• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.258-262
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• 2017

In this paper, we propose a new collision detection algorithm for human-robot collaboration. We use an IMU sensor located at the tip of the manipulator and the kinematic behavior of the manipulator to detect the unexpected collision between the robotic manipulator and environment. Unlike other method, the developed algorithm uses only the kinematic relationship between the manipulator joint and the end effector. Therefore, the collision estimation signal is not affected by the error of the dynamics model. The proposed collision detection algorithm detects the collision by comparing the estimated acceleration of the end effector derived from the position, velocity and acceleration trajectories of the robot joints with the actual acceleration measured by the sensor. In simulation, we compare the performance of our method with the conventional Residual Observer (ROB). Our method is less sensitive to the load variation because of the independency on the dynamic modeling of the manipulator.

• Journal of Music and Human Behavior
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• v.11 no.1
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• pp.21-37
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• 2014

The significant role of joint attention in the development of children with autism spectrum disorder (ASD) has highlighted the importance of early intervention. With the emphasis on the effective cueing and reinforcer for orienting to social stimuli in improving responding to joint attention (RJA) of children with ASD, the use of musical cue was hypothesized. This study aimed to examine the occurrence of RJA behaviors depending on the attentional cue, which differed in the level of information and type of auditory modality. Nine children with ASD participated in this study. The use of eight different joint attention cues were analyzed in terms of the frequency and accuracy of RJA behaviors elicited. The results of the study showed that RJA behaviors occurred more frequently with musical cues than with verbal cues and the mean accuracy rate of RJA was higher with musical cues (p = .047). Musically delivered eliciting and directing cues accompanied with pointing elicited the highest attentional shift and RJA accuracy. The significant increases in RJA with the use of musical cues indicated that incorporating musical elements into an attentional cue may provide more accurate cue information, enough to improve RJA behaviors of children with autism.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.05a
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• pp.521-523
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• 2012

In the field of virtual reality and game production with realistic, real-time character's behavior is frequently used. In this paper, the terrain changes or other actions on the surrounding environment by implementing adaptive any action that is the most natural and can be adapted to analyze real-time character animation is implemented. For this purpose, in order to control the various movements of the character of the human body, by highlighting the major joints Kinematic dummy character animation is to create a way. Changes in terrain height difference of the two stairs that could cause analysis of the behavior in the environment and the other on the surrounding environment by adapting behavior to analyze the behavior of the slope climbing Based on this, the character animation is implemented.

• Journal of Music and Human Behavior
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• v.17 no.1
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• pp.97-125
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• 2020

This case study examined the effects of synchronization-based group music therapy for improving peer interaction of children with autism spectrum disorder (ASD). The participants were five children between the ages of 6 and 10 with ASD. A total of eight 30-minute music therapy sessions were conducted two times a week. During sessions, target behaviors (i.e., engagement in joint action, synchronized movements, eye contact, and initiation of social interaction) were observed and analyzed. Also, the PIPPS-P was completed by parents to identify behavioral changes in real-life environments from pretest to posttest. Following the intervention, all of the participants showed increases in synchronized movements with peers and attempts to initiate social interaction. In addition, parents rated their children's play behavior as being improved in their everyday living environment. These results support that synchronous movements between children with ASD, which were facilitated with rhythmic cueing, led to enhanced engagement in joint action. Considering that those movements are the basis for further social skills (e.g., play behavior), this study also indicates that synchronization-based group music therapy could be an effective therapeutic approach for improving the peer interaction of this population.

• Journal of Music and Human Behavior
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• v.21 no.1
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• pp.69-87
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• 2024

This study investigated whether joint attention response behaviors in children with autism spectrum disorder (ASD) change in response to musical cues and reinforcing stimulus, and compared them with neurotypically developing (NT) children. The participants included 13 children with ASD and 14 NT children aged between 3 to 5 years. The study established six task conditions, involving cues (verbal vs. musical) for responding to joint attention (RJA) behaviors and reinforcing stimulus (verbal vs. sound vs. musical) for social referencing behaviors. These tasks were presented 12 times with two repetitions each. The results of the study showed that providing musical cues during the RJA phase increased levels of RJA in children with ASD, consistent with prior studies. Subsequently, musical reinforcing stimuli increased the frequency of social referencing behaviors in these children. This indicates that musical stimuli can extend beyond mere sensory cues, helping individuals to understand and respond to social and emotional cues from others. Moreover, these musical stimuli could serve as effective social reinforcement factors for this population.

• Journal of Internet Computing and Services
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• v.19 no.6
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• pp.41-51
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• 2018

Recently, in the field of video surveillance, deep learning based learning method is applied to intelligent video surveillance system, and various events such as crime, fire, and abnormal phenomenon can be robustly detected. However, since occlusion occurs due to the loss of 3d information generated by projecting the 3d real-world in 2d image, it is need to consider the occlusion problem in order to accurately detect the object and to estimate the pose. Therefore, in this paper, we detect moving objects by solving the occlusion problem of object detection process by adding depth information to existing RGB information. Then, using the convolution neural network in the detected region, the positions of the 14 keypoints of the human joint region can be predicted. Finally, in order to solve the self-occlusion problem occurring in the pose estimation process, the method for 3d human pose estimation is described by extending the range of estimation to the 3d space using the predicted result of 2d keypoint and the deep neural network. In the future, the result of 2d and 3d pose estimation of this research can be used as easy data for future human behavior recognition and contribute to the development of industrial technology.

