• Journal of Institute of Control, Robotics and Systems
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• v.22 no.3
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• pp.192-198
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• 2016

Motion planning problem is still one of the important issues in robotic applications. In many real-time motion planning problems, it is advisable to find a feasible solution quickly and improve the found solution toward the optimal one before the previously-arranged motion plan ends. For such reasons, sampling-based approaches are becoming popular for real-time application. Especially the use of a rapidly exploring random $tree^*$ ($RRT^*$) algorithm is attractive in real-time application, because it is possible to approach an optimal solution by iterating itself. This paper presents a modified version of informed $RRT^*$ which is an extended version of $RRT^*$ to increase the rate of convergence to optimal solution by improving the sampling method of $RRT^*$. In online motion planning, the robot plans a path while simultaneously moving along the planned path. Therefore, the part of the path near the robot is less likely to be sampled extensively. For a better solution in online motion planning, we modified the sampling method of informed $RRT^*$ by combining with the sampling method to improve the path nearby robot. With comparison among basic $RRT^*$, informed $RRT^*$ and the proposed $RRT^*$ in online motion planning, the proposed $RRT^*$ showed the best result by representing the closest solution to optimum.

• Journal of computational fluids engineering
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• v.8 no.3
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• pp.12-20
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• 2003

A numerical procedure for the calculation of solidification and melting phase change using PISO algorithm is presented. In case of phase change problem, the coupling between velocity/pressure/temperature and liquid fraction is important. The converged temperature and liquid fraction solution which satisfies the energy balance is acquired by applying enthalpy method into inner iteration in matrix solver. And a modified PISO algorithm version is introduced to properly solve the coupling between velocity/pressure/temperature and liquid fraction. A comparison of the proposed procedure with a standard iterative method shows improvement both in terms of computing speed and robustness.

• The Korean Journal of Rehabilitation Nursing
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• v.7 no.2
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• pp.213-219
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• 2004

Purpose: This study was designed to explore the attitudes of physicians and nurses. Method: Attitudes were measured by using the korean version of the SADP(Scale of Attitudes toward the Disabled Persons : Choi, G. H., & Lam, C. S., 2000). A korean version SADP consist of 24-item, six-point Likert-type scale(the points are -3, -2, -1, +1, +2, +3, where -3 is disagree very much and +3 is Agree very much), measuring general attitudes toward people with disabilities. The sample included 90 physicians, 114 nurses at a university hospital in Busan. The data were collected using questionnaires, and were analyzed using frequency, percentage, mean score, standard deviation, t-test and one-way ANOVA. Result: When studying the physicians group by itself, SADP scores tended to increase with women physicians, old age, married, higher educational level, more years of experience, medical unit. When studying the nurses group by itself, SADP scores tended to increase with the age of thirty, single, educational level, more years of experience, surgical unit. But not to a statistically significant degree. Conclusion: Findings suggest that the nurses had significantly higher score than the physicians(t=-4.63, p<.001). When studying the physicians group and the nurses group by itself, not to a statistically significant degree.

• Structural Engineering and Mechanics
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• v.17 no.6
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• pp.751-766
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• 2004

This paper extends the use of the hierarchic degenerated shell element to geometric non-linear analysis of composite laminated skew plates by the p-version of the finite element method. For the geometric non-linear analysis, the total Lagrangian formulation is adopted with moderately large displacement and small strain being accounted for in the sense of von Karman hypothesis. The present model is based on equivalent-single layer laminate theory with the first order shear deformation including a shear correction factor of 5/6. The integrals of Legendre polynomials are used for shape functions with p-level varying from 1 to 10. A wide variety of linear and non-linear results obtained by the p-version finite element model are presented for the laminated skew plates as well as laminated square plates. A numerical analysis is made to illustrate the influence of the geometric non-linear effect on the transverse deflections and the stresses with respect to width/depth ratio (a/h), skew angle (${\beta}$), and stacking sequence of layers. The present results are in good agreement with the results in literatures.

• Journal of the Society of Naval Architects of Korea
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• v.33 no.1
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• pp.173-181
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• 1996

In this paper, we studied the modeling methods of initial ship structure design results using ship structure product model for concurrent engineering in shipbuilding industry. We suggested two modeling methods which are programming method using CAD commands and Macros for primary structure members. Also, we investigated three modeling procedures which are modeling procedure in unit concept, modeling procedure using version control, and modeling procedure for computer aided process planning. We demonstrated how to use the structure product modeling results in some application fields. Finally, we proposed some ideas for future research.

