• Journal of Biomedical Engineering Research
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• v.20 no.4
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• pp.485-493
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• 1999

Human can generate various posture and motion with nearly 350 muscle pairs. From the viewpoint of mechanisms, the human skeleton mechanism represents great kinematic and dynamical complexity. Physical and behavioral fidelity of human motion requires dynamically accurate modeling and controling. This paper describes a mathematical modeling, and dynamic simulation of human body. The human dynamic model is simplified as a rigid body consisting of 18 actuated degrees of freedom for the real time computation. Complex kinematic chain of human body is partitioned as 6 serial kinematic chains that is, left arm, right arm, support leg, free leg, body, and head. Modeling is developed based on Newton-Euler formulation. The validity of proposed dynamic model, which represents mathematically high order differential equation, is verified through the dynamic simulation.

• Proceedings of the KIEE Conference
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• 1998.07f
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• pp.1876-1878
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• 1998

For an analysis and simulation of the conducted EMI of switching converters, an accurate simulation model for MOSFET is needed. This paper presents a new modeling approach, which incorporates DC output characteristics and AC dynamics especially the parasitic capacitances. It uses Pspice ABM(Analog Behavioral Model) and the MOSFET parameters can be obtained from the Data sheet in the frequency range of interest for EMI analysis. The model verified with an experimental setup and the EMI for a test converter is analyzed with respect to the MOSFET switching waveforms.

• Journal of the Korea Society for Simulation
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• v.12 no.2
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• pp.13-24
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• 2003

In this study, we propose a scheduling analysis method of the Flexible management system using the transitive matrix. The Scheduling problem is a combination-optimization problem basically, and a complexity is increased exponentially for a size of the problem. To reduce an increase of a complexity, we define that the basic unit of concurrency (short BUC) is a set of control flows based on behavioral properties in the net. And we propose an algorithm to divide original system into some BUC. To sum up, we divide a petri net model of the Flexible management system Into the basic unit of concurrency through the division algorithm using the transitive matrix. Then we apply it to the division-scheduling algorithm to find an efficient scheduling. Finally, we verify its efficiency with an example.

• Korean System Dynamics Review
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• v.12 no.4
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• pp.157-175
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• 2011

The purpose of this paper is to find out the effects of the gambler's fallacy bias on the supply chain. For this study, the simulation was based on a casual structure of the Beer Distribution Game from Sterman(2000)'s Business Dynamics and designed into 2 different models : the first model carries the exact same structure as the reference mentioned above and for the second model, the comparison model is used reflecting gambler's fallacy bias. Each model has 2 different demand patterns. The 4 cases of models was tested with 1,000 different random number seeds. The results for the simulation are following : In the aspect of the inventory and out of stock, the basic model resulted better than the comparison. However, in the bullwhip effect, the comparison model has less than the basic in terms of the level demand pattern. But there was no significant difference in the cycle demand.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.59 no.4
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• pp.405-410
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• 2010

In this paper, the simulation of solar system was used to facilitate PSPICE. Solar cells, Controller, MPPT system, DC-DC system modeling, and easy to use, made to the library. To prove the validity of the library for the temperature and space radiation were simulated and behavioral characteristics were identified. To prove the validity of the simulation, the hardware was constructed to the same conditions. Implemented using the hardware and the DSP controller for a real system, the results were confirmed by experiments.

• Communications for Statistical Applications and Methods
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• v.23 no.2
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• pp.131-146
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• 2016

In research on behavioral studies, significant attention has been paid to the stage-sequential process for longitudinal data. Latent class profile analysis (LCPA) is an useful method to study sequential patterns of the behavioral development by the two-step identification process: identifying a small number of latent classes at each measurement occasion and two or more homogeneous subgroups in which individuals exhibit a similar sequence of latent class membership over time. Maximum likelihood (ML) estimates for LCPA are easily obtained by expectation-maximization (EM) algorithm, and Bayesian inference can be implemented via Markov chain Monte Carlo (MCMC). However, unusual properties in the likelihood of LCPA can cause difficulties in ML and Bayesian inference as well as estimation in small samples. This article describes and addresses erratic problems that involve conventional ML and Bayesian estimates for LCPA with small samples. We argue that these problems can be alleviated with a small amount of prior input. This study evaluates the performance of likelihood and MCMC-based estimates with the proposed prior in drawing inference over repeated sampling. Our simulation shows that estimates from the proposed methods perform better than those from the conventional ML and Bayesian method.

