• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.196-202
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• 2024

The ability to understand given environments and plan a sequence of actions leading to goal state is crucial for personal service robots. With recent advancements in deep learning, numerous studies have proposed methods for state representation in planning. However, previous works lack explicit information about relationships between objects when the state observation is converted to a single visual embedding containing all state information. In this paper, we introduce graph-based state representation that incorporates both object and relationship features. To leverage these advantages in addressing the task planning problem, we propose a Graph Neural Network (GNN)-based subgoal prediction model. This model can extract rich information about object and their interconnected relationships from given state graph. Moreover, a search-based algorithm is integrated with pre-trained subgoal prediction model and state transition module to explore diverse states and find proper sequence of subgoals. The proposed method is trained with synthetic task dataset collected in simulation environment, demonstrating a higher success rate with fewer additional searches compared to baseline methods.

• Asian-Australasian Journal of Animal Sciences
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• v.32 no.11
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• pp.1725-1733
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• 2019

Objective: Evaluate the partial replacement of soybean meal with different protein sources in piglet feed during the nursery phase in terms of digestibility of feed, nitrogen balance, growth performance and blood parameters. Methods: Experiment I involved 24 crossbred entire male pigs with an initial body weight (BW) of $18.28{\pm}0.7kg$ and used a randomized complete block design consisting of 3 treatments (fish meal, FM; soybean protein concentrate, SPC; and soybean meal, SBM) and 8 replicates, with 1 pig per experimental unit. Experiment II involved 1,843 crossbred male and female pigs with an initial BW of $6.79{\pm}0.90kg$ and was based on a completely randomized design with a $2{\times}3$ factorial arrangement (2 sexes and 3 protein sources) and 13 replicates. Results: The results of Exp. I indicate effects (p<0.05) of dietary protein sources on digestible protein (FM, 17.84%; SPC, 16.72%, and SBM, 18.13%) and on total nitrogen excretion (TNE, $g/kg\;BW^{0.75}/d$) in which pigs fed with SBM-based feed had TNE values that were 5.36% and 3.72% greater than SPC and FM, respectively. In the Exp. II, there was difference (p<0.01) between sexes in the pre-starter I and starter phases, and total period in average daily feed intake (ADFI), which were greater in females, and between the protein sources, ADFI, final weight and daily weight gain. For urea in the pre-starter II and starter phases and glucose in the pre-starter II phase, there was a difference (p<0.05) between protein sources and between sexes, in starter phase in urea concentrations (females: 57.11 mg/dL and males: 50.60 mg/dL). Conclusion: The use of SBM as only protein source influences larger TNE ($g/kg\;BW^{0.75}/d$), reduces the growth performance of piglets and increases plasma urea concentrations in prestarter II phase.

• Journal of Korean Foot and Ankle Society
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• v.14 no.2
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• pp.177-181
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• 2010

Purpose: The author evaluated the clinical and radiological results after wearing the medial arch supports in children. Materials and Methods: 103 patients who had symptomatic flat feet were evaluated from march, 2002 to may 2009. All patients wore the medial arch supports according to the symptoms. We measured parameters at weight-bearing radiographs before and after medial arch support were worn. We also evaluated the clinical scores using the AOFAS score. Results: Mean age of patients was 97 months (11-204 months), all foot of patients involved bilaterally. Mean talo-first metatarsal angle of right foot was $17.7{\pm}9.4$ and left foot was $19.96{\pm}9.5$ degrees at AP radiograph in pre-wearing state. Mean calcaneal pitch angle of right foot was $12.0{\pm}5.3$ and left foot was $11.9{\pm}5.8$ degrees at lateral radiograph in pre-wearing state. Mean talo-first metatarsal angle of right foot was $14.4{\pm}8.05$ and left foot was $13.1{\pm}8.77$ degrees at AP radiograph in post-wearing state. Mean calcaneal pitch angle of right foot was $16.4{\pm}5.75$ left foot was $16.5{\pm}5.6$ degrees at lateral radiograph in post-wearing state. The radiographic angles between pre-wearing and post-wearing state were statistically significant (p<0.05). Mean pre-wearing AOFAS hindfoot score was $66.7{\pm}9.25$, midfoot score was $60.0{\pm}9.34$ forefoot score was $57.1{\pm}11.8$. Mean post-wearing AOFAS hindfoot score was $73.2{\pm}9.73$, midfoot score was $68.1{\pm}10.1$, forefoot score was $67.2{\pm}11.4$. The forefoot score was highest improving scores among the AOFAS scores. Conclusion: From our study, we concluded that medial arch support was effective for symptomatic flat feet of children in radiological and clinical results from our study.

• Steel and Composite Structures
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• v.21 no.5
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• pp.981-997
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• 2016

To avoid the cracks of cast-in-place concrete in shear pockets and seams in the traditional composite beam with precast decks, this paper proposed a new type of prefabricated steel truss-concrete composite beam (ab. PSTC beam) with pre-embedded shear studs (ab. PSS connector). To study the initial cracking load of concrete deck, the development and distribution laws of the cracks, 3 PSTC beams were tested under hogging moment. And the crack behavior of the deck was compared with traditional precast composite beam, which was assembled by shear pockets and cast-in-place joints. Results show that: (i) the initial crack appears on the deck, thus avoid the appearance of the cracks in the traditional shear pockets; (ii) the crack of the seam appears later than that of the deck, which verifies the reliability of epoxy cement mortar seam, thus solves the complex structure and easily crack behavior of the traditional cast-in-place joints; (iii) the development and the distribution laws of the cracks in PSTC beam are different from the conventional composite beam. Therefore, in the deduction of crack calculation theory, all the above factors should be considered.

