• Journal of the Korea Society of Computer and Information
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• v.24 no.11
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• pp.29-39
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• 2019

As mobile robot applications increase in real life, the need of low cost autonomous driving are gradually increasing. We propose a novel vision-based real-time lane detection and tracking system that supports autonomous driving of mobile robots in constrained tracks which are designed considering indoor driving conditions of mobile robots. Considering the processing of lanes with various shapes and the pre-adjustment of operation parameters, the system structure with multi-operation modes are designed. In parameter tuning mode, thresholds of the color filter is dynamically adjusted based on the geometric property of the lane thickness. And in the unstable input mode of curved tracks and the stable input mode of straight tracks, lane feature pixels are adaptively extracted based on the geometric and temporal characteristics of the lanes and the lane model is fitted using the least-squared method. The track centerline is calculated using lane models and the motion model is simplified and tracked by a linear Kalman filter. In the driving experiments, it was confirmed that even in low-performance robot configurations, real-time processing produces the accurate autonomous driving in the constrained track.

• Journal of the Korean Society of Propulsion Engineers
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• v.17 no.2
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• pp.122-127
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• 2013

The paper includes the analytic results of pressure fluctuation data from the combustion of an oxidizer-rich preburner applicable to high-performance, closed-cycle liquid rocket engine systems. The combustion experiments went through two different steps of a chamber pressure during single run. Self-excited pressure fluctuations with a frequency of 78 Hz were observed only at the relatively low chamber pressure condition. These pressure fluctuations are regarded as a bulk mode. The intensity of pressure fluctuations by a root-mean-square value is 13.3% normalized by the chamber static pressure and no pressure excitation was observed at the design pressure condition. The bulk mode has an identical phase across the inside of the chamber and reveals the similar characteristics to the Helmholtz resonator.

• Journal of Korean Association for Spatial Structures
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• v.20 no.4
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• pp.149-158
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• 2020

The governing equation for a dome-type shallow spatial truss subjected to a transverse load is expressed in the form of the Duffing equation, and it can be derived by considering geometrical non-linearity. When this model under constant load exceeds the critical level, unstable behavior is appeared. This phenomenon changes sensitively as the number of free-nodes increases or depends on the imperfection of the system. When the load is a periodic function, more complex behavior and low critical levels can be expected. Thus, the dynamic unstable behavior and the change in the critical point of the 3-free-nodes space truss system were analyzed in this work. The 4-th order Runge-Kutta method was used in the system analysis, while the change in the frequency domain was analyzed through FFT. The sinusoidal wave and the beating wave were utilized as the periodic load function. This unstable situation was observed by the case when all nodes had same load vector as well as by the case that the load vector had slight difference. The results showed the critical buckling level of the periodic load was lower than that of the constant load. The value is greatly influenced by the period of the load, while a lower critical point was observed when it was closer to the natural frequency in the case of a linear system. The beating wave, which is attributed to the interference of the two frequencies, exhibits slightly more behavior than the sinusoidal wave. And the changing of critical level could be observed even with slight changes in the load vector.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.23 no.6
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• pp.61-67
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• 2023

The rise of 5G and the proliferation of smart devices have underscored the significance of multi-access edge computing (MEC). Amidst this trend, interest in effectively processing computation-intensive and latency-sensitive applications has increased. This study investigated a novel task offloading strategy considering the probabilistic MEC environment to address these challenges. Initially, we considered the frequency of dynamic task requests and the unstable conditions of wireless channels to propose a method for minimizing vehicle power consumption and latency. Subsequently, our research delved into a deep reinforcement learning (DRL) based offloading technique, offering a way to achieve equilibrium between local computation and offloading transmission power. We analyzed the power consumption and queuing latency of vehicles using the deep deterministic policy gradient (DDPG) and deep Q-network (DQN) techniques. Finally, we derived and validated the optimal performance enhancement strategy in a vehicle based MEC environment.

