• Journal of Advanced Navigation Technology
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• v.21 no.1
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• pp.21-29
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• 2017

In this paper, we studied the control of the hybrid underwater glider (HUG), which has the advantage of high precision route search function and long-term mission capability. Dynamic modeling of HUG is based on numerical model of the attitude controller and buoyancy engine, thruster. We designed the control part considering the smooth control and precise sailing of HUG. A buoyancy engine capable of inhaling water is designed to control the buoyancy of HUG. And mass shifter carrying the battery was designed for controlling pitching motion of HUG. A control system for controlling the buoyancy engine and the attitude controller was constructed. In order to verify performance, we performed water tank test using manufactured HUG.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.4
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• pp.347-352
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• 2011

The maximum accuracy of position control by using an industrial robot is about $100{\mu}m$, whereas the maximum tolerated imprecision in the position of precision parts is about several tens of micrometers. Therefore, it is very difficult to assemble parts by position control only. Moreover, in the case of precision assembly, jamming or wedging can easily occur because of small position/orientation errors, which may damage the parts to be assembled. To overcome these problems, we investigated a force control scheme that provides proper motion in response to the contact force. In this study, we constructed a force control system that can be easily implemented in a position-controlled manipulator. Impedance control by using an admittance filter was adopted to perform stable contact tasks. It is shown that the precision parts can be assembled well by adopting impedance control and blind search methods.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.399-404
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• 2006

The container crane is one of the most important equipment in container terminal. If its working time in cycle could be reduced then container terminal efficiency and service level can be increased. So there are many efforts to reduce working time of container crane. It means how to design the controller with good performance which has small overshoot and swing motion of container crane. We, in this paper, present a state feedback controller not based on LQ theory but RCGA which means real-coded genetic algorithms. RCGA can search state feedback gains in given objective function. several cases of simulations are carried out in order to prove the control effectiveness of the proposed methods.

• Clinics in Shoulder and Elbow
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• v.26 no.3
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• pp.296-301
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• 2023

Background: A supervised physiotherapy program (SPP) is a standard regimen after surgical rotator cuff repair (RCR); however, the effect of a home-based exercise program (HEP), as an alternative, on postoperative functional recovery remains unclear. Therefore, the purpose of this meta-analysis was to compare the functional effects of SPP and HEP after RCR. Methods: We searched electronic databases including Central, Medline, and Embase in April 2022. The primary outcomes included the Constant score, American Shoulder and Elbow Surgeons score, University of California Los Angeles shoulder score, and pain score. Secondary outcomes included range of motion, muscle strength, retear rate, and patient satisfaction rate. A meta-analysis using random-effects models was performed on the pooled results to determine the significance. Results: The initial database search yielded 848 records, five of which met our criteria. Variables at 3 months after surgery were successfully analyzed, including the Constant score (mean difference, -8.51 points; 95% confidence interval [CI], -32.72 to 15.69; P=0.49) and pain score (mean difference, 0.02 cm; 95% CI, -2.29 to 2.33; P=0.99). There were no significant differences between the SPP and HEP. Other variables were not analyzed owing to the lack of data. Conclusions: Our data showed no significant differences between SSP and HEP with regard to the Constant and pain scores at 3 months after RCR. These results suggest that HEP may be an alternative regimen after RCR. Level of evidence: I.

• Journal of Korea Multimedia Society
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• v.12 no.11
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• pp.1563-1571
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• 2009

In this paper, we propose a new boundary matching method for the temporal error concealment and a post processing algorithm for perceptual quality improvement of the concealed frame. Temporal error concealment is a method that substitutes error blocks with similar blocks from the reference frame. In conventional H.264/AVC standard, it compares outside pixels of erroneous block with inside pixels of reference block to find the most similar block. However, it is very possible that the conventional method substitutes erroneous block with the wrong one because it compares only narrow spatial range of pixels. In this paper, for substituting erroneous blocks with more correct blocks, we propose enhanced boundary matching method by comparing inside and outside pixels of reference block with outside pixels of erroneous block and setting up additional candidate motion vector in the fixed search range based on maximum and minimum value of candidate motion vectors. Furthermore, we propose a post processing method to smooth edges between concealed and decoded blocks without error by using the modified deblocking filter. We identified that the proposed method shows quality improvement of about 0.9dB over the conventional boundary matching methods.

• The KIPS Transactions:PartB
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• v.12B no.6 s.102
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• pp.671-678
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• 2005

In this paper, we suggest an algorithm that allows us to extract the important obbject from motion pictures and then replace the background with arbitrary images. The suggested technique can be used not only for protecting privacy and reducing the size of data to be transferred by removing the background of each frame, but also for replacing the background with user-selected image in video communication systems including mobile phones. Because of the relatively large size of image data, digital image processing usually takes much of the resources like memory and CPU. This can cause trouble especially for mobile video phones which typically have restricted resources. In our experiments, we could reduce the requirements of time and memory for processing the images by restricting the search area to the vicinity of major object's contour found in the previous frame based on the fact that the movement of major object is not wide or rapid in general. Specifically, we detected edges and used the edge image of the initial frame to locate candidate-object areas. Then, on the located areas, we computed the difference image between adjacent frames and used it to determine and trace the major object that might be moving. And then we computed the contour of the major object and used it to separate major object from the background. We could successfully separate major object from the background and replate the background with arbitrary images.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.33 no.4
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• pp.271-277
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• 2020

