• Journal of Ocean Engineering and Technology
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• v.33 no.5
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• pp.454-461
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• 2019

In autonomous interventions using an underwater vehicle with a manipulator, grasping based on target detection and recognition is one of the core technologies. To complete an autonomous grasping task, the vehicle body approaches the target closely and then holds it through operating the end-effector of the manipulator, while the vehicle maintains its position and attitude without unstable motion. For vehicle motion control, it is very important to identify the hydrodynamic parameters of the underwater vehicle, including the propulsion force. This study examined the propulsion characteristics of the autonomous intervention ROV developed by KRISO, because there is a difference between the real exerted force and the expected force. First, the mapping between the input signal and thrusting force for each underwater thruster was obtained through a water tank experiment. Next, the real propulsion forces and moments of the ROV exerted by thrusting forces were directly measured using an F/T (force/torque) sensor attached to the ROV. Finally, the differences between the measured and expected values were confirmed.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.4
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• pp.767-779
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• 2017

Automated mission planning for unmanned aerial vehicles (UAVs) is difficult because of the propagation of several sources of error into the solution, as for any large scale autonomous system. To ensure reliable system performance, we quantify all sources of error and their propagation through a mission planner for operation of UAVs in an obstacle rich environment we developed in prior work. In this sequel to that work, we show that the mission planner developed before can be made robust to errors arising from the mapping, sensing, actuation, and environmental disturbances through creating systematic buffers around obstacles using the calculations of uncertainty propagation. This robustness makes the mission planner truly autonomous and scalable to many UAVs without human intervention. We illustrate with simulation results for trajectory generation of multiple UAVs in a surveillance problem in an urban environment while optimizing for either maximal flight time or minimal fuel consumption. Our solution methods are suitable for any well-mapped region, and the final collision free paths are obtained through offline sub-optimal solution of an mTSP (multiple traveling salesman problem).

• Journal of the Semiconductor & Display Technology
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• v.18 no.1
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• pp.102-104
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• 2019

Registering different kinds of clinical images widely used in diagnostic and surgery planning. However, cause of tumor growth or effected by gravity, human tissue has plenty of non-rigid deformation with clinically. Non-rigid registration allows the mapping of straight lines to curves. Therefore, such local deformation makes registration more complicated. In this work, we mainly introduce intra-subject, inter-modality registration. This paper mainly studies the nonlinear registration method of 2D medical image registration. The general medical image registration algorithm requires manual intervention, and cost long registration time. In our work to reduce the registration time in rough registration step, the barycenter and the direction of main axis of the image is calculated, which reduces the calculation amount compared with the method of using mutual information.

• The Journal of the Korea Contents Association
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• v.20 no.11
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• pp.457-471
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• 2020

The purpose of this study is to explore the in-depth content of vicarious trauma experience of sexual violence counselors and to develop intervention strategy. To this end, depth interviews were conducted with twelve sexual violence counselors working at the sexual violence counseling site for more than three years. In addition, using the concept mapping method, the content exploration of the experience of vicarious trauma of sexual violence counselors was confirmed, and its conceptual structure was identified. As a result, 60 key sentences regarding the experience of vicarious trauma of sexual violence counselors were extracted. Then, multi-dimensional scale and cluster analysis were conducted after making nineteen appraisal participants who are under the same condition as depth interview participants to categorize and assess key sentences. As a result of analysis, the x-axis of negative perception, psychological and emotional dimension, and the y-axis of personal inner and behavioral dimension appeared, and five clusters emerged: immersion and skepticism about work, experience of emotional assimilation, hypersensitivity to sex, increased vigilance against men, and threat of safety. This provided basic data that could categorize and identify the contents of vicarious trauma of sexual violence counselors experience by sexual violence counselors.