• Journal of Intelligence and Information Systems
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• v.21 no.1
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• pp.119-142
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• 2015

With the explosive growth in the volume of information, Internet users are experiencing considerable difficulties in obtaining necessary information online. Against this backdrop, ever-greater importance is being placed on a recommender system that provides information catered to user preferences and tastes in an attempt to address issues associated with information overload. To this end, a number of techniques have been proposed, including content-based filtering (CBF), demographic filtering (DF) and collaborative filtering (CF). Among them, CBF and DF require external information and thus cannot be applied to a variety of domains. CF, on the other hand, is widely used since it is relatively free from the domain constraint. The CF technique is broadly classified into memory-based CF, model-based CF and hybrid CF. Model-based CF addresses the drawbacks of CF by considering the Bayesian model, clustering model or dependency network model. This filtering technique not only improves the sparsity and scalability issues but also boosts predictive performance. However, it involves expensive model-building and results in a tradeoff between performance and scalability. Such tradeoff is attributed to reduced coverage, which is a type of sparsity issues. In addition, expensive model-building may lead to performance instability since changes in the domain environment cannot be immediately incorporated into the model due to high costs involved. Cumulative changes in the domain environment that have failed to be reflected eventually undermine system performance. This study incorporates the Markov model of transition probabilities and the concept of fuzzy clustering with CBCF to propose predictive clustering-based CF (PCCF) that solves the issues of reduced coverage and of unstable performance. The method improves performance instability by tracking the changes in user preferences and bridging the gap between the static model and dynamic users. Furthermore, the issue of reduced coverage also improves by expanding the coverage based on transition probabilities and clustering probabilities. The proposed method consists of four processes. First, user preferences are normalized in preference clustering. Second, changes in user preferences are detected from review score entries during preference transition detection. Third, user propensities are normalized using patterns of changes (propensities) in user preferences in propensity clustering. Lastly, the preference prediction model is developed to predict user preferences for items during preference prediction. The proposed method has been validated by testing the robustness of performance instability and scalability-performance tradeoff. The initial test compared and analyzed the performance of individual recommender systems each enabled by IBCF, CBCF, ICFEC and PCCF under an environment where data sparsity had been minimized. The following test adjusted the optimal number of clusters in CBCF, ICFEC and PCCF for a comparative analysis of subsequent changes in the system performance. The test results revealed that the suggested method produced insignificant improvement in performance in comparison with the existing techniques. In addition, it failed to achieve significant improvement in the standard deviation that indicates the degree of data fluctuation. Notwithstanding, it resulted in marked improvement over the existing techniques in terms of range that indicates the level of performance fluctuation. The level of performance fluctuation before and after the model generation improved by 51.31% in the initial test. Then in the following test, there has been 36.05% improvement in the level of performance fluctuation driven by the changes in the number of clusters. This signifies that the proposed method, despite the slight performance improvement, clearly offers better performance stability compared to the existing techniques. Further research on this study will be directed toward enhancing the recommendation performance that failed to demonstrate significant improvement over the existing techniques. The future research will consider the introduction of a high-dimensional parameter-free clustering algorithm or deep learning-based model in order to improve performance in recommendations.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.36 no.3
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• pp.157-165
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• 2000

A small hydraulic winch system with an automatic tension control unit was designed to improve the work efficiency of coastal small vessels and the dynamic response characteristics of the winch system operated in the open loop condition was investigated. The inlet and the outlet pressures in hydraulic motor, the torque and the rotating speed of winch drum were measured as a function of time, and the behaviour in autotension mode for stepped load changes was analyzed. The results obtained are summarized as follows : 1. The developed winch system for coastal small vessels will result in better fishing with improved efficiency and lower manpower consumption by remote control of winch system. 2. The rotating delay times of winch drum for on/off operations of solenoid valve were 0.09 see at CW mode and 0.04 sec at CCW mode, respectively. After the solenoid valve was controlled, response characteristics were unstable slightly but showed good tracking behaviour over short time. 3. The driving torque of winch system in autotension mode was kept almost constant of 55.9 kgf·m, and 11.1 then the rotating speed of winch drum was kept almost constant of 5.1 rpm in the larger torque than 55.9 kgf·m and 11.1 rpm in the lower torque than that. 4. The 5% settling times in the transient response characteristics of autotension mode under rapid increasing and decreasing conditions of load were 0.12 sec and 0.2 sec, respectively, and then the rotating speeds were 11 rpm and 5.3 rpm, respectively. 5. The tracking behaviour of torque and rotating speed by remote control operation were stable within 0.23 sec at CW mode and 0.37 sec at CCW mode, respectively.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1991.04a
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• pp.17-22
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• 1991

