• Current Research on Agriculture and Life Sciences
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• v.31 no.2
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• pp.131-138
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• 2013

The precision aerial application of small farms, such as paddy, upland and orchard fields using agricultural unmanned helicopters became a new paradigm. The objective of this study was to evaluate the performance of a GPS module and algorithm, controlling drift of agricultural helicopter by the crosswind and maintaining the position for emergency landing. Purpose of the drift control, of which an algorithm works while hovering is related with the emergency sequence that coping with abnormal conditions of rotorcraft system. However, the inertial attitude control cannot detect a drifting motion of fuselage moving at the constant velocity, thus the crosswind takes the helicopter away from the landing position. Performance of the drift control module, based on the GPS that a hovering position did not deviate within 5m in diameter, were tested and evaluated. Initially, the reaction against a disturbing gust wind was sensitive, soon the helicopter maintained its locking position and azimuth within 5m in diameter. It was, however, difficult for the helicopter to recognize the swaying and nodding, the some deviation was expected due to the discrepancy characteristics of the GPS signal. The performance of the drift control proved the effectiveness of the module to maintain the position against an unintended drift during the emergency landing or hovering.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.11
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• pp.1349-1354
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• 2013

Sealing structure to prevent flowing hot gas into the driving device, located between the driving shaft and the liner of On-Off valve for controlling the hot gas flow path was studied. Wear occurs due to the constant movement of the driving shaft controlled by actuator on graphite as the sealing material. In this paper, the dynamic wear behavior in high temperature of graphite(HK-6) to be used as sealing material was evaluated. Reciprocating wear test was carried out for the graphite(HK-6) to the relative motion between shaft materials(W-25Re). The results of friction coefficient and specific wear rate according to contact load, sliding speed at room temperature and $485^{\circ}C$ considering the actual operating environment were evaluated. Through the SEM analysis of the worn surface, third body as lubricant films were observed and lubricant effect of third body was considered.

• Science of Emotion and Sensibility
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• v.14 no.1
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• pp.1-6
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• 2011

A perceptual reaction to human being's gaits has "regularity" that possibly obtains sympathy among people. This thesis is in the vein of the study that performs the research on the quantificational extraction of the regularity, reconstitute the result, and apply it to controlling behavior. The purpose of this thesis lies in assuring the validity of the future research by demonstrating the following hypothesis: when the physical numerical values of the gait "A" whose perceptual reaction is "a" and those of the gait "B" whose perceptual reaction is "b" are arbitrarily blended, the perceptual reaction to this blended gait also corresponds to the blend of "a" and "b", "a/b". I blended the samples of two types of gaits in the form of Bipeds using the EAM made by 3D Studio Max Script. Blending outcomes were obtained successfully for four times out of the six tries in total. It implies that without utilizing other methods such as Motion Capturing, the basic Bipeds data itself has an enough capability to generate various gaits of Bipeds. Although the present research targets only the Bipeds samples equipped with the 1Cycle moving condition of arms and legs, I acknowledge that a tool that makes blending possible under various moving conditions is necessary for a completed system.

• Journal of the Korea Convergence Society
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• v.10 no.1
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• pp.371-380
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• 2019

Electromygram was measured in three different cases; not wearing of a helmet, wearing of a 920g helmet, and wearing of a 1310g helmet, and it was revealed that there was a high level of muscle activities on the opposite side (sternocleidomastoid muscle) while the head and the neck were moving right and left and muscle activities of the curve and of the hyperextension were found to be not significant. Especially, the presence of a helmet seemed to cause a difference in a level of muscle activities on the deltoid and erector spine muscles while lifting or lowering with a weight placed on the deniz backboard. Therefore, it would be possible to assume that this newly developed smart helmet would not affect muscles around the necks of paramedics if they do not move their necks and heads right and left while lowering or lifting a patient using the deniz backboard. In addition, in case of the deltoid and erector spine muscles, it is shown that an increase in the degree of movement could lead to an increase in the level of muscle activities on the muscles controlling of the corresponding action, which are waist and back muscles. Despite it, it would be possible to prevent possible injuries and/or muscular and skeletal diseases around the lumbar by fully complying with a basic rule of straightening of the waist while making a power-lifting motion.

