through principal component analysis, and data similar to the relationship between the data are classified through correlation coefficient and covariance. In order to analyze the features extracted from the lifelog, dynamic clustering is performed through the K-means algorithm in consideration of the passage of time. The new data is clustered through the similarity distance measurement method based on the increment of the sum of squared errors. Next is to extract information about the cluster by considering the passage of time. Therefore, using the health decision-making system through feature clusters, risks able to managed through factors such as physical characteristics, lifestyle habits, disease status, health care event occurrence risk, and predictability. The performance evaluation compares the proposed method using Precision, Recall, and F-measure with the fuzzy and kernel-based clustering. As a result of the evaluation, the proposed method is excellently evaluated. Therefore, through the proposed method, it is possible to accurately predict and appropriately manage the user's potential health risk by using the similarity with the patient.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.42 no.5 s.305
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• pp.27-34
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• 2005

Ventricular fibrillation(VF) is generally caused by chaotic behavior of electrical propagation in heart and may result in sudden cardiac death. In this study, we proposed a ventricular fibrillation detection algorithm based on support vector machine classifier, which could offer benefits to reduce the teaming costs as well as good classification performance. Before the extraction of input features, raw ECG signal was applied to preprocessing procedures, as like wavelet transform based bandpass filtering, R peak detection and segment assignment for feature extraction. We selected input features which of some are related to the rhythm information and of others are related to wavelet coefficients that could describe the morphology of ventricular fibrillation well. Parameters for SVM classifier, C and ${\alpha}$, were chosen as 10 and 1 respectively by trial and error experiments. Each average performance for normal sinus rhythm ventricular tachycardia and VF, was 98.39%, 96.92% and 99.88%. And, when the VF detection performance of SVM classifier was compared to that of multi-layer perceptron and fuzzy inference methods, it showed similar or higher values. Consequently, we could find that the proposed input features and SVM classifier would one of the most useful algorithm for VF detection.

• Journal of Digital Contents Society
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• v.19 no.8
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• pp.1603-1615
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• 2018

In order to achieve the low complexity and area, power in the design of Optical Image Stabilization (OIS) suitable for the smart phone, this paper presents the following design explorations, such as; optimization of gyroscope sampling rate, simple and accurate gyroscope filters, and reduced operating frequency of motion compensation, optimized bit width in ADC and DAC, evaluation of noise effects due to PWM driving. In experiments of gyroscope sampling frequencies, it is found that error values are unvaried in the frequency above 5KHz. The gyroscope filter is efficiently designed by combining the Fuzzy algorithm, to illustrate the reasonable compensation for the angle and phase errors. Further, in the PWM design, the power consumption of 2MHz driving is shown to decrease up to 50% with respect to the linear driving, and the imaging noises are reduced in the driving frequency above 2MHz driving frequency. The operating frequency could be reduced to 5KHz in controller and 10KHz in driver, respectively, in the motion compensation. For ADC and DAC, the optimized exploration experiments verify the minimum bit width of 11bits in ADC as well as 10bits in DAC without the performance degradation.

• Proceedings of the Korea Water Resources Association Conference
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• 2007.05a
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• pp.532-536
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• 2007