최근 기계장치로부터 발생하는 소음을 감소시키는 새로운 방법으로서, 능동 적으로 소음을 제어하는 방법에 대한 연구가 활발히 진행되고 있다. 이것은 원하지 않는 소음을 그 신호의 역위상을 갖는 부가음을 이용하여 능동적으 로 감쇠시키는 방법으로서, 저주파수 대역에서 비효율적인 수동적인 방법인 소음기둥에 대한 대안으로 많은 학자들의 관심의 대상이 되어 왔다. 초기에 는 소음을 줄이기 위해 요구되는 여러가지 음향요소의 전달함수를 제어하는 데 대한 불가능성으로 인해 능동 소음제어에 대한 실질적인 발전이 지연되 어 왔으나 최근 마이크로 컴퓨터를 비롯한 전자공학의 발전으로 인해 적응 신호처리 분야가 등장하게 되었으며, 음향계의 소음을 원하는 수준까지 제어 하는 능동 소음제어의 실시간 구현이 가능하게 되었다. 그 중에서도 음이 1 차원적으로 전파한다고 볼 수 있는 길이가 긴 덕트구조물에서의 능동 소음 제어는 가장 기본적이며 현실적으로 자동차 배기계나 냉동.공조설비에 있어 서 실용적으로 적용할 수 있는 문제임 만큼 많은 연구가 이루어지고 있다. 이러한 능동 소음제어 방법을 음향계에 적용하였을 때, 부가적인 음을 발생 하는 제어용 스피커로 인해 입력마이크로폰으로의 음향궤환이 존재하고 이 에 따라 제어계가 불안정해질 수 있으며, 또한 변환기의 사용으로 인한 부가 적인 전달함수가 존재하므로 이에 대한 중요한 의미를 갖고 고려하여야 한 다. 본 연구에서는 적응 필터링 이론에 의한 소음원의 입력신호에 대한 최적 한 예측으로써 부가음을 발생시키고, 입력신호 및 제어된 출력신호간의 차인 오차를 최소화 시키도록 하는 오차적응제어법을 이용한 능동소음 제어 방법 을 제시하였다. 이와 아울러 제어계의 환경변화에 따른 파라메타의 변화에 적응적으로 응답이 가능해야 하는 적응 소음제어 시스템에서, 음향궤환과 함 께 필히 고려해야 하는 부가적인 전달함수의 영향을 고려한 능동 소음제어 에 대해 연구하였다. 경량화 추세에 따라 지반이나 케이싱이 경량이거나 유연하여 회전축과 동적으로 연성된 경우 회전축-베어링-지반으로 이루어진 2중구조의 회전축 계 동특성을 해석할 수 있는 프로그램을 개발하므로서 회전 기계류의 진동 전반에 걸친 문제점에 대한 그 원인과 현상을 명확히 분석하여 국내의 전기 계류의 보다 신뢰성있는 설계 및 제작자료를 확보하는데 기여할 수 있게 하 였다.존의 small molecular Gd-chelate에 비해 매우 큼을 알 수 있었다. MnPC는 간세포에 흡수된 후 담도계로 배출되는 간특이성 조영제임을 확인하였다. 장비 내에서 반복 시행한 평균값의 차이는 대체적으로 유의한 차이가 없었으나, 다른 장비에서 반복 시행한 장비간의 사이에는 유의한 차이가 있는 경우가 더 많았다. 따라서 , MRS 검사를 소뇌나 뇌교의 어떤 절환에 적용하기 전에 각 장비 마다 정상 기준치를 반드시 얻은 후에 이상여부를 판 정하는 것이 필수적이라고 생각된다.EX> 이상이 적절한 진단기준으로 생각되었다. $0.4{\;}\textrm{cm}^3$ 이상의 좌우 부피차를 보이는 모든 증례에서 육안적으로도 해마위축이 뚜렷이 나타났다. 결론 : MR영상을 이용한 해마의 부피측정은 해마경화증 환자의 진단에 있어 육안적인 MR 진단이 어려운 제한된 경우에만 실제적 도움을 줄 수 있는 보조적인 방법으로 생각된다.ofile whereas relaxivity at high field is not affected by τS. On the other hand, the change in τV does not affect low field profile but strongly in fluences on both inflection fie이 and the maximum relaxivity value. The results shows a fluences on both inflection field