• The Journal of Korea Robotics Society
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• v.11 no.2
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• pp.60-72
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• 2016

This study proposes a multi-robot system, using multiple autonomous robots, to explore concrete structures and assist in their maintenance by sealing any cracks present in the structure. The proposed system employed a new self-localization method that is essential for autonomous robots, along with a visualization system to recognize the external environment and to detect and explore cracks efficiently. Moreover, more efficient crack search in an unknown environment became possible by arranging the robots into search areas divided depending on the surrounding situations. Operations with increased efficiency were also realized by overcoming the disadvantages of the infeasible logical behavioral model design with only six basic behavioral strategies based on distributed control-one of the methods to control swarm robots. Finally, this study investigated the efficiency of the proposed multi-robot system via basic sensor testing and simulation.

• International conference on construction engineering and project management
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• 2022.06a
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• pp.1085-1092
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• 2022

Travel distance is a parameter mainly used in the objective function of Construction Site Layout Planning (CSLP) automation models. To obtain travel distance, common approaches, such as linear distance, shortest-distance algorithm, visibility graph, and access road path, concentrate only on identifying the shortest path. However, humans do not necessarily follow one shortest path but can choose a safer and more comfortable path according to their situation within a reasonable range. Thus, paths generated by these approaches may be different from the actual paths of the workers, which may cause a decrease in the reliability of the optimized construction site layout. To solve this problem, this paper adopts reinforcement learning (RL) inspired by various concepts of cognitive science and behavioral psychology to generate a realistic path that mimics the decision-making and behavioral processes of wayfinding of workers on the construction site. To do so, in this paper, the collection of human wayfinding tendencies and the characteristics of the walking environment of construction sites are investigated and the importance of taking these into account in simulating the actual path of workers is emphasized. Furthermore, a simulation developed by mapping the identified tendencies to the reward design shows that the RL agent behaves like a real construction worker. Based on the research findings, some opportunities and challenges were proposed. This study contributes to simulating the potential path of workers based on deep RL, which can be utilized to calculate the travel distance of CSLP automation models, contributing to providing more reliable solutions.

• International conference on construction engineering and project management
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• 2022.06a
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• pp.1114-1121
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• 2022

Construction laborers and crews play a critical role in achieving a safe and productive construction site. Many past research studies used top-down approaches/perspectives for studying the impact of laborers' performance on overall construction site outputs with limited flexibility in accounting for laborers' various characteristics. However, the recent reap in computational advances allowed applications of bottom-up architectures, which can potentially incorporate heterogeneous characteristics of laborers' individual behavioral and decision-making features effectively. Accordingly, agent-based modeling (ABM), as a tool to leverage a bottom-up methodological approach, has been widely adopted by recent research. Existing literature investigated the influence of changes in laborers' behaviors and interactions on either construction sites' safety performance or productivity performance individually, leaving the tradeoff between safety and productivity in this context relatively unexplored. Accordingly, this study aims to develop an agent-based framework to study the tradeoff between project safety and productivity performances resulting from changes in laborers' behaviors after attending safety trainings. Our findings via simulations indicate that proper safety trainings can improve safety performance without negatively impacting productivity performance.

• The Journal of Korea Robotics Society
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• v.18 no.2
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• pp.143-154
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• 2023

In this study, a fast motion planning method for the swing motion of a 6x6 wheel-legged robot to traverse large obstacles and gaps is proposed. The motion planning method presented in the previous paper, which was based on trajectory optimization, took up to tens of seconds and was limited to two-dimensional, structured vertical obstacles and trenches. A deep neural network based on one-dimensional Convolutional Neural Network (CNN) is introduced to generate keyframes, which are then used to represent smooth reference commands for the six leg angles along the robot's path. The network is initially trained using the behavioral cloning method with a dataset gathered from previous simulation results of the trajectory optimization. Its performance is then improved through reinforcement learning, using a one-step REINFORCE algorithm. The trained model has increased the speed of motion planning by up to 820 times and improved the success rates of obstacle crossing under harsh conditions, such as low friction and high roughness.