• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.5
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• pp.601-607
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• 2006

This paper proposes a novel balance control scheme of a biped robot to predict the next position of ZMP using Kalman Filter. The mathematical model of the biped robot is generally approximated by 3D-LIPM(3D-Linear Inverted Pendulum Mode), but it cannot completely express the robot's dynamics. The stability of the biped robot depends on whether the ZMP(Zero Moment Point) position is in the stability region or out of. And the internal error between the robot mechanism and its model could affect the stability of a robot. Therefore, the proposed balance control not reduces the internal error, but also timely generates the proper control. The experiment of the proposed balance control is simulated on the virtual workspace where the biped robot may encounter with various difficulties.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.333-339
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• 2019

Cobots are industrial robots with greatly enhanced safety functions that enable them to work in the same space with workers without protector. Cobots are regulated by the Industrial Safety and Health Act and must be certified according to the manufacturing stage, installation stage and usage stage. The ISO 10218-2 standard applied in the installation phase is difficult to apply in the field. Therefore, it is necessary to develop a risk assessment method based on ISO 12100 standard. This paper proposes a new methodology that combines 'JSA' and 'What-if', which reflects the human error and the lack of known risk factors. Accordingly, a new risk assessment template was proposed and the effectiveness of the developed new template was examined. The current cobot safety regulations need to be unified with safety inspections scheme, and robot safety experts and infrastructures need to be expanded and Robot safety regulations should be unified to 'Robot Act'. Based on this research, risk assessment methods suitable for the field need to be developed additionally, and robot safety regulation needs to be transformed to promote the industry.

• Structural Engineering and Mechanics
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• v.57 no.5
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• pp.809-821
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• 2016

Concentric-tube continuum robots have formed an active field of research in robotics because of their manipulative exquisiteness essential to facilitate delicate surgical procedures. A set of concentric tubes with designed initial curvatures comprises a robot whose workspace can be controlled by relative translations and rotations of the tubes. Kinematic models have been widely used to predict the movement of the robot, but they are incapable of describing its time-dependent hysteretic behaviors accurately particularly when snapping occurs. To overcome this limitation, here we present a finite element modeling approach to investigating the dynamics of concentric-tube continuum robots. In our model, each tube is discretized using MITC shell elements and its transient responses are computed implicitly using the Bathe time integration method. Inter-tube contacts, the key actuation mechanism of this robot, are modeled using the constraint function method with contact damping to capture the hysteresis in robot trajectories. Performance of the proposed method is demonstrated by analyzing three specifications of two-tube robots including the one exhibiting snapping phenomena while the method can be applied to multiple-tube robots as well.

• Advances in robotics research
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• v.1 no.1
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• pp.81-99
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• 2014

This paper contributes towards the development of a computer vision system for telemonitoring of industrial articulated robotic arms. The system aims to provide precision real time measurements of the joint angles by employing low cost cameras and visual markers on the body of the robot. To achieve this, a mathematical model that connects image features and joint angles was developed covering rotation of a single joint whose axis is parallel to the visual projection plane. The feature that is examined during image processing is the varying area of given circular target placed on the body of the robot, as registered by the camera during rotation of the arm. In order to distinguish between rotation directions four targets were used placed every $90^{\circ}$ and observed by two cameras at suitable angular distances. The results were deemed acceptable considering camera cost and lighting conditions of the workspace. A computational error analysis explored how deviations from the ideal camera positions affect the measurements and led to appropriate correction. The method is deemed to be extensible to multiple joint motion of a known kinematic chain.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.12
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• pp.6034-6056
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• 2018

This paper describes two user studies in remote collaboration between two users with a video conferencing system where a remote user can draw annotations on the live video of the local user's workspace. In these two studies, the local user had the control of the view when sharing the first-person view, but our interfaces provided instant control of the shared view to the remote users. The first study investigates methods for assisting drawing annotations. The auto-freeze method, a novel solution for drawing annotations, is compared to a prior solution (manual freeze method) and a baseline (non-freeze) condition. Results show that both local and remote users preferred the auto-freeze method, which is easy to use and allows users to quickly draw annotations. The manual-freeze method supported precise drawing, but was less preferred because of the need for manual input. The second study explores visual notification for better local user awareness. We propose two designs: the red-box and both-freeze notifications, and compare these to the baseline, no notification condition. Users preferred the less obtrusive red-box notification that improved awareness of when annotations were made by remote users, and had a significantly lower level of interruption compared to the both-freeze condition.

