• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.248-251
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• 2004

Stability of truck and trailer are the most significance in Thai automotive industry. This paper presents the mathematical model of a six-degree-of-freedom semi-trailer vehicle. Search method was implemented to obtain the optimum design variables of the trailer which are the distance from the fifth wheel to the centroid of the trailer and the distance from the centroid of the trailer to the trailer axel. The objective function is to minimize the steady side slip velocity, steady-state yawing velocity and steady-state angle between the tractor and the trailer. From the calculation , the optimum distance from the fifth wheel to the centroid of the trailer and the optimum distance from the centroid of the trailer to the trailer axle are 5.50 and 3.25 meters respectively. The stability of the optimal semi-trailer vehicle was also examined in steady state. The steady side slip velocity, yawing velocity and the angle between tractor and trailer are also obtained using linearization technique under unit step disturbance of the tractor front wheel steering angle.

• Korean Journal of Applied Biomechanics
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• v.15 no.2
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• pp.11-20
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• 2005

This study has a purpose on contributing to apprehend safe and right way to stop to the inline skate beginners and to the instructors who teaches line skating on the basis for the result of the kinematical analysis on Heel brake stop movement of the inline skate, focusing on the displacement on COG, angle displacement of ankle joint, angle displacement of knee joint, angle displacement of hip joint, using a 3D image method by DLT. To achieve this goal, we analysed the kinematical factor of the 3 well-trained inline skating instructors and obtained the following results. 1. During the movement of heel-brake stop, when strong power was given to a stable and balanced stop and the lower limbs, if the physical centroid is lowered the stability increases, and if it is placed high from the base surface, as the stability decreases compared to the case of low physical centroid, we should make a stop by placing a physical centroid in the base surface and lowering the hight of physical centroid. 2. To make a stable and balanced stop and to provide a strong power to the lower limbs, it is advisable to make a stop by decreasing an angle displacement of ankle joint during a "down" movement. In case of the left ankle joint, in all events and phases the dorsiflexion angle showed a decrease. Nevertheless, in the case of the right ankle joint, the dorsiflexion angle shows an increase after a slight decrease. The dorsiflexion angle displacement of ankle joint can be diminished because of the brake pad of the rear axis frame of the right side inline skate by raising a toe, but cannot be more decreased if certain degree of an angle is made by a brake pad touching a ground surface. To provide a power to a brake pad, it is recommended to place a power by lowering a posture making the dorsiflexion angle of the left ankle joint relatively smaller than that of the right ankle. 3. To make a stable and balanced stop and to add a power to a brake pad, the power must be given to the lower limbs in lowering the hight of physical centroid. For this, it is recommended to make a down movement by decreasing the flexion angle of a knee joint and it is necessary to make a down movement by a regular decrease of the angle displacement of knee joint rather than a swift down movement in every event and phase. 4. The right angle displacement of hip joint is made by lowering vertically the hight of physical centroid as leaning slightly forward. If too narrow angle displacement of hip joint is made by leaning forward too much, the balance is lost during the stop by placing the center in front. To make a stable and balance stop and to place a strong power to the lower limbs, it is recommendable to make a narrow angle by lower the hip joint angle. However, excessive leaning of the upper body to make the angle too narrow, can cause an instable stop and loss of physical centroid. After this study, it is considered to assist the kinematical understanding during the heel brake stop movement of the inline skate, and, to present basic data in learning a method of stable and balanced stop for the inline skating beginners or for the inline skate instructors in the present situation of the complete absence of the study in inline skating.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.20 no.11
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• pp.959-964
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• 2007

To investigate the influence of partial discharge(PD) distribution characteristics due to various defects on the power cable joints interface, we used the K-means clustering method. As the result of PD number(n) distribution analyzing on $\Phi-n$ graph, the phase angle($\Phi$) of cluster centroid shifted to $0^{\circ}\;and\;180^{\circ}$ increasing with applying voltage. It was confirmed that the PD quantify(q) and euclidean distance of centroid were increased with applying voltage from the centroid distribution analyzing of $\Phi-q$ plane. The dispersion degree was increased with calculated standard deviation of the $\Phi-q$ cluster centroid. The PD number and mean value on $\Phi-q$ graph were some different by electric field concentration with defect types.

• The KIPS Transactions:PartB
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• v.12B no.6 s.102
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• pp.715-720
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• 2005

This paper presents a hybrid recognition method of first moment of face image and principal component analysis(PCA). First moment is applied to reduce the dimension by shifting to the centroid of image, which is to exclude the needless backgrounds in the face recognitions. PCA is implemented by single layer neural network which has a teaming rule of Foldiak algorithm. It has been used as an alternative method for numerical PCA. PCA is to derive an orthonormal basis which directly leads to dimensionality reduction and possibly to feature extraction of face image. The proposed method has been applied to the problems for recognizing the 48 face images(12 Persons $\ast$ 4 scenes) of 64$\ast$64 pixels. The 3 distances such as city-block, Euclidean, negative angle are used as measures when match the probe images to the nearest gallery images. The experimental results show that the proposed method has a superior recognition performances(speed, rate). The negative angle has been relatively achieved more an accurate similarity than city-block or Euclidean.