• Proceedings of the Korea Water Resources Association Conference
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• 2006.05a
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• pp.1121-1125
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• 2006

급속한 산업화와 도시화로 인하여 이상기후의 발생빈도가 높아지고 기후가 불안정해져서 예전보다 많은 집중호우가 발생되고 있다. 그리고 최근 홍수의 규모와 발생빈도가 증가하면서 홍수로 인한 인명과 재산상의 손실이 반복되고 있다. 이에 따른 홍수피해의 위험을 줄이기 위한 홍수방지시스템의 구축이 절실히 요구되고 있으며 홍수범람구역의 정확한 추정을 위해서는 홍수범람도 작성이 필요하다. 또한 정보통신산업이 급속도로 발전하면서 인터넷 사용의 증가로 많은 사용자들이 웹(Web)을 통해 다양한 데이터를 공유할 수 있고 정보를 검색할 수 있게 되면서 수자원 분야에도 정보의 공유와 자료의 통합을 위하여 Open GIS(The Open Geodata Interoperability Specification) 개념이 도입되고 있다. 따라서 본 연구에서는 Web기반으로 홍수범람모의 시스템을 구축하기 위한 기초연구로서 홍수 발생시 침수피해지역을 대상으로 실시간 3차원 홍수범람모의해석이 가능하도록 함으로써 연안지역 피해주민들의 피해를 줄일 수 있도록 하였다. 먼저, 본 연구에서는 이전의 시스템 상에서 정적인 지도로서 표현만 가능하던 것을 시공간적으로 유동성 있는 자료의 분석을 시각화하는 GIS 공간정보기술과 접목시켜 Web상에 동적인 지도형태로 표현함으로써 피해주민들이 쉽게 접할 수 있도록 하여 다양한 정보의 제공이 가능하게 될 것이다. 둘째, Web을 이용함으로써 실시간 홍수재해 정보를 수집하고 분석할 수 있어 인명과 재산의 피해를 줄일 수 있을 것으로 판단된다. 본 논문은 홍수범람시스템을 구축하기 위한 기초연구로서 현재는 GIS DB를 구축하는 단계에 있으며, 향후 다양한 유역을 대상으로 홍수범람모의시스템을 구축하여 분석결과를 피해지역주민 및 관련기관 실무자들에게 제공함으로써 시간과 공간에 구애받지 않는 재해관리와 신속한 재해 상황 대처가 가능해 질 것으로 사료된다.는 또 다른 형태의 주제도라고 볼 수 있으며, 이를 구축하기 위해서는 자료변환 및 가공이 필요하다. 즉, 각 상습침수지구에 필요한 지형도는 국립지리원에서 제작된 1:5,000 수치지형도가 있으나 이는 자료가 방대하고 상습침수지구에 필요하지 않은 자료들을 많이 포함하고 있으므로 상습침수지구의 데이터를 인터넷을 통해 서비스하기 위해서는 많은 불필요한 레이어의 삭제, 서비스 속도를 고려한 데이터의 일반화작업, 지도의 축소.확대 등 자료제공 방식에 따른 작업 그리고 가시성을 고려한 심볼 및 색채 디자인 등의 작업이 수반되어야 하며, 이들을 고려한 인터넷용 GIS기본도를 신규 제작한다. 상습침수지구와 관련된 각종 GIS데이타와 각 기관이 보유하고 있는 공공정보 가운데 공간정보와 연계되어야 하는 자료를 인터넷 GIS를 이용하여 효율적으로 관리하기 위해서는 단계별 구축전략이 필요하다. 따라서 본 논문에서는 인터넷 GIS를 이용하여 상습침수구역관련 정보를 검색, 처리 및 분석할 수 있는 상습침수 구역 종합정보화 시스템을 구축토록 하였다.N, 항목에서 보 상류가 높게 나타났으나, 철거되지 않은 검전보나 안양대교보에 비해 그 차이가 크지 않은 것으로 나타났다.의 기상변화가 자발성 기흉 발생에 영향을 미친다고 추론할 수 있었다. 향후 본 연구에서 추론된 기상변화와 기흉 발생과의 인과관계를 확인하고 좀 더 구체화하기 위한 연구가 필요할 것이다.게 이루어질 수 있을 것으로 기대된다.는 초과수익률이 상승하지만, 이후로는 감소하므로, 반전거래전략을 활용하는 경우 주식투자기간은 24개월이하의 중단기가 적합함을 발견하였다. 이상의 행태적 측면과 투자성과측면의 실증결과를 통하여 한국주식시장에 있어서 시장수익률을 평균적으로 초과할 수 있는 거래전략은 존재하므로 이러한 전략을 개발 및 활용할 수 있으며, 특히, 한국주식시장에 적합한 거래전략은 반전거래전략이고, 이 전략의 유용성은 투자자가

