• Journal of Biomedical Engineering Research
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• v.29 no.1
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• pp.32-39
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• 2008

This paper reports on a realtime OS based master-slave configuration robot control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. Surgery robot system requires control system that can process large volume information such as medical image data and video signal from endoscope in real-time manner, as well as precisely control the robot with high reliability. To meet the complex requirements, the use of high-level real-time OS (Operating System) in surgery robot controller is a must, which is as common as in many of modem robot controllers that adopt real-time OS as a base system software on which specific functional modules are implemened for more reliable and stable system. The control system consists of joint controllers, host controllers, and user interface units. The robot features a compact slave robot with 5 DOF (Degree-Of-Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously. Each master, slave and Gill (Graphical User Interface) host runs a dedicated RTOS (Real-time OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) on which functional modules such as motion control, communication, video signal integration and etc, are implemented, and all the hosts are in a gigabit Ethernet network for inter-host communication. Each master and slave controller set has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication with the joint controllers. Total 4 pairs of the master/slave manipulators as current are controlled by one host controller. The system showed satisfactory performance in both position control precision and master-slave motion synchronization in both bench test and animal experiment, and is now under further development for better safety and control fidelity for clinically applicable prototype.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.4_1
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• pp.311-318
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• 2014

The data of buildings and structures take over large portions of the mapping database with large numbers. Furthermore, those shapes and attributes of building data continuously change over time. Due to those factors, the efficient methodology of updating database for following the most recent data become necessarily. This study has purposed on extracting needed data, which has been changed, by using overlaying analysis of new and old dataset, during updating processes. Following to procedures, we firstly searched for matching pairs of objects from each dataset, and defined the classification algorithm for building updating cases by comparing; those of shape updating cases are divided into 8 cases, while those of attribute updating cases are divided into 4 cases. Also, two updated dataset are set to be automatically saved. For the study, we selected few guidelines; the layer of digital topographic map 1:5000 for the targeted updating data, the building layer of Korea Address Information System map for the reference data, as well as build-up areas in Gwanak-gu, Seoul for the test area. The result of study updated 82.1% in shape and 34.5% in attribute building objects among all.

• Kyungpook Mathematical Journal
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• v.61 no.4
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• pp.679-710
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• 2021

We study the tensor product algebra P_k(x₁) ⊗ P_k(x₂) ⊗ ⋯ ⊗ P_k(x_m), where P_k(x) is the partition algebra defined by Jones and Martin. We discuss the centralizer of this algebra and corresponding Schur-Weyl dualities and also index the inequivalent irreducible representations of the algebra P_k(x₁) ⊗ P_k(x₂) ⊗ ⋯ ⊗ P_k(x_m) and compute their dimensions in the semisimple case. In addition, we describe the Bratteli diagrams and branching rules. Along with that, we have also constructed the RS correspondence for the tensor product of m-partition algebras which gives the bijection between the set of tensor product of m-partition diagram of P_k(n₁) ⊗ P_k(n₂) ⊗ ⋯ ⊗ P_k(n_m) and the pairs of m-vacillating tableaux of shape [λ] ∈ Γ_k^m, Γ_k^m = {[λ] = (λ₁, λ₂, …, λ_m)|λ_i ∈ Γ_k, i ∈ {1, 2, …, m}} where Γ_k = {λ_i ⊢ t|0 ≤ t ≤ k}. Also, we provide proof of the identity $(n_1n_2{\cdots}n_m)^k={\sum}_{[{\lambda}]{\in}{\Lambda}^k_{{n_1},{n_2},{\ldots},{n_m}}}$ f^[λ]m_k^[λ] where m_k^[λ] is the multiplicity of the irreducible representation of $S{_{n_1}}{\times}S{_{n_2}}{\times}....{\times}S{_{n_m}}$ module indexed by ${[{\lambda}]{\in}{\Lambda}^k_{{n_1},{n_2},{\ldots},{n_m}}}$, where f^[λ] is the degree of the corresponding representation indexed by ${[{\lambda}]{\in}{\Lambda}^k_{{n_1},{n_2},{\ldots},{n_m}}}$ and ${[{\lambda}]{\in}{\Lambda}^k_{{n_1},{n_2},{\ldots},{n_m}}}=\{[{\lambda}]=({\lambda}_1,{\lambda}_2,{\ldots},{\lambda}_m){\mid}{\lambda}_i{\in}{\Lambda}^k_{n_i},i{\in}\{1,2,{\ldots},m\}\}$ where ${\Lambda}^k_{n_i}=\{{\mu}=({\mu}_1,{\mu}_2,{\ldots},{\mu}_t){\vdash}n_i{\mid}n_i-{\mu}_1{\leq}k\}$.