• The KIPS Transactions:PartB
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• v.13B no.1 s.104
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• pp.7-14
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• 2006

This paper presents an efficient face recognition method using both first moment of image and basis images. First moment which is a method for finding centroid of image, is applied to exclude the needless backgrounds in the face recognitions by shifting to the centroid of face image. Basis images which are the face features, are respectively extracted by principal component analysis(PCA) and fixed-point independent component analysis(FP-ICA). This is to improve the recognition performance by excluding the redundancy considering to second- and higher-order statistics of face image. The proposed methods has been applied to the problem for recognizing the 48 face images(12 persons*4 scenes) of 64*64 pixels. The 3 distances such as city-block, Euclidean, negative angle are used as measures when match the probe images to the nearest gallery images. The experimental results show that the proposed methods has a superior recognition performances(speed, rate) than conventional PCA and FP-ICA without preprocessing, the proposed FP-ICA has also better performance than the proposed PCA. The city-block has been relatively achieved more an accurate similarity than Euclidean or negative angle.

• Journal of Korea Multimedia Society
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• v.9 no.1
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• pp.33-40
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• 2006

This paper presents an efficient face recognition method using both first moment of image and eigenvector. First moment is a method for finding centroid of image, which is applied to exclude the needless backgrounds in the face recognitions by shitting to the centroid of face image. Eigenvector which are the basis images as face features, is extracted by principal component analysis(PCA). This is to improve the recognition performance by excluding the redundancy considering to second-order statistics of face image. The proposed methods has been applied to the problem for recognizing the 60 face images(15 persons *4 scenes) of 320*243 pixels. The 3 distances such as city-block, Euclidean, negative angle are used as measures when match the probe images to the nearest gallery images. In case of the 45 face images, the experimental results show that the recognition rate of the proposed methods is about 1.6 times and its the classification is about 5.6 times higher than conventional PCA without preprocessing. The city-block has been relatively achieved more an accurate classification than Euclidean or negative angle.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.5
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• pp.581-587
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• 2005

This paper presents a hybrid face recognition method of both the first moment of image and the independent component analysis(ICA) of fixed point(FP) algorithm based on Newton method. First moment is a method for finding centroid of image, which is applied to exclude the needless backgrounds in the face recognitions by shifting to the centroid of face image. FP-ICA is also applied to find a set of independent basis images for the faces, which is a set of statistically independent facial features. The proposed method has been applied to the problem for recognizing the 48 face images(12 persons o 4 scenes) of 64*64 pixels. The 3 distances such as city-block, Euclidean, negative angle are used as measures when match the probe images to the nearest gallery images. The experimental results show that the proposed method has a superior recognition performances(speed, rate) than conventional FP-ICA without preprocessing. The city-block has been relatively achieved more an accurate similarity than Euclidean or negative angle.

• Journal of Acupuncture Research
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• v.25 no.1
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• pp.155-167
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• 2008

Objectives : The objective of this study was to observe the positive effects of acupuncture and bee-venom acupuncture treatment on lumbar hypolordosis. Methods : Acupuncture and bee-venom acupuncture were performed twice a week for 30 days to treat patients with low back pain patients showing a Cobb's angle [L1-S1] of less than $35^{\circ}$(treatment group=20, control group=13). Lumbar lordosis(Cobb's angle [L1-S1], Centroid angle [L1-S1]) was measured using an L-spine Lat. X-ray before and after treatment. Pain scales(VAS scale, ODI) were also was measured before and after treatment. SPSS 12K for Windows was used for statistical analysis of the results. Results : 1. VAS and ODI decreased significantly in the treatment group. 2. Lumbar lordosis, presented by Cobb's angle, increased significantly from $25.00{\pm}7.06^{\circ}$ to $30.95{\pm}10.02^{\circ}$ (p = 0.006). The increase of Cobb's angle in the treatment group $5.95{\pm}8.60^{\circ}$, and that of the control group was $-3.08{\pm}8.41^{\circ}$(p = 0.006). The increase of the Centroid angle of the treatment group was $3.85{\pm}8.83^{\circ}$, and that of the control group was $-2.92{\pm}7.63^{\circ}$(p=0.031). 3. Cobb's angle and Vas scale showed a significant correlation coefficient of -0.250(p=0.043). Increase of Cobb's angle and decrease of Vas scale showed a significant correlation coefficient of 0.420(p=0.015). Conclusions : Acupuncture and bee-venom acupuncture were verified to have a positive effect on pain alleviation of lumbar lordosis decreased patients while also affecting lumbar lordosis to be increased as a result of structural changes. It was also shown that lumbar hypolordosis has significant correlation with pain.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.5
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• pp.617-623
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• 2008

This paper presents a human motion recognition method using both centroid shift and local basis images. The centroid shift based on 1st moment balance technique is applied to get the robust motion images against position or size changes, the extraction of local basis images based on independent component analysis(ICA) is also applied to find a set of statistically independent motion features, which is included in each motions. Especially, ICA of fixed-point(FP) algorithm based on Newton method is used for being quick to extract a local basis images of motions. The proposed method has been applied to the problem for recognizing the 160(1 person * 10 animals * 16 motions) sign language motion images of 240*215 pixels. The 3 distances such as city-block, Euclidean, negative angle are used as measures when match the probe images to the nearest gallery images. The experimental results show that the proposed method has a superior recognition performances(speed, rate) than the method using local eigen images and the method using local basis images without centroid shift respectively.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.4
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• pp.530-536
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• 2008

Localization is one of the fundamental problems in wireless sensor networks (WSNs) that forms the basis for many location-aware applications. Localization in WSNs is to determine the position of node based on the known positions of several nodes. Most of previous localization method use triangulation or multilateration based on the angle of arrival (AOA) or distance measurements. In this paper, we propose an enhanced centroid localization method based on edge weights of adjacent nodes using fuzzy modeling and genetic algorithm when node connectivities are known. The simulation results shows that our proposed centroid method is more accurate than the simple centroid method using connectivity only.