• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.05a
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• pp.109-114
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• 2001

This paper presents field-dependent dynamic characteristics of a shock damper featuring an electro-rheological(ER) damper. A cylindrical type of the shock damper is designed and manufactured on the basis of the field-dependent Bingham model. The damping force is then measured with respect to the piston velocity at various electric fields. The measured damping force is incorporated with the 1DOF shock system to analyze the shock isolation performance.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.6
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• pp.1-10
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• 1997

This paper presents an adaptive optimal learning controller for uncertian robot systems which makes use fo simple DNN(dynamic neural network) units to estimate uncertain parameters and learn the unknown desired optimal input. With the aid of a lyapunov function, it is shown that all that error signals in the system are bounded and the robot trajectory converges to the desired one globally exponentially. The effectiveness of the proposed controller is hsown by applying the controller to a 2-DOF robot manipulator.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 1996.06b
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• pp.83-87
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• 1996

A virtual reality system using video image is designed and implemented. A participant having 2{{{{ { 1} over { 2} }}}}DOF can interact with the computer-generated virtual object using her/his full body posture and gesture in the 3D virtual environment. The system extracts the necessary participant-related information by video-based sensing, and simulates the realistic interaction such as collision detection in the virtual environment. The resulting scene obtained by compositing video image of the participant and virtual environment is updated in near real time.

• Journal of Astronomy and Space Sciences
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• v.27 no.1
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• pp.1-10
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• 2010

The distance distribution in our planetary system has been a controversial matter. Two kinds of important issues on Titius-Bode's relation have been discussed up to now: one is if there is a simple mathematical relation between distances of natural bodies orbiting a central body, and the other is if there is any physical basis for such a relation. We have examined, by applying it to exo-planetary systems, whether Titius-Bode's relation is exclusively applicable to our solar system. We study, with the $X^2$ test, the distribution of period ratios of two planets in multiple planet systems by comparing it with that derived from not only Titius-Bode's relation but also other forms of it. The $X^2$ value between the distribution of the orbital period derived from Titius-Bode's relation and that observed in our Solar system is 12.28 (dof=18) with high probability, i.e., 83.3 %. The value of $X^2$ and probability resulted from Titius-Bode's relation and observed exo-planetary systems are 21.38 (dof=26) and 72.2 %, respectively. Modified forms we adopted seem also to agree with the planetary system as favorably as Titius-Bode's relation does. As a result, one cannot rule out the possibility that the distribution of the ratio of orbiting periods in multiple planet systems is consistent with that derived from Titius-Bode's relation. Having speculated Titius-Bode's relation could be valid in exo-planetary systems, we tentatively conclude it is unlikely that Titius-Bode's relation explains the distance distribution in our planetary system due to chance. Finally, we point out implications of our finding.

• Journal of Korea Multimedia Society
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• v.9 no.9
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• pp.1139-1149
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• 2006

This paper describes a novel and efficient algorithm, which extracts focused objects from still images with low depth-of-field (DOF). The algorithm unfolds into four modules. In the first module, a HOS map, in which the spatial distribution of the high-frequency components is represented, is obtained from an input low DOF image [1]. The second module finds OOI candidate by using characteristics of the HOS. Since it is possible to contain some holes in the region, the third module detects and fills them. In order to obtain an OOI, the last module gets rid of background pixels in the OOI candidate. The experimental results show that the proposed method is highly useful in various applications, such as image indexing for content-based retrieval from huge amounts of image database, image analysis for digital cameras, and video analysis for virtual reality, immersive video system, photo-realistic video scene generation and video indexing system.

• Journal of Gastric Cancer
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• v.21 no.1
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• pp.38-48
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• 2021

Purpose: As the number of gastric cancer survivors is increasing and their quality of life after surgery is being emphasized, single-port surgery is emerging as an alternative to conventional gastrectomy. A novel multi-degree-of-freedom (DOF) articulating device, the ArtiSential® device (LivsMed, Seongnam, Korea), was designed to allow more intuitive and meticulous control for surgeons facing ergonomic difficulties with conventional tools. In this study, we evaluated the feasibility of this new device during single-port laparoscopic distal gastrectomy (SP-LDG) for early gastric cancer (EGC) patients. Materials and Methods: Consecutive patients diagnosed with EGC who underwent SP-LDG with ArtiSential® (LivsMed) graspers between April 2018 and August 2020 were enrolled in the study. The clinical outcomes were compared with those of a control group, in which prebent graspers (Olympus Medical Systems Corp) were used for the same procedures. Results: Seventeen patients were enrolled in the ArtiSential® group. There was no significant difference in operative time (205.4±6.0 vs. 218.1±9.9 minutes, P= 0.270) or the quality of surgery, in terms of the number of retrieved lymph nodes (49.5±3.5 vs. 45.9±4.0, P=0.473), length of hospital stay (15.4±2.0 vs. 12.4±1.3 days, P=0.588), and postoperative complications (40.0% vs. 41.2%, P=0.595), between the ArtiSential® group and the control group. Conclusions: The new multi-DOF articulating grasper is feasible and can be used as an alternative for prebent graspers during SP-LDG.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.1
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• pp.41-51
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• 2018