• Journal of the Korean Society of Marine Environment & Safety
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• v.24 no.7
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• pp.953-959
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• 2018

This paper deals with controlling surge oscillations of a mooring vessel system under large external disturbances such as wind, waves and currents. A control synthesis based on Sliding Mode Control (SMC) with a Super-Twisting Algorithm (STA) has been applied to suppress nonlinear surge oscillations of a two-point mooring system. Despite the advantages of robustness against parameter uncertainties and disturbances for SMC, chattering is the main drawback for implementing sliding mode controllers. First-order SMC shows convergence within the desired level of accuracy, in which chattering is the main obstacle related to the destructive phenomenon. Alternatively, STA completely eliminates chattering phenomenon with high accuracy even for large disturbances. SMC based on STA is an effective tool for the motion control of a nonlinear mooring system because it avoids the chattering problems of a first-order sliding mode controller. In addition, the error trajectories of controlled mooring systems implemented by means of STA form in the bounded region. Finally, the control gain effect of STA can be observed in sliding surface and position trajectory errors.

• Journal of the Korea Computer Graphics Society
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• v.29 no.5
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• pp.1-9
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• 2023

The control technology of animatronics is an interesting topic explored in various fields, including engineering, medicine, and art, with ongoing research efforts. The conventional method for controlling the movement of animatronics is to use electric motors installed inside the body. However, this method is difficult to apply when expressing a narrow space inside the body. In this study, a method of using external forces instead of installing mechanical devices inside the body was proposed to control the movement of a thin and long tentacle organism. Specifically, in this study, the joint body of animatronics was made of magnetic metal material so that it could be affected by the force of an externally installed electromagnet. The strength of the electromagnet was controlled by a PID controller to enable real-time control of the position of the animatronics body. In addition, the magnet was made to rotate, and the speed of rotation was changed to create various movements. Through virtual environment simulations, our experiments demonstrate the superiority of the proposed method, showcasing real-time control by users and the creation of animations in various styles.

• Clinics in Shoulder and Elbow
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• v.26 no.3
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• pp.231-237
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• 2023

Background: In the past decade, the number of anatomic total shoulder arthroplasty (aTSA) procedures has steadily increased. Patients over 65 years of age comprise the vast majority of recipients, and outcomes have been well documented; however, patients are opting for definitive surgical treatment at younger ages.We aim to report on the effects of age on the long-term clinical outcomes following aTSA. Methods: Among the patients who underwent TSA, 119 shoulders were retrospectively analyzed. Preoperative and postoperative clinical outcome data were collected. Linear regression analysis (univariate and multivariate) was conducted to evaluate the associations of clinical outcomes with age. Kaplan-Meier curves and Cox regression analyses were performed to evaluate implant survival. Results: At final follow-up, patients of all ages undergoing aTSA experienced significant and sustained improvements in all primary outcome measures compared with preoperative values. Based on multivariate analysis, age at the time of surgery was a significant predictor of postoperative outcomes. Excellent implant survival was observed over the course of this study, and Cox regression survival analysis indicated age and sex to not be associated with an increased risk of implant failure. Conclusions: When controlling for sex and follow-up duration, older age was associated with significantly better patient-reported outcome measures. Despite this difference, we noted no significant effects on range of motion or implant survival. Level of evidence: IV.

• Journal of Intelligence and Information Systems
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• v.17 no.1
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• pp.53-69
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• 2011