• Journal of agricultural medicine and community health
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• v.47 no.3
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• pp.166-180
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• 2022

Objective: This study evaluated the effects of a non-face-to-face obesity management program, implemented during the pandemic. Methods: The non-face-to-face obesity management program used the Intervention mapping protocol (IMP). The program was put into effect over the course of eight weeks, from September 14 to November 13, 2020 in 48 overweight and obese adults, who applied to participate through the Daegu Citizen Health Support Center. Results: IMP was first a needs assessment was conducted; second, goal setting for behavior change was established; third, evidence-based selection of arbitration method and performance strategy was performed; fourth, program design and validation; fifth, the program was run; and sixth, the results were evaluated. The average weight after participation in the program was reduced by 1.2kg, average WC decreased by 3cm, and average BMI decreased by 0.8kg/m² (p<0.05). The results of the health behavior survey showed a positive improvement in lifestyle factors, including average daily intake calories, fruit intake, and time spent in walking exercise before and after participation in the program. A statistically significant difference was seen (p<0.05). The satisfaction level for program process evaluation was high, at 4.57±0.63 point. Conclusion: The non-face-to-face obesity management program was useful for obesity management for adults in communities, as it enables individual counseling by experts and active participation through self-body measurement and recording without restriction by time and place. However, the program had some restrictions on participation that may relate to the age of the subject, such as skill and comfort in using a mobile app.

• The Journal of Korean Medicine Ophthalmology and Otolaryngology and Dermatology
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• v.13 no.2
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• pp.200-210
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• 2000

objective to ascertain whether the concept of the therapeutic side is associated with changes in the blind sport mapping that represents the brain function. design Physiological blind spot maps were used as an integer of brain activity before and after acupuncture needling on the meridian point Hapkok(合谷) and Techung(太衝) in the unilateral side decided by double-blind controlled study(20 subjects). setting outpatient clinic participants: adult volunteers intervention twenty subjects were divided into two comparative groups and underwent specific acupuncture therapy on the unilateral side. Blinded examiners obtained reproducible pre and post-acupuncture cortical maps, which were subjected to statistical analysis. main outcome measures Brain activity was demonstrated by reproducible circumferential measurements of cortical hemispheric blind spot maps before and after acupuncture on the unilateral side. in case of acupuncture needling on the ipsilateral side of an enlarged side of bilnd spot, there were reduction of blind spot in 7 cases of 10 subjects, and enlargement in 3 cases. in case of acupuncture needling on the contralateral side of the enlarged side of blind spot, there were enlargement of blind spot in 6 cases of 10 subjects, and reduction in 4 cases. results the significant changes in the blind spots before and after acupuncture were observed Acupuncture needlings on the ipsilateral or contralateral side of an enlarged cortical map were associated with the concept of the therapeutic side traditionally accepted in the oriental medical society. Acupuncture needling on the ipsilateral side of an enlarged blind spot map is associated with the reduction of map, and increaed contralateral cortical activity. Acupuncture needling on the side opposite an enlarged blind spot map is associated with the enlargement of map, and decreased cortical activity. conclusion Reproducible maps of cortical responses can be used to measure the neurological consequences of acupuncture needling. Acupuncture can affect the somatic sensory informations that reach to the contralateral thalamus, and so affect thalamic integration. we found that acupuncture therapy may be associated with an increase or a decrease in brain function depending on the side of acupuncture needling. thus, the traditional concept of the contralateral therapeutic theory in acupuncture approach has the clinical significance in the view of brain function.

• Korean Journal of Remote Sensing
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• v.38 no.5_1
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• pp.461-469
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• 2022

This paper presents a novel training data extraction approach using semi-supervised learning (SSL)-based classification without the analyst intervention for time-series land-cover mapping. The SSL-based approach first performs initial classification using initial training data obtained from past images including land-cover characteristics similar to the image to be classified. Reliable training data from the initial classification result are then extracted from SSL-based iterative classification using classification uncertainty information and class labels of neighboring pixels as constraints. The potential of the SSL-based training data extraction approach was evaluated from a classification experiment using unmanned aerial vehicle images in croplands. The use of new training data automatically extracted by the proposed SSL approach could significantly alleviate the misclassification in the initial classification result. In particular, isolated pixels were substantially reduced by considering spatial contextual information from adjacent pixels. Consequently, the classification accuracy of the proposed approach was similar to that of classification using manually extracted training data. These results indicate that the SSL-based iterative classification presented in this study could be effectively applied to automatically extract reliable training data for time-series land-cover mapping.