• Nuclear Engineering and Technology
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• v.55 no.1
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• pp.339-352
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• 2023

Prediction of the time-related traits of pebble flow inside pebble-bed HTGRs is of great significance for reactor operation and design. In this work, an image-driven approach with the aid of a convolutional neural network (CNN) is proposed to predict the remaining time of initially loaded pebbles and the time interval of paired flow images of the pebble bed. Two types of strategies are put forward: one is adding FC layers to the classic classification CNN models and using regression training, and the other is CNN-based deep expectation (DEX) by regarding the time prediction as a deep classification task followed by softmax expected value refinements. The current dataset is obtained from the discrete element method (DEM) simulations. Results show that the CNN-aided models generally make satisfactory predictions on the remaining time with the determination coefficient larger than 0.99. Among these models, the VGG19+DEX performs the best and its CumScore (proportion of test set with prediction error within 0.5s) can reach 0.939. Besides, the remaining time of additional test sets and new cases can also be well predicted, indicating good generalization ability of the model. In the task of predicting the time interval of image pairs, the VGG19+DEX model has also generated satisfactory results. Particularly, the trained model, with promising generalization ability, has demonstrated great potential in accurately and instantaneously predicting the traits of interest, without the need for additional computational intensive DEM simulations. Nevertheless, the issues of data diversity and model optimization need to be improved to achieve the full potential of the CNN-aided prediction tool.

• Journal of Intelligence and Information Systems
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• v.24 no.2
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• pp.171-193
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• 2018

