• Korean Journal of Artificial Intelligence
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• v.11 no.4
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• pp.15-20
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• 2023

Machine learning is comprised of supervised learning, unsupervised learning and reinforcement learning as the type of data and processing mechanism. In this paper, as input and output are unclear and it is difficult to apply the concrete modeling mathematically, reinforcement learning method are applied for crawling robot in this paper. Especially, Q-Learning is the most effective learning technique in model free reinforcement learning. This paper presents a method to implement a crawling robot that is operated by finding the most optimal crawling method through trial and error in a dynamic environment using a Q-learning algorithm. The goal is to perform reinforcement learning to find the optimal two motor angle for the best performance, and finally to maintain the most mature and stable motion about EV3 Crawling robot. In this paper, for the production of the crawling robot, it was produced using Lego Mindstorms with two motors, an ultrasonic sensor, a brick and switches, and EV3 Classroom SW are used for this implementation. By repeating 3 times learning, total 60 data are acquired, and two motor angles vs. crawling distance graph are plotted for the more understanding. Applying the Q-learning reinforcement learning algorithm, it was confirmed that the crawling robot found the optimal motor angle and operated with trained learning, and learn to know the direction for the future research.

• The Korean Journal of Pain
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• v.27 no.2
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• pp.178-185
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• 2014

Epidural adhesions cause pain by interfering with the free movement of the spinal nerves and increasing neural sensitivity as a consequence of neural compression. To remove adhesions and deliver injected drugs to target sites, percutaneous epidural adhesiolysis (PEA) is performed in patients who are unresponsive to conservative treatments. We describe four patients who were treated with a newly developed inflatable balloon catheter for more effective PEA and relief of stenosis. In the present patients, treatments with repetitive epidural steroid injection and/or PEA with the Racz catheter or the NaviCath did not yield long-lasting effects or functional improvements. However, PEA and decompression with the inflatable balloon catheter led to maintenance of pain relief for more than seven months and improvements in the functional status with increases in the walking distance. The present case series suggests that the inflatable balloon catheter may be an effective alternative to performing PEA when conventional methods fail to remove adhesions or sufficiently relieve stenosis.

• Current Applied Physics
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• v.18 no.11
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• pp.1240-1247
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• 2018

Magnetic hysteresis in Ni nanowire arrays grown by electrodeposition inside the pores of anodic alumina templates is studied as a function of temperature in the range between 5 K and 300 K. Nanowires with different diameters, aspect ratios, inter-wire distance in the array and surface condition (smooth and rough) are synthesized. These microstructure parameters are linked to the different free magnetic energy contributions determining coercivity and the controlling magnetization reversal mechanisms. Coercivity increases with temperature in arrays of nanowires with rough surfaces and small diameters -33 nm and 65 nm- when measured without removing the alumina template and/or the Al substrate. For thicker wires -200 nm in diameter and relatively smooth surfaces- measured without the Al substrate, coercivity decreases as temperature rises. These temperature dependences of magnetic hysteresis are described in terms of an effective magnetic anisotropy $K_a$, resulting from the interplay of magnetocrystalline, magnetoelastic and shape anisotropies, together with the magnetostatic interaction energy density between nanowires in the array. The experimentally determined coercive fields are compared with results of micromagnetic calculations, performed considering the magnetization reversal mode acting in each studied array and microstructure parameters. A method is proposed to roughly estimate the value of $K_a$ experimentally, from the hysteresis loops measured at different temperatures. These measured values are in agreement with theoretical calculations. The observed temperature dependence of coercivity does not arise from an intrinsic property of pure Ni but from the nanowires surface roughness and the way the array is measured, with or without the alumina template and/or the aluminum support.

• Journal of Korean Society of Transportation
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• v.26 no.4
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• pp.77-86
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• 2008

Firstly, this study is to compare two types of productivity changes in Seoul's urban bus industry by public transport reforms: one with considering accident costs (ML), the other without considering accident costs (M). The directional distance function (DDF), which is a form of data envelopment analysis, and the Malmquist (Luenberger) productivity index (ML, M) are used for the analysis. The results show that productivity increased regardless of accident costs over time, and the ML index is a little higher than the M index, which means that most firms experienced more of a reduction ratio of accident costs than a reduction ratio of inputs. Secondly, this paper is to analyze how reforms affect productivity changes. The results show that operational speed improvements or passenger increases most affect productivity increases, which means that the installment of median bus lanes or introduction of free transfers among public transport modes were effective in reducing both inputs and accident costs. However, operational system reforms including mid-public management were related with productivity changes but they were not as effective.