• Journal of Distribution Science
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• v.14 no.6
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• pp.27-37
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• 2016

Purpose - This study aims to suggest a developmental direction to small enterprisers who start their business. The developmental direction makes the small enterprisers more stable with providing the Business District Information System service, which offers the location and business area's information aimed at pre-enterprisers after analyzing its overcrowded index's current state and problems. Research design, data, and methodology - This research proposes the developmental direction for helping the pre-small enterprisers to have more stability through examining the Business District Information System's-operated by Small Enterprise and Market Service-overcrowded index's current state and problems. Results - This system has drawbacks about giving the start-up overcrowded index as follows: ① non-accurate consultative group for sharing the DB ② providing analysis information, not evaluation information ③ not to anticipate the changes of business types & the flow of business district and perceive the symptom data with providing predictive information. Conclusions - This system should be more publicized through the mass media for making it approachable with collecting the user's opinion and investigating customer satisfaction & the level of awareness.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.6
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• pp.141-147
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• 1999

Optical disk technology with a laser beam for data recording and retrieval is one of the most promising route for high density information storage in multimedia era. As the storage density and data transfer rates are increased, mechanical issues, mainly noise and vibration, become critical. Rubber materials are extensively used in various machine design application, mainly for vibration/shock/noise control devices. Over the years an enormous effort has been put into developing procedures to provide properties of rubber components with complex shape and under pre-deformed state. In this paper, non-linear large deformations of a rubber mount for optical disk drive were investigated using the finite element method. A tension test of rubber material was performed, to calculate a strain energy function. According to the pre-deformed state, the variation of rubber mount stiffness were calculated and the reliability of numerical results were checked by compared with the measuring the deflection values. Also, the effects of the pre-deformed rubber mount on the system dynamic characteristics were investigated and the relation between the static stiffness variation of rubber mount and the natural frequence variation of system was discussed.

• The Journal of Korean Medical History
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• v.28 no.1
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• pp.1-10
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• 2015

This study examines the meaning of medical-text publication in the Joseon Dynasty by applying anthropological notions of "health care system" and "popular health care sector" to the social and political contexts of the pre-modern state. The present study focuses on the social network of senders and receivers in which medical knowledge is communicated and shared. Exploring the multi-layered structure of the network among the state, the author-practitioners, and populace, this study argues that the network of knowledge sharing system by publication of medical texts itself is a core structure in the health care system of the Joseon Dynasty. This pre-modern health care system aimed to vitalize and reinforce the "popular health care sector" by sharing medical knowledge with populace through the book-publication system. Foucault's notion of "biopolitics" provides a comparative window between the modern health care system and the health care system of the Joseon period, articulating the particularity of the pre-modern health care system.

• Steel and Composite Structures
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• v.50 no.3
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• pp.363-374
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• 2024

The fatigue life of steel wire is affected not only by fatigue load, but also by corrosion environment in service period. Specially, the corrosion pit will lead to stress concentration on the surface of steel wire inducing the formation of fatigue cracks, and the fatigue cracks will accelerate the corrosion process. Therefore, the corrosion fatigue of steel wire is a coupling effect. In this study, the corrosion-fatigue coupling life curve is derived with considering corrosion-fatigue pitting stage, corrosion-fatigue short crack stage and corrosion-fatigue long crack stage. In addition, the stress concentration factors of different corrosion pits are calculated by COMSOL software. Furthermore, the effect of corrosion environment factors, that is, corrosion rate, corrosion pit morphology, frequency and action factor of fatigue load, on fatigue life of steel wire is analyzed. And then, the corrosion-fatigue coupling life curve is compared with the fatigue life curve and fatigue life curve with pre-corrosion. The result showed that the anti-fatigue performance of the steel wire with considering corrosion-fatigue coupling is 68.08% and 41.79% lower than fatigue life curve and fatigue life curve with pre-corrosion. Therefore, the corrosion-fatigue coupling effect should be considered in the design of steel wire.

• Research in Mathematical Education
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• v.19 no.4
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• pp.229-245
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• 2015

In this study, I investigated how pre-service teachers (PSTs) proved three geometric problems by using Geometer's SketchPad (GSP) software. Based on observations in class and results from a test of geometric reasoning, eight PSTs were sorted into four of the five van Hiele levels of geometric reasoning, which were then used to predict the PSTs' levels of reasoning on three tasks involving proofs using GSP. Findings suggested that the ways the PSTs justified their geometric reasoning across the three questions demonstrated their different uses of GSP depending on their van Hiele levels. These findings also led to the insight that the notion of "proof" had somewhat different meanings for students at different van Hiele levels of thought. Implications for the effective integration of technology into pre-service teacher education programs are discussed.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.58 no.4
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• pp.526-531
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• 2009

This paper suggests the dehydration and RDF(Refuse Derived Fuel) production of organic sludge, livestock manure and sewerage sludge causing environmental problems, with hydrothermal pre-treatment process. The renewable technology from the organic wastes must involve short treatment time required, reusable energy source, anti-odor and viruses, low cost for the treatment, and well-fertilization. The hydrothermal pre-treatment process promotes to evaporate moisture in the sludge after being shortly treated in a reactor, which is supplied steam and heat by an external boiler, due to the pressure with steam breaks the cell walls of the sludge, so this process removes the internal moisture of the cell. Then, the treated sludge(solid-state) is mixed with waste vinyls called RDF(6,706kcal/kg).