• Proceedings of the Acoustical Society of Korea Conference
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• 1985.10a
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• pp.87-94
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• 1985

In this paper, enhancement of speech corrupted by additive white or colored noise is stuided. The nuconstrained frequency-domain block least-mean-square (UFBLMS) adaptation algorithm and its frequency-weighted version are newly applied to speech enhancement. For enhancement of speech degraded by white noise, the performance of the UFBLMS algorithm is superior to the spectral subtraction method or Wiener filtering technique by more than 3 dB in segmented frequency-weighted signal-to-noise ratio(FWSNERSEG) when SNR of speech is in the range of 0 to 10 dB. As for enhancement of noisy speech corrupted by colored noise, the UFBLMS algorithm is superior to that of the spectral subtraction method by about 3 to 5 dB in FWSNRSEG. Also, it yields better performance by about 2 dB in FWSNR and FWSNRSEG than that of time-domain least-mean-square (TLMS) adaptive prediction filter(APF). In view of the computational complexity and performance improvement in speech quality and intelligibility, the frequency-weighted UFBLMS algorithm appears to yield the best performance among various algorithms in enhancing noisy speech corrupted by white or colored noise.

• Structural Engineering and Mechanics
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• v.4 no.2
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• pp.191-202
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• 1996

This paper presents a construction of adaptive boundary element for the problem with mixed boundary conditions such as heat transfer between heated body surface and surrounding medium. The scheme is based on the sample point error analysis and on the extended error indicator, proposed earlier by the authors for the potential and elastostatic problems, and extended successfully to multidomain and thermoelastic analyses. Since the field variable is connected with its derivative on the boundary, their errors are also interconnected by the specified condition. The extended error indicator on each boundary element is modified to meet with the situation. Two numerical examples are shown to indicate the differences due to the prescribed boundary conditions.

• Steel and Composite Structures
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• v.25 no.5
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• pp.581-591
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• 2017

The dynamic instability of truncated conical shells subjected to dynamic axial load within first order shear deformation theory (FSDT) is examined. The conical shell is made from functionally graded (FG) orthotropic material. In the formulation of problem a dynamic version of Donnell's shell theory is used. The equations are converted to a Mathieu-Hill type differential equation employing Galerkin's method. The boundaries of main instability zones are found applying the method proposed by Bolotin. To verify these results, the results of other studies in the literature were compared. The influences of material gradient, orthotropy, as well as changing the geometric dimensions on the borders of the main areas of the instability are investigated.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.8B
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• pp.502-508
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• 2007

This paper proposes a method to shut out all of the not certified network access packet by embodying the two-factor(MAC ADDRESS, ID/PASSWORD) authentication system. The Authenticating Gateway System takes over central server's policy and permit or hold up the packet by inherited policy. And checks the whether or not patched the OS version and getting influenced from computer virus. And takes the information about client's resources(H/W, S/W) without Agent in the client. That makes more stability of network operating circumstance and fast facing the attack from hackers. In the fixed mobile network circumstance, This method provides more simplicity and less expenses than IEEE802.1x authentication system(cisco nac).

• 한국전산유체공학회:학술대회논문집
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• 1998.05a
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• pp.145-155
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• 1998

A computer code has been developed for the computation of the viscous flow around a ship model with the free surface. In this code, the incompressible Reynolds-averaged Navier-Stokes equations are solved numerically by a finite difference method which employes second-order finite differences for the spatial discretization and a four-stage Runge-Kutta scheme for the temporal integration of the governing equations. For the turbulence closure, a modified version of the Baldwin-Lomax model is exploited. The location of the free surface is determined by solving the equation of the kinematic free-surface condition using the Lax-Wendroff scheme and the boundary-fitted grid is generated at each time step so that one of the grid surfaces always coincides with the free surface. An inviscid approximation of the dynamic free-surface boundary condition is applied as the boundary conditions for the velocity and pressure on the free surface. To validate the computational method and the computer code developed in the present study, the numerical computations are carried out for both Wigley parabolic hull and Series 60 $C_B=0.6$ ship model and the computational results are compared with the experimental data.