LOD(Linked Open Data) cloud is a practical implementation of semantic web. We suggested a new method that provides identity links conveniently in LOD cloud. It also allows changes in LOD to be reflected to searching results without any omissions. LOD provides detail descriptions of entities to public in RDF triple form. RDF triple is composed of subject, predicates, and objects and presents detail description for an entity. Links in LOD cloud, named identity links, are realized by asserting entities of different RDF triples to be identical. Currently, the identity link is provided with creating a link triple explicitly in which associates its subject and object with source and target entities. Link triples are appended to LOD. With identity links, a knowledge achieves from an LOD can be expanded with different knowledge from different LODs. The goal of LOD cloud is providing opportunity of knowledge expansion to users. Appending link triples to LOD, however, has serious difficulties in discovering identity links between entities one by one notwithstanding the enormous scale of LOD. Newly added entities cannot be reflected to searching results until identity links heading for them are serialized and published to LOD cloud. Instead of creating enormous identity links, we propose LOD to prepare its own link policy. The link policy specifies a set of target LODs to link and constraints necessary to discover identity links to entities on target LODs. On searching, it becomes possible to access newly added entities and reflect them to searching results without any omissions by referencing the link policies. Link policy specifies a set of predicate pairs for discovering identity between associated entities in source and target LODs. For the link policy specification, we have suggested a set of vocabularies that conform to RDFS and OWL. Identity between entities is evaluated in accordance with a similarity of the source and the target entities' objects which have been associated with the predicates' pair in the link policy. We implemented a system "Change Acceptable In-Depth Searching System(CAIDS)". With CAIDS, user's searching request starts from depth_0 LOD, i.e. surface searching. Referencing the link policies of LODs, CAIDS proceeds in-depth searching, next LODs of next depths. To supplement identity links derived from the link policies, CAIDS uses explicit link triples as well. Following the identity links, CAIDS's in-depth searching progresses. Content of an entity obtained from depth_0 LOD expands with the contents of entities of other LODs which have been discovered to be identical to depth_0 LOD entity. Expanding content of depth_0 LOD entity without user's cognition of such other LODs is the implementation of knowledge expansion. It is the goal of LOD cloud. The more identity links in LOD cloud, the wider content expansions in LOD cloud. We have suggested a new way to create identity links abundantly and supply them to LOD cloud. Experiments on CAIDS performed against DBpedia LODs of Korea, France, Italy, Spain, and Portugal. They present that CAIDS provides appropriate expansion ratio and inclusion ratio as long as degree of similarity between source and target objects is 0.8 ~ 0.9. Expansion ratio, for each depth, depicts the ratio of the entities discovered at the depth to the entities of depth_0 LOD. For each depth, inclusion ratio illustrates the ratio of the entities discovered only with explicit links to the entities discovered only with link policies. In cases of similarity degrees with under 0.8, expansion becomes excessive and thus contents become distorted. Similarity degree of 0.8 ~ 0.9 provides appropriate amount of RDF triples searched as well. Experiments have evaluated confidence degree of contents which have been expanded in accordance with in-depth searching. Confidence degree of content is directly coupled with identity ratio of an entity, which means the degree of identity to the entity of depth_0 LOD. Identity ratio of an entity is obtained by multiplying source LOD's confidence and source entity's identity ratio. By tracing the identity links in advance, LOD's confidence is evaluated in accordance with the amount of identity links incoming to the entities in the LOD. While evaluating the identity ratio, concept of identity agreement, which means that multiple identity links head to a common entity, has been considered. With the identity agreement concept, experimental results present that identity ratio decreases as depth deepens, but rebounds as the depth deepens more. For each entity, as the number of identity links increases, identity ratio rebounds early and reaches at 1 finally. We found out that more than 8 identity links for each entity would lead users to give their confidence to the contents expanded. Link policy based in-depth searching method, we proposed, is expected to contribute to abundant identity links provisions to LOD cloud.

• MISULJARYO - National Museum of Korea Art Journal
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• v.98
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• pp.176-199
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• 2020

In 2018, the National Museum of Korea purchased a pair of Japanese folding screens, respectively entitled Gathering on the Year's First "Day of the Rat" and Boating on the Oi River. Both of these two screens (hereinafter collectively referred to as the "NMK edition") have a gold background that bears the seal and ink inscription of Tosa Mitsuyoshi (1700-1772), who served as edokoro azukari, a painter in the court of Kyoto. According to the seller in New York, the screens were brought from Japan to the United States in the early twentieth century, but no other details are known. Each folding screen has six panels. The screen on the right (i.e., Gathering…) depicts "nenohi no asobi," an annual event conducted on the first "day of the rat" (according to the Asian zodiacal calendar), wherein the Kyoto imperial court ventured to the woods to gather pine seedlings. The left screen (i.e., Boating…) shows three boats traveling down the Oi River in Kyoto, representing the ritual known as "mifune" (literally, "three boats"), which involves three boats representing Chinese classical poetry (kansi), Japanese classical poetry (waka), and Japanese imperial music and dance (gagaku). Notably, these two screens are identical in theme and iconography to two screens with the same respective titles that were commissioned by Emperor Komei (1831-1867) and painted by Ukita Ikkei (1795-1859), an artist of the Yamato-e Revivalist School (fukko yamato-e), now in the collection of Sennyu-ji Temple in Kyoto (hereinafter collectively referred to as the "Sennyu edition"). While both of these themes have been painted independently numerous times, the NMK edition and Sennyu edition are the only known cases of the themes being painted as a single set. According to Diary of Official Business Between the Court and Shogunate (the journal of a court official named Hirohashi Kanetane, 1715-1781), Tosa Mitsuyoshi was commissioned in 1760 to replace the fusuma (rectangular sliding panels) of Tsunegoten, one of the buildings of the Kyoto Imperial Palace, which had been built in 1709. Notably, records show that Tsunegoten once contained a series of fusuma painted by an artist of the Kano school on the themes "Outdoor Procession on a Spring Day" and "Three Boats Cruising on the Oi River." Hence, it seems probable that Tosa Mitsuyoshi was influenced by the theme and iconography of the existing fusuma in producing his own folding screens depicting the court's visit to the forest and a cruise on the Oi River. While the practice of collecting pine seedlings on the first "rat day" of the year was an auspicious event to pray for longevity, the mifune ritual was intended to honor the greatest talents of the three aforementioned arts, which were of crucial importance to the court of Kyoto. Folding screens with such auspicious themes were commonly featured at the ceremony to enthrone the emperor or empress. Significantly, the Diary of Official Business Between the Court and Shogunate also records that Tosa Mitsuyoshi, while working as a court artist, produced two pairs of folding screens for the coronation of Empress Go Sakuramachi (1762-1771), which was held in 1763. Hence, research suggests that the NMK edition is one of the pairs of royal folding screens produced at that time.

