• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.471-476
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• 2015

This paper presents a maximum velocity trajectory planning algorithm for differential mobile robots with wheel velocity constraint to cope with physical limits in the joint space for two-wheeled mobile robots (TMR). In previous research, the convolution operator was able to generate a central velocity that deals with the physical constraints of a mobile robot while considering the heading angles along a smooth curve in terms of time-dependent parameter. However, the velocity could not track the predefined path. An algorithm is proposed to compensate an error that occurs between the actual and driven distance by the velocity of the center of a TMR within a sampling time. The velocity commands in Cartesian space are also converted to actuator commands to drive two wheels. In the case that the actuator commands exceed the maximum velocity the trajectory is redeveloped with the compensated center velocity. The new center velocity is obtained according to the curvature of the path to provide a maximum allowable velocity meaning a time-optimal trajectory. The effectiveness of the algorithm is shown through numerical examples.

• Asian-Australasian Journal of Animal Sciences
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• v.27 no.9
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• pp.1250-1253
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• 2014

The objective of this study was to estimate the parameters of Gompertz growth curves with the measurements of body conformation, real-time ultrasound longissimus dorsi muscle area (LMA) and backfat thickness (BFT) in Hanwoo cows. The Hanwoo cows (n = 3,373) were born in 97 Hanwoo commercial farms in the 17 cities or counties of Gyeongbuk province, Korea, between 2000 and 2007. A total of 5,504 ultrasound measurements were collected for the cows at the age of 13 to 165 months in 2007 and 2008. Wither height (HW), rump height (HR), the horizontal distance between the top of the hips (WH), and girth of chest (GC) were also measured. Analysis of variance was conducted to investigate variables affecting LMA and BFT. The effect of farm nested in location was included in the statistical model, as well as the effects of HW, HR, WH, and GC as covariates. All of the effects were significant in the analysis of variance for LMA and BFT (p<0.01), except for the HR effect for LMA. The two ultrasound measures and the four body conformation traits were fitted to a Gompertz growth curve function to estimate parameters. Upper asymptotic weights were estimated as $54.0cm^2$, 7.67 mm, 125.6 cm, 126.4 cm, 29.3 cm, and 184.1 cm, for LMA, BFT, HW, HR, WH, and GC, respectively. Results of ultrasound measurements showed that Hanwoo cows had smaller LMA and greater BFT than other western cattle breeds, suggesting that care must be taken to select for thick BFT rather than an increase of only beef yield. More ultrasound records per cow are needed to get accurate estimates of growth curve, which, thus, helps producers select animals with high accuracy.

• Journal of the Korean Data and Information Science Society
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• v.25 no.4
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• pp.847-855
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• 2014

In recent years, women's monetary rewards in golf increased and their performances have improved significantly compared to other sports. Sports marketing has become more active in Asia and the number of Korean players in LPGA with good scores are increasing. For these reasons, golf is becoming increasingly popular. The prize money is higher than in other sports and the economic benefits are increasing due to the financial incentives such as sponsorships. Many of these prospects actively affect women's golf. Certain rookies continue to increase and their performances improve day by day. In this study, I analyze the changes in performance over time of last 5 years from 2009 using growth curve analysis. According to the results of analysis, driving distance and average putting skills developed but green in regulation decreased.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.2 no.6
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• pp.280-298
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• 2008

For efficient content-based image retrieval, diverse visual features such as color, texture, and shape have been widely used. In the case of leaf images, further improvement can be achieved based on the following observations. Most plants have unique shape of leaves that consist of one or more blades. Hence, blade-based matching can be more efficient than whole shape-based matching since the number and shape of blades are very effective to filtering out dissimilar leaves. Guaranteeing rotational invariance is critical for matching accuracy. In this paper, we propose a new shape representation, indexing and matching scheme for leaf image retrieval. For leaf shape representation, we generated a distance curve that is a sequence of distances between the leaf’s center and all the contour points. For matching, we developed a blade-based matching algorithm called rotation invariant - partial dynamic time warping (RI-PDTW). To speed up the matching, we suggest two additional techniques: i) priority queue-based pruning of unnecessary blade sequences for rotational invariance, and ii) lower bound-based pruning of unnecessary partial dynamic time warping (PDTW) calculations. We implemented a prototype system on the GEMINI framework [1][2]. Using experimental results, we showed that our scheme achieves excellent performance compared to competitive schemes.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.7 no.4
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• pp.35-41
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• 1998

The workplace noise environment is composed of three basic elements : manufacturing (in a generic sense) facilities, office areas, and the community around the facility. Work must be done by all employees , and this involves communication within a variety of locations within the facility ; areas may be extremely noisy, moderately noisy, or quiet, such as an office. At the same time, the facility should not be annoying to the community. In this paper, the workplace environmental noise of office areas in power plant are studied. Turbine generator in power plant generates the noise of 90∼95 dB(A) in the frequency range of 1 kHz, which may cause occupational hearing loss. By abatement method which are made of isolation material and distance damping effect, about 29.5 dB(A) reduction has been obtained in office areas of the Power Plant . But, the workplace environmental noise of office areas in the power plant is not suited to office's purpose.