There are increasing cases of monitoring the structural response of structures using multiple sensors. However, owing to cost and management problems, limited sensors are installed in the structure. Thus, few structural responses are collected, which hinders analyzing the behavior of the structure. Therefore, a technique to predict responses at a location where sensors are not installed to a reliable level using limited sensors is necessary. In this study, a numerical study is conducted to predict the seismic response of low-rise buildings using limited information. It is assumed that the available response information is only the acceleration responses of the first and top floors. Using both information, the first natural frequency of the structure can be obtained. The acceleration information on the first floor is used as the ground motion information. To minimize the error on the acceleration history response of the top floor and the first natural frequency error of the target structure, the method for predicting the mass and stiffness information of a structure using the genetic algorithm is presented. However, the constraints are not considered. To determine the range of design variables that mean the search space, the parameter prediction method based on artificial neural networks is proposed. To verify the proposed method, a five-story structure is used as an example.

• Journal of Broadcast Engineering
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• v.13 no.3
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• pp.310-318
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• 2008

The H.264/AVC standard achieves higher coding efficiency than previous video coding standards with the rate-distortion optimization (RDO) technique which selects the best coding mode and reference frame for each macroblock. As a result, the complexity of the encoder have been significantly increased. In this paper, a fast intra-mode decision algorithm is proposed to reduce the computational load of intra-mode search, which is based on the inverse tree-structure edge prediction algorithm. First, we obtained the dominant edge for each $4{\times}4$ block from local edge information, then the RDO process is only performed by the mode which corresponds to dominant edge direction. Then, for the $8{\times}8$ (or $16{\times}16$) block stage, the dominant edge is calculated from its four $4{\times}4$ (or $16{\times}16$) blocks' dominant edges without additional calculation and the RDO process is also performed by the mode which is related to dominant edge direction. Experimental results show that proposed scheme can significantly improve the speed of the intra prediction with a negligible loss in the peak signal to noise ratio (PSNR) and a little increase of bits.

• Physical Therapy Korea
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• v.28 no.1
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• pp.18-26
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• 2021

Previous studies have reported that deep neck flexor (DNF) exercise can improve neck problems, including neck pain, forward head posture, and headache, by targeting the deep and superficial muscles of the neck. Despite the prevailing opinion across studies, the benefits of DNF can vary according to the type of neck problems and the outcome measures adopted, ranging from positive outcomes to non-significant benefits. A meta-analysis was conducted in this study to assess conclusive evidence of the impact of DNF exercise on individuals with neck problems. We used PUBMED, MEDLINE, NDSL, EMBASE, and Web of Science to search for primary studies and the key terms used in these searches were "forward head posture (FHP)," "biofeedback," "pressure biofeedback unit," "stabilizer," "headache," and "neck pain." Twenty-four eligible studies were included in this meta-analysis and were coded according to the type of neck problems and outcome measures described, such as pain, endurance, involvement of neck muscle, craniovertebral angle (CVA), neck disability index (NDI), cervical range of motion (CROM), radiographs of the neck, posture, strength, endurance, and headache disability index. The overall effect size of the DNF exercise was 0.489. The effect sizes of the neck problems were 0.556 (neck pain), -1.278 (FHP), 0.176 (headache), and 1.850 (mix). The effect sizes of outcome measures were 1.045 (pain), 0.966 (endurance), 0.894 (deep neck flexor), 0.608 (superficial neck flexor), 0.487 (CVA), 0.409 (NDI), and 0.252 (CROM). According to the results of this study, DNF exercise can effectively reduce neck pain. Thus, DNF exercise is highly recommend as an effective exercise method for individuals suffering from neck pain.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.9
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• pp.6099-6111
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• 2015

This study was a systematic review and meta-analysis comparing the effects of aquatic exercise and land-based exercise in the treatment of knee osteoarthritis. 7 studies (n=449) met selection and exclusion criteria out of 287 potential studies obtained from the literature search via Ovid-Medline, Cochrane Library CENTRAL, CINAHL, RISS and KISS. The overall risk of bias of selected studies using SIGN (Scottish Intercollegiate Guidelines Network) checklist for randomized controlled trials (RCT) was regarded as low. As a result of meta analysis, Standardized Mean Difference (SMD) for pain was -0.26(95% CI -0.49, -0.03, p=0.03, $I^2=14%$), which implies that aquatic exercise groups had significant less pain than land-based exercise groups. On the other hand, there was no significant difference between aquatic exercise groups and land based exercise groups for flexion Range of Motion (ROM) (-0.12, 95% CI -0.51, 0.27, p=0.53, $I^2=0%$), extension ROM (-0.04, 95% CI -0.55, 0.48, p=0.89, $I^2=43%$), physical function (-0.12, 95% CI -0.44, 0.19, p=0.44, $I^2=0%$), Quality of Life (QOL) (-0.15, 95% CI -0.54, 0.24, p=0.46, $I^2=0%$). This study has some limitations due to few RCTs comparing aquatic exercise groups and land-based exercise groups in the treatment of knee osteoarthritis. Therefore, further RCTs should be conducted along with long-term outcomes.