• Proceedings of the Korea Information Processing Society Conference
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• 2019.05a
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• pp.321-323
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• 2019

본 논문은 벽면 이동 로봇의 진공흡착을 위한 Mechanism의 개선에 관한 연구로서, 시뮬레이션을 통해 로봇의 무게에 따른 중력을 견딜 수 있도록 흡착의 효율을 높이고, Mechanism의 여러 조건들을 고려하여 실험을 통해 가장 적절히 부합하는 조건을 판단하며 벽의 수직방향으로의 미는 힘과 챔버 내의 저압영역등과의 상관관계를 고려하여 흡착 능력을 개선하기 위한 방법을 판단하기 위해 실험을 진행하였다.

• Proceedings of the Korea Information Processing Society Conference
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• 2015.10a
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• pp.1537-1540
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• 2015

본 연구에서는 역운동학(IK, Inverse Kinematics)을 이용한 스포츠클라이밍 자세생성과 동작제어를 통해 인간의 일반적인 동작 이외에 스포츠와 같은 특수 목적의 동작들을 삼차원의 가상공간에서 스포츠 클라이밍의 기본동작 절차를 이용하여 가상 인물(Virtual Character)의 자세 및 동작을 생성한다. 역운동학(IK, Inverse Kinematics) 알고리즘을 통한 자세 생성은 역운동학 함수 (IK Function)와 실제 데이터를 통한 기본자세 애니메이션을 제작, 이를 활용하여 사실성을 더하고 자연스러운 자세 및 동작을 생성한다. 스포츠클라이밍은 특별한 제약사항이 없어 스포츠 클라이밍의 올바른 자세 생성에는 많은 문제가 있다. 예를 들어 자유로운 동작에 의한 무리한 형태의 자세 생성들이 그러하다. 본 논문에서는 이를 스포츠 클라이밍의 기본동작 절차를 이용하여 올바른 자세와 함께 실제와 유사한 동작을 생성한다.

• Advances in Traditional Medicine
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• v.6 no.1
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• pp.34-38
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• 2006

The hot water extract of the seeds of Vernonia anthelmintica Kuntze (Compositae) in a dose of 10 ml/kg body weight of mice, showed significant analgesic activity on the hot plate analgesic method throughout the 4 h experimental period. The hole cross scores and the climbing out scores are of lower than the control animals. The hot water extract reduced the defecation in hole board study and significantly reduces the exploratory ambulation and head dipping behaviour. The seed also showed significant depressant activity on the exploratory ambulation of the open field scores. The drug decreased the spontaneous locomotion activity on brick-chip displacement method up to 45 min and also showed the ability to lessen the amphetamine induced hyperactivity up to 20 min. But it didn't show any effect on pentobarbital induced sleeping time test. The extract reduced gastrointestinal motility.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.40 no.2
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• pp.92-98
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• 2017

Data clustering determines a group of patterns using similarity measure in a dataset and is one of the most important and difficult technique in data mining. Clustering can be formally considered as a particular kind of NP-hard grouping problem. K-means algorithm which is popular and efficient, is sensitive for initialization and has the possibility to be stuck in local optimum because of hill climbing clustering method. This method is also not computationally feasible in practice, especially for large datasets and large number of clusters. Therefore, we need a robust and efficient clustering algorithm to find the global optimum (not local optimum) especially when much data is collected from many IoT (Internet of Things) devices in these days. The objective of this paper is to propose new Hybrid Simulated Annealing (HSA) which is combined simulated annealing with K-means for non-hierarchical clustering of big data. Simulated annealing (SA) is useful for diversified search in large search space and K-means is useful for converged search in predetermined search space. Our proposed method can balance the intensification and diversification to find the global optimal solution in big data clustering. The performance of HSA is validated using Iris, Wine, Glass, and Vowel UCI machine learning repository datasets comparing to previous studies by experiment and analysis. Our proposed KSAK (K-means+SA+K-means) and SAK (SA+K-means) are better than KSA(K-means+SA), SA, and K-means in our simulations. Our method has significantly improved accuracy and efficiency to find the global optimal data clustering solution for complex, real time, and costly data mining process.

• Korean Journal of Construction Engineering and Management
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• v.1 no.3 s.3
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• pp.108-115
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• 2000

The average height of buildings in most cities is increasing in an effort to more effectively use land. In addition, as construction technology develops, rapid construction methods have been pursued. However, while there have been great strides in construction technology, the development of a temporary structure that can support the high-rise building under construction and the rapid construction methods has been relatively limited. If the temporary structure is not built on an outer wall of a building being constructed, a worker may be injured or killed in a fall and building materials such as blocks and other objects may fall to the ground, causing the build-up of trash around the building and possible injuries to persons in proximity to the building. This paper proposes a Self Climbing Safety Fence for construction building(SCfence). SCfence was developed to solve the above problems, a tent has been setup to cover the outer wall of the building, or a falling preventing net has been pitched in a direction perpendicular to the outer wall of the building. A case study was performed to verify the validity of SCfence through comparing the safety and cost experience between SCfence and the existing method.