• Nuclear Engineering and Technology
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• v.54 no.8
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• pp.2828-2839
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• 2022

This study developed a safety assessment tool for geological disposal systems called APro, a systemically integrated modeling system based on modularizing and coupling the processes which need to be considered in a geological disposal system. Thermal, hydraulic, chemical, canister failure, radionuclide release and transport processes were considered in the current version of APro. Each of the unit processes in APro consists of a single Default Module, and several Alternative Modules which can increase the flexibility of the model. As an initial stage of developing the modularization concept and modeling interface, the Default Modules of each unit process were described, with one Alternative Module of chemical process. The computation part of APro is mainly a MATLAB workspace controlling COMSOL and PHREEQC, which are coupled by an operator splitting scheme. The APro model domain is a stylized geological disposal system employing the Swedish disposal concept (KBS-3 type), but the repository layout can be freely adjusted. In order to show the applicability of APro to the total system performance assessment of geological disposal system, some sample simulations were conducted. From the results, it was confirmed that coupling of the thermal and hydraulic processes and coupling of the canister failure and the radionuclide release processes were well reflected in APro. In addition, the technical connectivity between COMSOL and PHREEQC was also confirmed.

• Proceedings of the Korea Information Processing Society Conference
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• 2009.11a
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• pp.293-294
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• 2009

최근 사용자 취향에 따라 컨텐츠를 선택하여 정보를 제공받을 수 있는 위젯(widget)이 각광받고 있다. 사용자들에게 쉽고 편리한 자신들만의 작업환경을 제공하는 것을 목적으로 하는 YouFree의 개인화된 정보접근 및 처리 기능을 보완하기 위해 위젯 서비스를 적용한다면 사용자는 개인의 작업환경에 맞추어 보다 유연하게 YouFree를 커스터마이즈할 수 있다. 본 논문에서는 YouFree 사용자들이 보다 효율적으로 정보를 관리할 수 있도록 YouFree를 위한 위젯 기반 서비스를 개발하였다.

• Proceedings of the Korea Information Processing Society Conference
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• 2011.04a
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• pp.230-233
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• 2011

Chronic disease is linked to patient's' lifestyle. Therefore, doctor has to monitor his/her patient over time. This may involve reviewing many reports, finding any changes, and modifying several treatments. One solution to optimize the burden is using a visualizing tool over time such as a timeline-based visualization tool where all reports and medicine are integrated in a problem centric and time-based style to enable the doctor to predict and adjust the treatment plan. This solution was proposed by Bui et. al. [2] to observe the medical history of a patient. However, there was limitation of studying the diabetes patient's history to find out what was the cause of the current development in patient's condition; moreover what would be the prediction of current implication in one of the diabetes' related factors (such as fat, cholesterol, or potassium). In this paper, we propose a Grid-based Interactive Diabetes System (GIDS) to support bioinformatics analysis application for diabetes diseases. GIDS used an agglomerative clustering algorithm as clustering correlation algorithm as primary algorithm to focus medical researcher in the findings to predict the implication of the undertaken diabetes patient. The algorithm was Chronological Clustering proposed by P. Legendre [11] [12].

• Advances in nano research
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• v.15 no.3
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• pp.277-283
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• 2023

This research aims to explore factors influencing creativity among the employees of nanotechnology companies. Further, this survey aimed to investigate the role of psychological capital (PS), job satisfaction (JS) and corporate social responsibility (CSR) as sources to foster creativity. Participants included 375 employees of nanotechnology companies in China. Sequential mediation analysis revealed that creativity was significantly influenced by psychological capital, job satisfaction and corporate social responsibility. Furthermore, not only psychological capital, job satisfaction and corporate social responsibility were directly and indirectly related to creativity but also explained 67.35% variance of it. It seems that having more psychological resources, more well-being and good feelings concerning performance in the workspace and the efforts of companies to improve employee welfare are among the most important factors in increasing employee creativity. Our findings can help companies, especially nontechnology companies, in focusing on factors fostering the creativity of employees, because creativity enhances and promotes the performance and success of companies.

• Ocean and Polar Research
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• v.42 no.2
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• pp.171-178
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• 2020

R/V EARDO, commissioned in 1992, has successfully carried out ocean research campaigns in Korean jurisdictional and adjacent waters, including continental margins and coastal zones within the Korean Exclusive Economic Zone (EEZ), for 29 years. However, it will soon be reaching the end of its useful service life. A replacement for R/V EARDO is urgently needed to ensure the safety of vessel itself and its crews, and efficient ship operation and maintenance, as well as to meet modern scientific mission requirements (SMRs). Basic specifications for a replacement ship have been devised and reviewed over the past nine months. A test of the proposed hull form was also performed. The total tonnage of the proposed vessel is approximately 740 tons, and the overall length and width are 62.0 and 11.6 m, respectively. The new ship will thus be 73% larger than the current R/V EARDO; in particular, the research workspace will be 4.4 times larger. The major design priorities are the propulsion system, efficiency of radiated noise and vibration control, and the dynamic positioning system. An environmentally friendly emission system, meeting International Maritime Organization (IMO) Tier III regulations, will be installed in the third exhaust pipe. Various wet and dry lab spaces as well as 32 different scientific instruments have also been considered in the ship design.