Vision and voice-based technologies are commonly utilized for human-robot interaction. But it is widely recognized that the performance of vision and voice-based interaction systems is deteriorated by a large margin in the real-world situations due to environmental and user variances. Human users need to be very cooperative to get reasonable performance, which significantly limits the usability of the vision and voice-based human-robot interaction technologies. As a result, touch screens are still the major medium of human-robot interaction for the real-world applications. To empower the usability of robots for various services, alternative interaction technologies should be developed to complement the problems of vision and voice-based technologies. In this paper, we propose the use of accelerometer-based gesture interface as one of the alternative technologies, because accelerometers are effective in detecting the movements of human body, while their performance is not limited by environmental contexts such as lighting conditions or camera's field-of-view. Moreover, accelerometers are widely available nowadays in many mobile devices. We tackle the problem of classifying acceleration signal patterns of 26 English alphabets, which is one of the essential repertoires for the realization of education services based on robots. Recognizing 26 English handwriting patterns based on accelerometers is a very difficult task to take over because of its large scale of pattern classes and the complexity of each pattern. The most difficult problem that has been undertaken which is similar to our problem was recognizing acceleration signal patterns of 10 handwritten digits. Most previous studies dealt with pattern sets of 8~10 simple and easily distinguishable gestures that are useful for controlling home appliances, computer applications, robots etc. Good features are essential for the success of pattern recognition. To promote the discriminative power upon complex English alphabet patterns, we extracted 'motion trajectories' out of input acceleration signal and used them as the main feature. Investigative experiments showed that classifiers based on trajectory performed 3%~5% better than those with raw features e.g. acceleration signal itself or statistical figures. To minimize the distortion of trajectories, we applied a simple but effective set of smoothing filters and band-pass filters. It is well known that acceleration patterns for the same gesture is very different among different performers. To tackle the problem, online incremental learning is applied for our system to make it adaptive to the users' distinctive motion properties. Our system is based on instance-based learning (IBL) where each training sample is memorized as a reference pattern. Brute-force incremental learning in IBL continuously accumulates reference patterns, which is a problem because it not only slows down the classification but also downgrades the recall performance. Regarding the latter phenomenon, we observed a tendency that as the number of reference patterns grows, some reference patterns contribute more to the false positive classification. Thus, we devised an algorithm for optimizing the reference pattern set based on the positive and negative contribution of each reference pattern. The algorithm is performed periodically to remove reference patterns that have a very low positive contribution or a high negative contribution. Experiments were performed on 6500 gesture patterns collected from 50 adults of 30~50 years old. Each alphabet was performed 5 times per participant using $Nintendo{(R)}$ $Wii^{TM}$ remote. Acceleration signal was sampled in 100hz on 3 axes. Mean recall rate for all the alphabets was 95.48%. Some alphabets recorded very low recall rate and exhibited very high pairwise confusion rate. Major confusion pairs are D(88%) and P(74%), I(81%) and U(75%), N(88%) and W(100%). Though W was recalled perfectly, it contributed much to the false positive classification of N. By comparison with major previous results from VTT (96% for 8 control gestures), CMU (97% for 10 control gestures) and Samsung Electronics(97% for 10 digits and a control gesture), we could find that the performance of our system is superior regarding the number of pattern classes and the complexity of patterns. Using our gesture interaction system, we conducted 2 case studies of robot-based edutainment services. The services were implemented on various robot platforms and mobile devices including $iPhone^{TM}$. The participating children exhibited improved concentration and active reaction on the service with our gesture interface. To prove the effectiveness of our gesture interface, a test was taken by the children after experiencing an English teaching service. The test result showed that those who played with the gesture interface-based robot content marked 10% better score than those with conventional teaching. We conclude that the accelerometer-based gesture interface is a promising technology for flourishing real-world robot-based services and content by complementing the limits of today's conventional interfaces e.g. touch screen, vision and voice.

• Journal of KIISE:Computing Practices and Letters
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• v.9 no.3
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• pp.322-331
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• 2003