• Journal of Industrial Technology
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• v.15
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• pp.23-32
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• 1995

The methodology of automatic generation of tool path for rough cutting of a sculptured surface is proposed with the improved contouring method, unequal level line machining. Considering the surface shape and the diameter of the endmill, the distance between level lines is obtained. To improve MMR, initial rough cutting is processed with the large diameter endmill and the remained material is removed by the relatively small diameter endmill. Tool path is generated from the offset curve of respective level line and the interferences between the tool and workpiece are automatically avoided. After generating NC part program, the sculptured surface is machined at the vertical machining center. From the experimental results, total cutting length and machining time are reduced more effectively than conventional contouring methods.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.12
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• pp.35-44
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• 1994

In this paper, we propose a new modification method of the look-up table in self-organizing fuzzy control using look-up table. This method has the property that look-up table is modified to have fast response property. Its principle is that the controller forces the trajectory to go into the fast respose region which the error change amount is larger than the error at initial time whenever the reference or disturbance change. Also we introduce the variable learning speed coefficient which is proportional to distance from switching curve. And to demonstrate the applicability of the proposed method, we had simulation study for some examples and esecuted pole balance experiments with inverted pendulum.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.2
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• pp.429-435
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• 2010

Three dimensional (3-D) object detection and pose estimation from a single view query image has been an important issue in various fields such as medical applications, robot vision, and manufacturing automation. However, most of the existing methods are not appropriate in a real time environment since object detection and pose estimation requires extensive information and computation. In this paper, we present a fast 3-D object detection and pose estimation scheme based on surrounding camera view-changed images of objects. Our scheme has two parts. First, we detect images similar to the query image from the database based on the shape feature, and calculate candidate poses. Second, we perform accurate pose estimation for the candidate poses using the scale invariant feature transform (SIFT) method. We earned out extensive experiments on our prototype system and achieved excellent performance, and we report some of the results.

• Korean Institute of Interior Design Journal
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• v.21 no.5
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• pp.106-113
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• 2012

A study on techniques to evaluate auditorium assignment visible efficiency using three-dimensional simulation. The most important thing to be considered is to ensure the visibility to the podium upon assigning auditorium of venues, classrooms or seminar rooms. However, since there are so many variables to be considered such as the form of the stage, the area and height of the stage, size of screen, and the distance and angle of the auditorium from the podium, the methods to assign auditorium are staying at the level of basic for a long time. Thus, in this study, we proposed simulation methodology to quantitatively evaluate the three-dimensional visible efficiency based on Visual Graph Analysis (VGA) theory. After analytical methodology manufactures application, it sets examples of visibility depending on location of screen, visibility depending on degree of height difference and visibility about three-dimensional Mass Zoning like a stage and verifies the efficacy. In addition, based on results, visibility expectation curve is drawn and the method to calculate the stepped height depending on necessary visibility is proposed.

• The Korean Journal of Physiology
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• v.5 no.2
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• pp.15-27
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• 1971

Physiological analysis of the physical exercise was made on 9 subjects performing mountain climbing. The course between two points (256 and 516 meters altitude) was 1,300 meters in distance and difference of vertical height was 260 meters making the mean grade of 20%. In the field, the heart rates during uphill or downhill walk were recorded by EKG radio-telemetry. In the laboratory, oxygen consumption was obtained by the recorded heart rates, using individual heart rate vs oxygen consumption diagram obtained by treadmill test. the following results were obtained. 1. Uphill walk time was 36.5 minutes, and during this period the mean heart rate was 149.0 heats/min and peak heart rate was 169.2 beats/min. The total heart beats during the uphill walk was 5.433 beats. 2. The ratio of individual mean heart rate during the uphill walk to the maximal heart rate distributed between 66.6% and 98.3%, and the mean of the total group was 83.1%. The ratio of peak heart rate of uphill walk to the maximal heart rate was 94.5% in the group. Thus uphill walk of a 20% grade mountain course was an exhaustive exercise. 3. Oxygen consumption during uphill walk was 2.22 l/min (ranged between 1.79 and 2.70 l/min) and the ratio of this to the resting oxygen consumption was 8.31. The peak value of oxygen consumption during uphill walk was 2.73 l/min and the ratio of this to the resting oxygen consumption was 10.39. 4. Energy expenditure during uphill walk showed a mean of 11.1 kcal/min and the peak expenditure rate was 13.6 kcal/min. The total energy expenditure during 36.5 minutes of uphill walk was 396 kcal. 5. In downhill walk, the time was 31.7 minutes, mean heart rate was 118.4 (ranged between 100.1 and 142.7) beats/min, and the peak heart rate was only 129.4 beats/min. The ratio of mean heart rate to the maximal heart rate was 66.3%. Total heart beats during downhill walk was 3,710 beats. The ratio of downhill oxygen consumption to the resting consumption was 5.70. The rate of energy expenditure was 7.5 kcal/min, and the total onery expenditure during the 31.7 minutes of downhill walk was 228 kcal. 6. The effect of training was manifest in the uphill walk and not in the downhill walk. After training in mountain course walk, i) the uphill time was shortened, ii) mean heart rate increased, iii) time vs heart rate curve became smooth and showed less frequent zig-zag, i.e., the depth of trough on the curve decreased and the magnitude was less than 10 beats. In non-trained subject the depth of trough on the curve was greater than 50 beats and appeared more frequently. 7. Mountain climbing is a good health promotion exercise. For the promotion of health the reasonable amount of uphill mountain walk exercise in a 20% grade course is a walk for 40 or 50 minutes duration once a week.