• Economic and Environmental Geology
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• v.5 no.4
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• pp.187-209
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• 1972

Drilling position is one of the most important factors affecting on the blasting effects. There has been many reports on several blasting factors of burn-cut by Messrs. Brown and Cook, but in this study the author tried to compare drilling positions of burn-cut to pyramid-cut, and also to correlate burn-cut effects of drilling patterns, not being dealt by Prof. Ito in his theory, which emphasized on dynamical stress analysis between explosion and free face. According to former theories, there break out additional tensile stress reflected at the free face supplemented to primary compressive stress on the blasting with one-free-face. But with these experimented new drilling patterns of burn-cut, more free faces and nearer distance of each drilling holes make blasting effects greater than any other methods. To promote the above explosive effect rationary, it has to be considered two important categories under-mentioned. First, unloaded hole in the key holes should be drilled in wider diameter possibly so that it breaks out greater stress relief. Second, key holes possibly should have closer distances each other to result clean blasting. These two important factors derived from experiments with, theories of that the larger the dia of the unloaded hole, it can be allowed wider secondary free faces and closes distances of each holes make more developed stress relief, between loaded and unloaded holes. It was suggested that most ideal distance between holes is about 4 clearance in U. S. A., but the author, according to the experiments, it results that the less distance allow, the more effective blasting with increased broken rock volume and longer drifted length can be accomplished. Developed large hole burn-cut method aimed to increase drifting length technically under the above considerations, and progressive success resulted to achieve maximum 7 blasting cycles per day with 3.1m drifting length per cycle. This achievement originated high-speed-drifting works, and it was also proven that application of Metallic AN-FO on large hole burn-cut method overcomes resistance of one-free-face. AN-FO which was favored with low price and safety handling is the mixture of the fertilizer or industrial Ammonium-Nitrate and fuel oil, and it is also experienced that it shows insensible property before the initiation, but once it is initiated by the booster, it has equal explosive power of Ammonium Nitrate Explosives (ANE). There was many reports about AN-FO. On AN-FO mixing ratio, according to these experiments, prowdered AN-FO, 93.5 : 6.5 and prilled AN-FO 94 : 6, are the best ratios. Detonation, shock, and friction sensities are all more insensitive than any other explosives. Residual gas is not toxic, too. On initation and propagation of the detonation test, prilled AN-FO is more effective than powered AN-FO. AN-FO has the best explosion power at 7 days elapsed after it has mixed. While AN-FO was used at open pit in past years prior to other conditions, the author developed new improved explosives, Metallic AN-FO and Underwater explosive, based on the experiments of these fundmental characteristics by study on its usage utilizing AN-FO. Metallic AN-FO is the mixture of AN-FO and Al, Fe-Si powder, and Underwater explosive is made from usual explosive and AN-FO. The explanations about them are described in the other paper. In this study, it is confirmed that the blasting effects of utilizing AN-FO explosives are very good.

• Applied Microscopy
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• v.25 no.2
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• pp.73-79
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• 1995

The oxidation of silicon wafers is an essential step in the fabrication of semiconductor devices. It is known to induce degradation of electrical properties and lattice strain of Si substrate from thermal oxidation process due to charged interface and thermal expansion mismatch from thermally grown SiO, film. In this study, convergent beam electron diffraction technique is employed to directly measure the lattice strains in Si(100) and $4^{\circ}$ - off Si(100) substrates with thermally grown oxide layer at $1200^{\circ}C$ for three hours. The ratios of {773}-{973}/{773}-{953} Higher Order Laue Zone lines were used at [012] zone axis orientation. Lattice parameters of the Si substrate as a function of distance from the interface were determined from the computer simulation of diffraction patterns. Correction value for the accelerating voltage was 0.2kV for the kinematic simulation of the [012]. HOLZ patterns. The change in the lattice strain profile before and after removal of oxide films revealed the magnitudes of intrinsic strain and thermal strain components. It was shown that $4^{\circ}$ -off Si(100) had much lower intrinsic strain as surface steps provide effective sinks for the free Si atoms produced during thermal oxidation. Thermal strain in the Si substrate was in compression very close to the interface and high concentration of Si interstitials appeared to modify the thermal expansion coefficient of Si.