• Korean Journal of Applied Biomechanics
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• v.26 no.1
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• pp.135-142
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• 2016

Objective: The purpose of this study was to investigate the acute effect of walking on high heels on the behavior of fascicle length and activation of the lower limb muscles. Methods: Twelve healthy inexperienced high heel wearers (age: $23.1{\pm}2.0yr$, height: $162.4{\pm}4.9cm$, weight: $54.4{\pm}8.5kg$) participated in this study. They walked in high heels (7 cm) and barefoot on a treadmill at their preferred speed. During the gait analysis, the lower limb joint kinematics were obtained using a motion analysis system. In addition, the changes in fascicle length and the level of activation of the medial gastrocnemius (MG) were simultaneously monitored using a real-time ultrasound imaging technique and surface electromyography, respectively. Results: The results of this study show that the MG fascicle operates at a significantly shorter length in high heel walking ($37.64{\pm}8.59mm$ to $43.99{\pm}8.66mm$) in comparison with barefoot walking ($48.26{\pm}9.02mm$ to $53.99{\pm}8.54mm$) (p < .05). In addition, the MG fascicle underwent lengthening during high heel walking with relatively low muscle activation while it remained isometric during barefoot walking with relatively high muscle activation. Conclusion: Wearing high heels alters the operating range of the MG fascicle length and the pattern of muscle activation, suggesting that prolonged wearing of high heels might induce structural alterations of the MG that, in turn, hinder normal functioning of the MG muscle during walking.

• International Journal of Control, Automation, and Systems
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• v.4 no.3
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• pp.325-332
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• 2006

The dynamic responses of human standing postural control were investigated when subjects were exposed to long-term horizontal vibration. It was hypothesized that the motion of standing posture complexity mainly occurs in the mid-sagittal plane. The motor-driven support platform was designed as a source of vibration. The AC Servo-controlled motors produced anterior/posterior (AP) motion. The platform acceleration and the trunk angular velocity were used as the input and the output of the system, respectively. A method was proposed to identify the complexity of the standing posture dynamics. That is, during AP platform motion, the subject's knee, hip and neck were tightly constrained by fixing assembly, so the lower extremity, trunk and head of the subject's body were individually immovable. Through this method, it was assumed that the ankle joint rotation mainly contributed to maintaining their body balance. Four subjects took part in this study. During the experiment, the random vibration was generated at a magnitude of $0.44m/s^2$, and the duration of each trial was 40 seconds. Measured data were estimated by the coherence function and the frequency response function for analyzing the dynamic behavior of standing control over a frequency range from 0.2 to 3 Hz. Significant coherence values were found above 0.5 Hz. The estimation of frequency response function revealed the dominant resonance frequencies between 0.60 Hz and 0.68 Hz. On the basis of our results illustrated here, the linear model of standing postural control was further concluded.

• Journal of Music and Human Behavior
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• v.7 no.2
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• pp.65-81
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• 2010

This single case study is to examine the gait parameter changes of a 12-year old patient with Cerebellar Astrocytomas using RAS in gait training program. Kinematic and temporospatial changes were analyzed using VICON 370 Motion Analysis System. A total of nine RAS gait training sessions was provided and each training program took 30 minutes. Gait analysis revealed that the patient showed improvement in cadence, velocity, stride length, and step length and improved the range of joint movements by showing gait patterns similar to normal distribution from a pathological pattern. This study showed possibilities to apply the RAS technique to the various population including clients with cerebellum damaged; however more further research should be done in this area.

• Journal of Korean Society of Occupational and Environmental Hygiene
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• v.33 no.3
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• pp.346-354
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• 2023

Objectives: Chemical accidents cause extensive human and environmental damage. Therefore, it is important to prepare measures to prevent their recurrence and minimize future damage through accident investigation. To this end, it is necessary to identify the accident occurrence process and analyze the extent of damage. In this study, the development process and damage range of actual chemical leakage accidents were analyzed using CFD. Methods: For application to actual chemical leakage accidents using FLACS codes specialized for chemical dispersion simulation among CFD codes, release rate calculation and 3D geometry were created, and scenarios for simulation were derived. Results: The development process of the accident and the dispersion behavior of materials were analyzed considering the influencing factors at the time of the accident. In addition, to confirm the validity of the results, we compared the results of the actual damage impact investigation and the simulation analysis results. As a result, both showed similar damage impact ranges. Conclusions: The FLACS code allows the detailed analysis of the simulated dispersion process and concentration of substances similar to real ones. Therefore, it is judged that the analysis method using CFD simulation can be usefully applied as a chemical accident investigation technique.