• Journal of Biomedical Engineering Research
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• v.19 no.5
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• pp.503-511
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• 1998

In this study, the stress distribution for different tibial components was observed In order to Investigate the load transfer and potential failure mechanism of the tibial components subjected to dynamic impact loading and also to evacuate the effect of bone-implant bonding conditions on the implant system. The 3-dimensional finite element models included an intact tibia, cemented metal-backed tibial component, uncemented metal-blocked tibial component, cemented all-polyethylene tibial component, and metal-backed component with a debonded bone/stem interface. The results showed that the cemented metal-hocked component Induced slightly higher peak stress at stem tip than the uncemented component. The peak stress of the all-polyethylene tibia1 component at stem trip showed about half thats of metal-backed tibial components. The all-polyethylene component showed a similar dynamic response to intact tibia. In case of debonded bone/stem interface, the peak stress below the metal tray was three times Higher than that of the fully bonded interface and unstable stress distribution at the stem tip was observed with time, which causes another adverse bone apposition and implant loosening. Thus, the all-polyethylene tibial component bonded fully to the surrounding bone might be most desirable system under an impact loading.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.29 no.1
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• pp.41-52
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• 2023

Background: Bulgarian split squat (BSS) is beneficial to improve dynamic balance ability and muscle activity of lower extremities, however its effects have not been fully investigated. Therefore, this study aimed to compare changes in dynamic balance ability and muscle properties according to various modifications of BSS exercises. Methods: Thirty healthy male volunteers participated in this study, and they were randomly divided into three different groups. The subjects performed the BSS exercise either on a stable surface with the eyes opened (n=10) or eyes closed (n=10), and on an unstable support plane with eyes opened (n=10) conditions, respectively. Dynamic balance ability was measured via Biodex balance system under the eyes-opened and closed conditions. Additionally, muscle properties of the rectus femoris (RF), vastus medialis (VM) and vastus lateralis (VL) were evaluated. Results: Dynamic balance ability did not show the significant differences among the groups that performed the BSS exercises. However, in the Unstable group, there were significant differences in the overall stability index and anterior posterior stability index under the eyes-closed condition between pre-exercise and post-exercise. In comparison of muscle properties according to the groups, RF muscle showed a significant difference in amount of change of elasticity (p=.038). Additionally, there were significant changes in post measurements of VM muscle tone (p=.016), stiffness (p=.012) and elasticity (p=.002). VL muscle, however had no significant differences in muscle properties. Conclusion: These results indicate that BSS exercises could induce the alteration of RF and VM muscle properties, in particular VM muscle which is susceptible to weakness. Thus, BSS could be applied in various ways as an effective rehabilitation exercise.