Downwash from helicopter rotor blades and external winds from various maneuvering make an unguided rocket change its trajectory and range. For the prediction of the trajectory and range, it is essential to consider the downwash effect. In this study, an algorithm was developed to calculate 6-Degree-Of-Freedom(6 DOF) forces and moments exerting on the rocket, and total flight trajectory of a 2.75-inch unguided rocket in a helicopter downwash flow field. Using Actuator Disk Model(ADM) analysis result, the algorithm could analyze the entire trajectory in various initial launch condition such as launch angle, launch velocity, and external wind. The algorithm that considered the interference between a fuselage and external winds could predict the trajectory change more precisely than inflow model analysis. Using the developed algorithm, the attitude and trajectory change mechanism by the downwash effect were investigated analyzing the effective angle of attack change and characteristics of pitching stability of the unguided rocket. Also, the trajectory and range changes were analyzed by considering the downwash effect with external winds. As a result, it was concluded that the key factors of the rocket range change were downwash area and magnitude which effect on the rocket, and the secondary factors were the dynamic pressure of the rocket and the interference between a fuselage and external winds. In tailwind case which was much influential on the range characteristics than other wind cases, the range of the rocket rose as increasing the tailwind velocity. However, there was a limit that the range of the rocket did not increase more than the specific tailwind velocity.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.42 no.1
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• pp.1-11
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• 2005

Several Solid Freeform Fabrication Systems(SFFS) are commercialized in a few companies for rapid prototyping. However, they have many technical problems including the limitation of applicable materials. A new method of agile prototyping is required for the recent manufacturing environments of multi-item and small quantity production. The objectives of this paper include the development of a novel method of SFFS, the CAFL/sup VM/(Computer Aided Fabrication of Lamination for Various Material), and the manufacture of the various material samples for the certification of the proposed system and the creation of new application areas. For these objectives, the technologies for a highly accurate robot path control, the optimization of support structure, CAD modeling, adaptive slicing was implemented. However, there is an important problem with the conventional 2D lamination method. That is the inaccuracy of 3D model surface, which is caused by the stair-type surface generated in virtue of vertical 2D cutting. In this paper, We design the new control algorithm that guarantees the constant speed, precise positioning and tangential cutting on the 5DOF SFFS. We develop the tangential cutting algorithm to be controlled with constant speed and successfully implemented in the 5DOF CAFL/sup VM/ system developed in this paper. Finally, this paper confirms its high-performance through the experimental results from the application into CAFL/sup VM/ system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39A no.3
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• pp.161-163
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• 2014

We consider the device-to-device (D2D) communication underlaying multi-cell interference system, in which the cellular downlink (DL) resource is reused by K cells and two D2D transmission links within each cell. In this paper, it has been shown that the downlink intra-cell and inter-cell interference can be effectively handled by interference alignment (IA) technique, as long as the simultaneous D2D links are properly selected or power-controlled so that they may not incur interference to the base stations in the same and neighbor cells. In particular, we provides the IA technique that can achieve the theoretically maximum possible degree of freedom (DOF), demonstrating that a total of (K+1)M degrees of freedom (DOFs) can be achieved for K-cell interference system with two underlaying D2D links, where base stations, cellular UE's, and D2D UE's all have M transmit and receive antennas.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1106-1114
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• 2012

To achieve synchronized motion between a wearable robot and a human user, the redundancy must be resolved in the same manner by both systems. According to the seven DOF (Degrees of Freedom) human arm model composed of the shoulder, elbow, and wrist joints, positioning and orientating the wrist in space is a task requiring only six DOFs. Due to this redundancy, a given task can be completed by multiple arm configurations, and thus there exists no unique mathematical solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and their effect on the redundancy resolution of the human arm based on a seven DOF manipulator model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing different cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid for the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each two consecutive points along the task space trajectory. As a first step, the redundancy based on the kinematic criterion will be thoroughly studied based on the motion capture data analysis. Experimental results indicate that by using the proposed redundancy resolution criterion in the kinematic level, error between the predicted and the actual swivel angle acquired from the motor control system is less than five degrees.