• 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.

• Neonatal Medicine
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• v.18 no.2
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• pp.320-327
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• 2011

Purpose: To determine the effect of changing practice guidelines designed to avoid hyperoxia or hypoxia in very low birth weight or very preterm infants. Methods: We analyzed a database of <1,500 g birth weight or <32 weeks of gestation infants who were born and admitted to the neonatal intensive care unit of Chungnam National University Hospital from January 2007 to July 2010. First, we defined the relationship between arterial partial pressure of oxygen ($PaO_2$) and pulse oxygen saturation ($SpO_2$). When we evaluated 96 pairs of $PaO_2$ and $SpO_2$ measurements, oxygen saturation was 90-94% at a $PaO_2$ of 43-79 mmHg on the oxyhemoglobin dissociation curve, according to pulse oximetry. Based on this observation, a change in practice was instituted in August 2008 with the objective of avoiding hypoxia and hyperoxia in preterm infants with targeting a $SpO_2$ 90-94% (period II). Before the change in practice, high alarms for $SpO_2$ were set at 100% and low alarms at 95% (period I). Results: Sixty-eight infants the met enrollment criteria and 38 (56%) were born during period II, after the change in $SpO_2$ targets. Demographic characteristics, except gender, were similar between the infants born in both periods. After correcting for the effect of confounding factors, the rates for mortality, severe retinopathy of prematurity, and IVH attended to be lower than those for infants in period II. No difference in the rate of patent ductus arteriosus needed to treat was observed. Conclusion: A change in the practice guidelines aimed at avoiding low oxygen saturation and hyperoxia did not increase neonatal complication rates and showed promising results, suggesting decreased mortality and improvements in short term morbidity. It is still unclear what range of oxygen saturation is appropriate for very preterm infants but the more careful saturation targeting guideline should be considered to prevent hypoxemic events and hyperoxia.

• Korean Journal of Cognitive Science
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• v.3 no.1
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• pp.61-78
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• 1991

This paper descibes the study of application of a modified Neocognitron model with backward path for the recognition of Hangul(Korean) syllabic characters. In this original report, Fukushima demonstrated that Neocognitron can recognize hand written numerical characters of $19{\times}19$ size. This version accepts $61{\times}61$ images of handwritten Hangul syllabic characters or a part thereof with a mouse or with a scanner. It consists of an input layer and 3 pairs of Uc layers. The last Uc layer of this version, recognition layer, consists of 24 planes of $5{\times}5$ cells which tell us the identity of a grapheme receiving attention at one time and its relative position in the input layer respectively. It has been trained 10 simple vowel graphemes and 14 simple consonant graphemes and their spatial features. Some patterns which are not easily trained have been trained more extrensively. The trained nerwork which can classify indivisual graphemes with possible deformation, noise, size variance, transformation or retation wre then used to recongnize Korean syllabic characters using its selective attention mechanism for image segmentation task within a syllabic characters. On initial sample tests on input characters our model could recognize correctly up to 79%of the various test patterns of handwritten Korean syllabic charactes. The results of this study indeed show Neocognitron as a powerful model to reconginze deformed handwritten charavters with big size characters set via segmenting its input images as recognizable parts. The same approach may be applied to the recogition of chinese characters, which are much complex both in its structures and its graphemes. But processing time appears to be the bottleneck before it can be implemented. Special hardware such as neural chip appear to be an essestial prerquisite for the practical use of the model. Further work is required before enabling the model to recognize Korean syllabic characters consisting of complex vowels and complex consonants. Correct recognition of the neighboring area between two simple graphemes would become more critical for this task.