• Korean Journal of Adult Nursing
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• v.24 no.4
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• pp.358-369
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• 2012

Purpose: This study was performed to compare the costs of nursing interventions implemented for the obstetrical and gynecological patients using Korean Reimbursement System and ABC codes system developed in the US for costing out interventions performed by health care professional. Methods: First, the narrative data on nursing interventions were extracted from electronic medical record system of a tertiary university and mapped with Nursing Intervention Classification (NIC) by two researchers until 100% consent was reached. Narrative nursing interventions mapped with NIC were then remapped with ABC codes system using the electronic program developed in the research. The mapping data were analyzed with real numbers, frequency, percentage, mean, and standard deviation. Results: More nursing interventions were mapped with ABC codes than Korean reimbursement system. Total of 97 different types of narrative interventions could be mapped with NIC, 43 NIC interventions could be reimbursed by ABC code but only 16 NIC interventions were reimbursed by Korea Reimbursement System. Conclusion: Korean medical insurance fee system needs amendment to include more comprehensively interventions performed by nurses which are very important to patient outcomes. Further study is needed to develop strategies to costing out nursing interventions.

• PNF and Movement
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• v.22 no.1
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• pp.139-149
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• 2024

Purpose: This study aimed to investigate the effects of gradually increasing treadmill inclination on the electroencephalogram (EEG) of stroke patients during gait training. Methods: Three stroke patients who were diagnosed with stroke within six months and capable of walking on a treadmill were selected as subjects. EEG electrodes were attached at Fp1, Fp2, F3, F4, C3, C4, P3, and P4 positions of the cerebral hemispheres using the International 10-20 system. The intervention involved walking for 2 minutes each at 0 degrees, 15 degrees, and 30 degrees inclination on the treadmill while focusing on a target point located in front during the treadmill gait training. The EEG (Smartingmobi, Serbia) generated when the treadmill gradient gradually increased was measured. In addition, relative alpha and relative beta waves were visualized through the Brain mapping program in the TeleScan program to assess the changes in each brain region for the activity of the EEG. Results: The relative alpha wave value decreased as treadmill inclination increased, while the relative beta wave value increased. Conclusion: Gradually increasing the inclination during treadmill gait training appears to be a crucial parameter for increasing the brain activity levels of stroke patients.

• Journal of Korean Neurosurgical Society
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• v.61 no.3
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• pp.363-375
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• 2018

Intraoperative monitoring (IOM) utilizes electrophysiological techniques as a surrogate test and evaluation of nervous function while a patient is under general anesthesia. They are increasingly used for procedures, both surgical and endovascular, to avoid injury during an operation, examine neurological tissue to guide the surgery, or to test electrophysiological function to allow for more complete resection or corrections. The application of IOM during pediatric brain tumor resections encompasses a unique set of technical issues. First, obtaining stable and reliable responses in children of different ages requires detailed understanding of normal age-adjusted brain-spine development. Neurophysiology, anatomy, and anthropometry of children are different from those of adults. Second, monitoring of the brain may include risk to eloquent functions and cranial nerve functions that are difficult with the usual neurophysiological techniques. Third, interpretation of signal change requires unique sets of normative values specific for children of that age. Fourth, tumor resection involves multiple considerations including defining tumor type, size, location, pathophysiology that might require maximal removal of lesion or minimal intervention. IOM techniques can be divided into monitoring and mapping. Mapping involves identification of specific neural structures to avoid or minimize injury. Monitoring is continuous acquisition of neural signals to determine the integrity of the full longitudinal path of the neural system of interest. Motor evoked potentials and somatosensory evoked potentials are representative methodologies for monitoring. Free-running electromyography is also used to monitor irritation or damage to the motor nerves in the lower motor neuron level : cranial nerves, roots, and peripheral nerves. For the surgery of infratentorial tumors, in addition to free-running electromyography of the bulbar muscles, brainstem auditory evoked potentials or corticobulbar motor evoked potentials could be combined to prevent injury of the cranial nerves or nucleus. IOM for cerebral tumors can adopt direct cortical stimulation or direct subcortical stimulation to map the corticospinal pathways in the vicinity of lesion. IOM is a diagnostic as well as interventional tool for neurosurgery. To prove clinical evidence of it is not simple. Randomized controlled prospective studies may not be possible due to ethical reasons. However, prospective longitudinal studies confirming prognostic value of IOM are available. Furthermore, oncological outcome has also been shown to be superior in some brain tumors, with IOM. New methodologies of IOM are being developed and clinically applied. This review establishes a composite view of techniques used today, noting differences between adult and pediatric monitoring.