• Transactions of the Korean Society of Automotive Engineers
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• v.14 no.6
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• pp.89-94
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• 2006

The tire delivering power generated from engine to the ground pulls a vehicle to move. Radius of tires is changeable due to elasticity that depends on the speed of vehicle and traction force. The main objectives on this study are real time measurement of dynamic radius and slip ratio according to the speed and traction force. The dynamic radius is proportional to speed and traction force. According to measurement, the dynamic radius is increased about 3mm under 100km/h compared to stop. It is also increased about 1.5mm when a traction force is supplied as much as 4kN compared to no load state at low speed. There is no strong relationship between slip ratio and vehicle speed. The slip ratio is measured up to 4% under WOT at first stage gear. Through this research, the method of measuring dynamic radius and slip ratio is set up and is expected to be applied to the measurement of traction force in chassis dynamometer or accelerating and climbing ability.

• Journal of Electrical Engineering and Technology
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• v.12 no.6
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• pp.2146-2156
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• 2017

When a failure occurs in active distribution system, it will be isolated through the action of circuit breakers and sectionalizing switches. As a result, the network might be divided into several connected components, in which distributed generations could supply power for customers. Aimed at decreasing customer interruption cost, this paper proposes a theoretically optimal island partition model for such connected components, and a simplified but more practical model is also derived. The model aims to calculate a dynamic island partition schedule during the failure recovery time period, instead of a static islanding status. Fluctuation and stochastic characteristics of the renewable distributed generations and loads are considered, and the interruption cost functions of the loads are fitted. To solve the optimization model, a heuristic search algorithm based on the hill climbing method is proposed. The effectiveness of the proposed model and algorithm is evaluated by comparing with an existing static island partitioning model and intelligent algorithms, respectively.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.10
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• pp.1029-1037
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• 2009

Recently, the technologies of mobile robots have been growing rapidly in the fields such as cleaning robot, explosive ordnance disposal robot, patrol robot, etc. However, the researches about the autonomous underwater robots have not been done so much, and they still remain at the low level of technology. This paper describes a model of 3-joint (4 links) fish robot type. Then we calculate the dynamic motion equation of this fish robot and use Singular Value Decomposition (SVD) method to reduce the divergence of fish robot's motion when it operates in the underwater environment. And also, we analysis response characteristic of fish robot according to the parameters of input torque function and compare characteristic of fish robot with 3 joint and fish robot with 2 joint. Next, fish robot's maximum velocity is optimized by using the combination of Hill Climbing Algorithm (HCA) and Genetic Algorithm (GA). HCA is used to generate the good initial population for GA and then use GA is used to find the optimal parameters set that give maximum propulsion power in order to make fish robot swim at the fastest velocity.

• Advances in aircraft and spacecraft science
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• v.7 no.1
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• pp.53-78
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• 2020

Automatic trajectory planning is an important task that will have to be performed by truly autonomous vehicles. The main method proposed, for unmanned airplanes to do this, consists in concatenating elementary segments of trajectories such as rectilinear, circular and helical segments. It is argued here that because these cannot be expected to all be flyable at a same constant speed, it is necessary to consider segments on which the airplane accelerates or decelerates. In order to preserve the planning advantages that result from having the speed constant, it is proposed to do all speed changes at maximum deceleration or acceleration, so that they are as brief as possible. The constraints on the load factor, the lift and the power required for the motion are derived. The equation of motion for such accelerated motions is solved numerically. New results are obtained concerning the value of the angle and the speed for which the longest distance and the longest duration glides happen, and then for which the steepest, the fastest and the most fuel economical climbs happen. The values obtained differ from those found in most airplane dynamics textbooks. Example of tables are produced that show how general speed changes can be effected efficiently; showing the time required for the changes, the horizontal distance traveled and the amount of fuel required. The results obtained apply to all internal combustion engine-propeller driven airplanes.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.11
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• pp.2777-2785
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• 2000

In cementless total hip replacement(THR), an initial stability of the femoral component is important to long term fixation of femoral stem. The intial stability has close relationship with the relative displacement of prosthessis and sponge bone at the proximal of femur. After implantation of the proshesis, the surrounding bone is partially shielded from load carrying and starts to resorb. Stress shielding is the cause of the loss of proximal bone. Assessing stress distribution of femur is important to predict stress shielding. The initial stability and the stress shielding were investigated for two loading conditions approximating a single leg stance and a stair climbing. Three types of stems were studied by the finite element method to analyze the biomechanical effects of distal filling of cementless femoral stems. Three types of stems empolyed are a distal filling stem, a distal flexible stem, and a distal tapered stem.