• The Korean Journal of Pain
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• v.14 no.2
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• pp.193-198
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• 2001

Background: Anterior atlantoaxial subluxation (AAS) is a frequent phenomenon in rheumatoid arthritis (RA). AAS compresses the C2 ganglion or nerve and is a cause of posterior neck pain or occipital headache. Methods: We selected RA patients that had developed posterior neck pain or occipital headache caused by AAS. AAS was diagnosed by an increase of ADI (atlantodental interval). A distance of 3 mm or more was considered significant. Patients with vertical subluxation or symptoms suggestive of myelopathy were excluded. Before C2 RF ganglionotomy, we proceeded with a C2 ganglion block or greater occipital nerve block used by local anesthetics. For C2 RF ganglionotomy, the patient was placed in the supine position on a fluoroscopic table. A 100 mm, 4 mm active tip electrode was chosen. Following sensory stimulation at 0.2 to 0.6 V, the lesion was performed at a temperature of $60^{\circ}C$ to $65^{\circ}C$ for 60 sec. We followed up the patient after 6 months later. Results: All cases were female and the average duration of RA was 8.5 years. The duration of posterior neck pain or occipital headache was 1-8 months. The average ADI was 4.2 mm and the McGregor index was 3.3 mm on the average. In all cases, the score on the 4 point Likert scale was 4 (pain free) during the follow-up period. Conclusions: We found that the occipital headache or posterior neck pain caused by AAS in rheumatoid arthritis patients was alleviated over a short term follow up. C2 RF ganglionotomy is suggested as an effective palliative treatment for AAS in RA patients.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.06a
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• pp.461-465
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• 2007

MANET(Mobile Ad hoc Networks) is free-mobility formation of mobile nodes in the wireless networks. Generally, wireless networks has two main type of structures which Tree and Mesh. These general structure is difficult to do which connectivity, redundancy transmit and network continuant. In this paper, we would suggest a new ODDMRP(Ontology Doppler effect-based Dynamic Multicast Routing Protocol) technology for effective MANET which Ontology Doppler effect-based. ODDMRP consist of the parameters for node entropy when using Doppler effect which moving position of round node, moving time, and distribution chart in velocity also it express distance of destination node and property structure organization. It would be used to provide improvement to keep the optimal communication routing and also could be improve network stabilization, and continuation durability of connectivity.

• Smart Structures and Systems
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• v.15 no.1
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• pp.135-150
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• 2015

Large concrete structures are prone to cracks and damages over time from human usage, weathers, and other environmental attacks such as flood, earthquakes, and hurricanes. The health of the concrete structures should be monitored regularly to ensure safety. A reliable method of real time communications can facilitate more frequent structural health monitoring (SHM) updates from hard to reach positions, enabling crack detections of embedded concrete structures as they occur to avoid catastrophic failures. By implementing an unconventional mode of communication that utilizes guided stress waves traveling along the concrete structure itself, we may be able to free structural health monitoring from costly (re-)installation of communication wires. In stress-wave communications, piezoelectric transducers can act as actuators and sensors to send and receive modulated signals carrying concrete status information. The new generation of lead zirconate titanate (PZT) based smart aggregates cause multipath propagation in the homogeneous concrete channel, which presents both an opportunity and a challenge for multiple sensors communication. We propose a time reversal based pulse position modulation (TR-PPM) communication for stress wave communication within the concrete structure to combat multipath channel dispersion. Experimental results demonstrate successful transmission and recovery of TR-PPM using stress waves. Compared with PPM, we can achieve higher data rate and longer link distance via TR-PPM. Furthermore, TR-PPM remains effective under low signal-to-noise (SNR) ratio. This work also lays the foundation for implementing multiple-input multiple-output (MIMO) stress wave communication networks in concrete channels.

• Journal of the Optical Society of Korea
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• v.16 no.4
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• pp.331-335
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• 2012

A miniaturized laser beam transmitter, in which a visible laser module at ${\lambda}$=650 nm is precisely stacked upon an infrared (IR) module at ${\lambda}$=905 nm, has been proposed and constructed to provide an IR collimated beam in conjunction with a collinear monitoring visible beam. In particular, the IR beam is selectively dispersed through a perforated sheet diffuser, so as to create a rapidly diverging close-range beam in addition to a highly defined long-range beam simultaneously. The complementary close-range beam plays a role in mitigating the blind region in the vicinity of the transmitter, which is inevitably missed by the main long-range beam, thereby uniformly extending the transmitter's effective trajectory that is sensed by a receiver. The proposed transmitter was designed through numerical simulations and then fabricated by incorporating a diffuser sheet, perforated with an aperture of 2 mm. For the manufactured transmitter, the IR long-range beam was observed to have divergences of ~2.3 and 1.6 mrad in the fast and slow axes, respectively, while the short-range beam yielded a divergence of ~24 mrad. The angular alignment between the long-range IR and visible beams was as accurate as ~0.5 mrad. According to an outdoor feasibility test involving a receiver, the combination of the IR long- and short-range beams was proven to achieve a nearly uniform trajectory over a distance ranging up to ~600 m, with an average detectable cross-section of ${\sim}60{\times}80cm^2$.