As the complexity of a 3D game is increased by various factors of the game scenario, it has a problem for controlling the interrelation of the game objects. Therefore, a game system has a necessity of the coordination of the responses of the game objects. Also, it is necessary to control the behaviors of animations of the game objects in terms of the game scenario. To produce realistic game simulations, a system has to include a structure for designing the interactions among the game objects. This paper presents a method that designs the dynamic control mechanism for the interaction of the game objects in the game scenario. For the method, we suggest a game agent system as a framework that is based on intelligent agents who can make decisions using specific rules. Game agent systems are used in order to manage environment data, to simulate the game objects, to control interactions among game objects, and to support visual authoring interface that ran define a various interrelations of the game objects. These techniques can process the autonomy level of the game objects and the associated collision avoidance method, etc. Also, it is possible to make the coherent decision-making ability of the game objects about a change of the scene. In this paper, the rule-based behavior control was designed to guide the simulation of the game objects. The rules are pre-defined by the user using visual interface for designing their interaction. The Agent State Decision Network, which is composed of the visual elements, is able to pass the information and infers the current state of the game objects. All of such methods can monitor and check a variation of motion state between game objects in real time. Finally, we present a validation of the control method together with a simple case-study example. In this paper, we design and implement the supervised classification systems for high resolution satellite images. The systems support various interfaces and statistical data of training samples so that we can select the most effective training data. In addition, the efficient extension of new classification algorithms and satellite image formats are applied easily through the modularized systems. The classifiers are considered the characteristics of spectral bands from the selected training data. They provide various supervised classification algorithms which include Parallelepiped, Minimum distance, Mahalanobis distance, Maximum likelihood and Fuzzy theory. We used IKONOS images for the input and verified the systems for the classification of high resolution satellite images.

• Korean Journal of Heritage: History & Science
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• v.53 no.3
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• pp.62-79
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• 2020

The rock-carved seated Avalokiteśvara statue at Ganghwa Bomunsa Temple is a giant rock-carved Buddhist statue that was built in 1928 during the Japanese colonial era. Although it is a year-recorded Buddhist statue that occupies a prominent place in modern Korean Buddhist sculpture history, it has not been the subject of in-depth discussion due to weak research on modern Buddhist sculptures. In this study, to examine the various significant aspects of the rock-carved Seated Avalokiteśvara statue at Bomunsa Temple as a modern Buddhist sculpture, I have managed to determine its construction year, artificers, and patrons by deciphering the inscription around the rock-carved statue; in addition I have researched the effects of the rock shapes and landforms on the formation of the Buddhist statue by comparing and analyzing the points of view of both artificers and worshipers. I have also identified the specific circumstances of the time of construction from interviews with the descendants of artificers. A monk from Geumgangsan Mountain, Lee Hwaeung, took the role of sponsor and chief painter to construct the rock-carved seated Avalokiteśvara statue at Bomunsa temple. In the beginning of its construction in 1928, more than 100 donators jointly sponsored the construction of the statue. Gansong Jeon Hyoungphil sponsored alone at the time of the place of worship's expansion in 1938. Bomunsa Temple has been regarded as one of the top-three sacred places of Avalokiteśvara Bodhisattva together with Naksansa Temple in Yang Yang and Boriam in Nam Hae, due to the construction of the rock-carved statue. It took about three months to construct the statue. Lee Hwaeung drew a rough sketch and then Un Songhag and five masons from Ganghwa Island took part in the carving process. We can observe the line drawing technique around the rock-carved statue because the statue was carved based on the rough sketch of the monk painter. The aspect of Lee Hwaeung as a painter is revealed; therefore, we can identify the clue of painting pattern leading to Seogongchulyou- Hwaunghyoungjin- Ilonghyegag. The rock-carved seated Avalokiteśvara statue at Bomunsa Temple is a typical Avalokiteśvara that wears a jeweled crown and holds Kundica. It makes a strong impression as it has a big square-shaped face and a short neck and is unsophisticated in general. The artificers solved the issue of visual distortion of the rock-carved statue caused by carving on a 10-meter high and 40-degree sloping rock by controlling motion to its maximum, omitting detailed expression by emphasizing symmetry, and adjusting the head-to-body proportion to be almost one-to-one. In this study, especially, I presume the unified form of sacred sculptures and Buddhist altars, without making a Buddhist altar like the rock-carved seated Avalokiteśvara statue at Bomunsa Temple, to be a key characteristic of modern Buddhist sculptures. Furthermore, I make newly clear that the six letters of Sanskrit carved on nimbus, which had been interpreted as a Six-Syllable Mantra, are a combination with Jeongbeopgye and Sabang Mantras. In addition, three iron rings driven on eaves rock were used as a reference point, and after construction they were used as a decoration for the Bodhisattva with hanging wind chimes.