급속한 도시화 및 지구온난화로 인한 집중호우로 홍수피해가 해마다 증가하고 있다. 홍수피해를 최소화하기 위하여 4대강 중심의 홍수예경보시스템이 구축되는 등 다양한 제도적 장치가 마련되고 있으나 중소하천이 분포되어 있는 도시유역에서의 홍수예측기능은 부족한 실정이다. 본 연구에서는 중소 도시하천에 적용 가능한 실시간 도시홍수예측서비스 시스템(Realtime Urban Flood Forecasting Service, U-FFS)을 개발하였다. 경기도 성남에 위치한 탄천을 대상유역으로 선정하고 실시간 강우 및 수위관측소를 설치하여 수문데이타를 수집하였으며 이를 바탕으로 수위예측모형을 구축하였다. 모형구축에는 이미 국내외 학계에서 그 정확도가 입증된 바 있는 Data-driven 모델의 일종인 ANFIS(Adaptive Neuro-Fuzzy Inference System)를 이용하였다. 개발된 수위예측모형은 지정된 시간에 자동으로 작동 가능한 실행파일로 프로그래밍되어 최종적으로 홍수예측 웹서비스와 연동된다. U-FFS는 집중호우 발생 시 최종 유출구의 30분, 1시간, 2시간 후의 수위 예측값을 웹 상을 통해 제공함으로써 언제 어디서나 홍수예측 정보를 누구나 손쉽게 획득할 수 있는 장점이 있다. 시범운영 결과, 30분 및 1시간 후의 수위 예측은 정확도가 매우 뛰어났으며 2시간 후의 수위 예측의 정확성은 다소 떨어지는 것으로 확인되었으나 전반적인 홍수예측 판단에는 무리가 없을 것으로 예상된다. 본 시스템의 홍수예측모형은 생성 및 수정이 간편하여 그 활용성이 매우 높을 것으로 기대된다. 특히 안전함을 지향하는 각종 U-City나 홍수피해가 빈번한 도시유역에 적용하면 기존 시스템과 차별화된 실시간 홍수예측 서비스가 가능해져 홍수피해를 최소화할 수 있을 것이다. 취수구 직경 D의 3.3배를 벗어나지 않는다는 결과를 도출할 수 있었다.링 목적으로 사용될 수 있다. 본 연구에서 개발한 영상수위계는 한강홍수통제소 관할의 전류, 청담대교 등 4개소 낙동강 홍수통제소 2개소, 지자체 등에 적용되었으며, 적용 결과 비교적 안정적이면서 정확하게 수위를 측정하는 것으로 나타났다. 한편 기존 CCD 카메라 이외에 CCTV를 이용한 영상수위계를 개발하여 영상의 화질 개선뿐 아니라 하천화상 감시 기능을 강화하였다.소류의 섭취율은 높았다. 집단간의 상관도를 보면 교육별로 김치, 장아찌, 콩이 각각 p>0.5 수준에서 유의한 차가 없었고, 나머지는 유의한 차가 있었다. 연령별로는 멸치가 유의한 차가 없었고(p>0.5), 수입별로는 콩이 유의한 차가 없었다(p>0.5). 4. 영양지식(營養知識) 검토 가정생활(家庭生活)에 필요(必要)한 일반적(一般的)인 영양지식(營養知識)은 대체적으로 낮은 편이었다. 어린이 영양, 편식의 해로움, 비만증의 해로움, 임신부 그리고 수유부 영양에 대하여는 일반적으로 알고 있다고 하였으며, 그다음으로 이유기 영양, 어린이 발육에 필요한 식품, 식품과 영양소와의 관계, 우유의 성분, 노인영양에 대하여 잘 알고 있는 비율이 낮았으며, 인체의 영양소, 식단작성여부, 간식의 이론, 식품감별법에 대하여는 가장 낮은 비율을 나타냈다. 각 영양지식은 교육정도가 높을수록 영양지식이 높았고, 교육별 집단간의 유의한 차가 나타났다. (0.001

• Journal of Korea Water Resources Association
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• v.46 no.2
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• pp.195-204
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• 2013

As drought is phenomenon of nature with unavoidability and repeated characteristic, it is necessary to plan to respond to it in advance and construct drought management system to minimize its damage. This study suggested standard for classification of drought, which is appropriate for our nation to respond to drought by assessing drought severity in the regions for this study. For data collection, 61 locations were selected - the locations keep precipitation data over 30 years of observation. And data for monthly precipitation for 37 years from 1973 were used. Based on this, this study classified unified drought interval into four levels using drought situation phases which are used in government. For standard for classification of drought severity fit to our nation, status of main drought was referred and these are classified based on accumulated probability of drought - 98~100% Exceptional Drought, 94~98% Extreme Drought, 90~94% Severe Drought, 86~90% Moderate Drought. Drought index (SPI, PDSI) was made in descending order and quantitative value of drought index fit to standard of classification for drought severity was calculated. To compare classification results of drought severity of SPI and PDSI with actual drought, comparison by year and month unit were analyzed. As a result, in comparison by year and comparison by month unit of SPI, drought index of each location was mostly identical each other between actual records and analyzed value. But in comparison by month unit of PDSI for same period, actual records did not correspond to analyzed values. This means that further study about mutual supplement for these indexes is necessary.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.27 no.6
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• pp.605-613
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• 2014

Epistemic uncertainty, the lack of knowledge, is often more important than aleatory uncertainty, variability, in estimating reliability of a system. While the probability theory is widely used for modeling aleatory uncertainty, there is no dominant approach to model epistemic uncertainty. Different approaches have been developed to handle epistemic uncertainties using various theories, such as probability theory, fuzzy sets, evidence theory and possibility theory. However, since these methods are developed from different statistics theories, it is difficult to interpret the result from one method to the other. The goal of this paper is to compare different methods in handling epistemic uncertainty in the view point of calculating the probability of failure. In particular, four different methods are compared; the probability method, the combined distribution method, interval analysis method, and the evidence theory. Characteristics of individual methods are compared in the view point of reliability analysis.