• Korean Journal of Poultry Science
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• v.28 no.2
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• pp.135-142
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• 2001

A novel sterategy has been established to determine the origin of the Primordial Germ Cells (PGCs) in avian embryos directly and the developmental fate of the PGCs for the application to Poultry biotechnology. Cells were removed from 1) the centre of area pellucida, 2) the outer of area pellucida and 3) the area opaca of the stage X blastoderm (Eyal-Giladi & Kochav, 1976). When the cells were removed from the centre of area pellucida, the mean number of circulating PGCs in blood was significantly decreased in the embryo at stage 15 (Hamburger & Hamilton, 1951) as compared to intact embryos. When the cells were replenished with donor cells, no reduction in the PGCs number was observed. The removal of cells at the outer of area pellucida or at the area opaca had no effect on the number of PGCs. In case, another set of the manipulated embryos were cultured ex vivo to the hatching and reared to the sexual maturity, the absence of germ cells and degeneration of seminiferous tubules was observed in resulting chickens derived from the blastoderm in which the cells were removed from the centre of the area pellucida. It was concluded that the avian Primordial Germ cells are originated at the center of area pellucida. Developmental ability of the cells to differentiate into somatic cells and germ cells in chimeras were analyzed. Somatic chimerism was detected as black feather attributed from donor cells. Molecular identification by use of female - specific DNA was performed. It was confirmed that the donor cells could be differentiated into chimeric body and erythrocytes. Donor cells retained the ability to differentiate into germline in chimeric gonads. More than 70% of the generated chimeras transmitted donor derived gametes to their offspring indicating that the cells at the center of area pellucida had the high ability to differentiate into germ cells. A molecular technique to identify germline chimerism has been developed by use of gene scan analysis. Strain specific DNA fragments were amplified by the method. It would be greatly contributed for the detection of germline chimerism. Mixed- sex chimeras which contained both male and female cells were produced to investigate the developmental fate of male and female cells in ovary and testes. The sex combinations of donor and recipient of the resulting chimeras were following 4 pairs; (1) chimeras (ZZ/ZZ) produced by a male donor (ZZ) and a male recipient (ZZ), (2) chimeras (ZW/ZW) produced by a female donor (ZW) and a female recipient (ZW), (3) chimeras (ZZ/ZW) Produce by a male donor (ZZ) and a female recipient (ZW), (4) chimeras (ZW/ZZ) produced by a female donor (ZW) and a male recipient (ZZ). It was found that genetically male avian germ cells could differentiate into functional ova and that genetically female germ cells can differentiate into functional spermatozoa in the gonad of the mixed- sex chimeras. An ability for introduction of exogenous DNA into the PGCs from stage X blastoderms were analyzed. Two reporter genes, SV-$\beta$gal and RSV-GFP, were introduced into the PGCs. Expression of bacterial/gal was improved by complexing DNA with liposome detectedcc in 75% of embryos at 3 days embryos. At the embryos incubated for 1 day, expression of the GFP was observed all the embryos. At day 3 of incubation, GFP was detected in about 70% of the manipulated embryos. In case of GFP, expression of the transgene was detected in 30 %e of the manipulated embryos. These results suggested that the cells is one of the most promising vectors for transgenesis. The established strategy should be very powerfull for application to poultry biotechnology.