• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.108.4-108
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot fingers which stably grasps and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for differential-algebraic equations of overall...

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.46 no.4
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• pp.7-16
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• 2009

A robot must be able to generate various skills to achieve given tasks intelligently and reasonably. The robot must first learn affordances to generate the skills. An affordance is defined as qualities of objects or environments that induce actions. Affordances can be usefully used to generate skills. Most tasks require sequential and goal-oriented behaviors. However, it is usually difficult to accomplish such tasks with affordances alone. To accomplish such tasks, a skill is constructed with an affordance and a soft behavioral motivation switch for reflecting goal-oriented elements. A skill calculates a behavioral motivation as a combination of both presently perceived information and goal-oriented elements. Here, a behavioral motivation is the internal condition that activates a goal-oriented behavior. In addition, a robot must be able to execute sequential behaviors. We construct skill networks by using generated skills that make action selection feasible to accomplish a task. A robot can select sequential and a goal-oriented behaviors using the skill network. For this, we will first propose a method for modeling and learning Bayesian networks that are used to generate affordances. To select sequential and goal-oriented behaviors, we construct skills using affordances and soft behavioral motivation switches. We also propose a method to generate the skill networks using the skills to execute given tasks. Finally, we will propose action-selection-mechanism to select sequential and goal-oriented behaviors using the skill network. To demonstrate the validity of our proposed methods, "Searching-for-a-target-object", "Approaching-a-target-object", "Sniffing-a-target-object", and "Kicking-a-target-object" affordances have been learned with GENIBO (pet robot) based on the human teaching method. Some experiments have also been performed with GENIBO using the skills and the skill networks.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.1
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• pp.69-74
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• 2005

In this paper, we suggested user assistant soft computing method for 3D effect optimization. In order to maximize 3D effect of image, intervals among cameras have to be set up properly according to distance between cameras and an object. Two data such as interval and distance was obtained to use in neural network as the data for learning. However, if the data for learning was obtained by only human's subjective views, it could be that the obtained data was not optimal for learning because the data had an accidental ewer To obtain optimal data lot learning, we added candidature data to obtained data through data analysis, and then selected the most proper data between the candidature data and the obtained data for learning in neural network. Usually, 3D effect of image was affected by both distance from an object to cameras and an object size. Therefore, we suggested fuzzy inference model which was able to represent two factors like distance and size. Candidature data was added by fuzzy model. In the simulation result, we verified that the mote the obtained data was affected by human's subjective views, the more effective the suggested system was.

• Journal of the Korean GEO-environmental Society
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• v.10 no.7
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• pp.43-51
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• 2009

This paper holds three objects. The first is to analyze surveys of concerning zone and promotion department. The data were collected through an examination of construction excavated in coastal soft (marine) clay and measurements obtained during excavating construction. The second is to observe the appropriate selection and the application of support system on earth retaining wall in soft clay. Lateral deformation behavior during the excavating construction according to the differences in a soft ground pressuring degree was investigated. The third is to compare the results with those of numerical analysis. Therefore, the purpose of this study is to analyze the characteristics of lateral deformation when soft ground improvement for the expansion of infrastructure in object of study zone has been incompleted. Also, it is to identify the relationship between the degree of consolidation of soft ground and lateral deformation, in a method of displacement quantity in compliance with the numerical analysis and a quatitative analysis. In conclusion, displacement of excavated section after consolidation was fewer 60% averagely than section under consolidation.

• Journal of Contemporary Eastern Asia
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• v.17 no.1
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• pp.50-67
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• 2018

Heritage has entered the center stage of public diplomacy in East Asia. Competition to claim and interpret memories of World War II in East Asia has driven campaigns to list heritage items with UNESCO. State and non-state actors aim to use heritage listings to present a particular view of the war and related history to domestic and international audiences. This paper highlights the role of heritage soft power in East Asia's "memory contests" by examining the promotion of dissonant modern heritage in UNESCO's heritage programs. It conceptualizes heritage designation as a soft power resource in East Asia and presents a conceptual framework for understanding the hegemonic competition over the "memory regime" that emerged from the structural change in East Asia's regional order. It then uses this framework to analyze the processes by which state and non-state actors promote and/or object to UNESCO recognition of their sites and documents as heritage of outstanding universal value or world significance. The elements of this process are illustrated with case studies of two very different pieces of heritage, Japan's "Sites of the Meiji Industrial Revolution" and China's "Documents of Nanjing Massacre," which were enshrined as significant world heritage in 2015. While state and non-state actors in East Asia are increasingly recognizing the utility of heritage as a soft power resource for advancing specific historical narratives to an international audience, a backlash movement from civil society groups and governments in other countries prevents a purely unilateral interpretation. As a result, the utility of heritage soft power in this context must be significantly qualified.

• Journal of the Korean Home Economics Association
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• v.17 no.1
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• pp.45-55
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• 1979

The purpose of this study is to investigate to what extent and how the infant's Object Attachment occurs. For this purpose, 28 mothers with their infants showing or having shown this phenomenon were interviewed. They were selected by the whole scale smpling method from 310 household -wives living at a delux Apt. in Seoul. The results are summarized as follows : 1. About 27% of the infants aged between 6 months and 6 years turned out to show this phenomenon. 2. Qulits, bed clothes, pillows and blankets, which infants have been closely contacted since their babyhood, were the major source of attachment objects. In general, these objects were proved to have soft, wasm, smooth, and glassy tactile sensation. 3.This phenomenon, in average, appeared since 13 months after birth, About 50% of the whole began to show this phenomenon between 9 and 14 month after birth. 4. Half of the infants didn't show a change of attachment strength, but as for the other half, the attachment strength increased after one year of age, and decreased after three years of age, as the social period commenced. 5. Infants needed attachment objects especially when they were driven by sleep, sense of emptiness, and monotonous or boring feeling. 6. There were little difference between Object Attachment behavior and motherinfant attachment behavior except "babbling", "using her as a base for exploration". Those behaviors did not appear in Object Attachment. 7. mothers said that their children's attachment objects played the role of substitute mother, pacificater, warmer, friend , etc. And they attributed this phenomenon's appearance to lack their physical contact with, ocnstant and warm care toward, their children or bottle feeding.

• Proceedings of the Korean Information Science Society Conference
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• 2005.11a
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• pp.754-756
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• 2005

현대는 실제와 같은 환경을 재현할 수 있도록 제작된 시뮬레이터를 사용하여 실제 훈련을 대체하고 있다. 그러나 많은 사용자들은 이미 개발된 이종의 시뮬레이터들을 하나로 묶어 연동할 필요성을 느끼게 되었고, 이에 따라 다양한 형태의 상호작용이 수반되는 시뮬레이션에 대한 요구를 만족하는 대규모 분산가상환경(large-scaled distributed virtual environment)을 개발하려는 움직임이 크게 늘게 되었다. 이러한 요구를 바탕으로 등장한 것들 중 하나가 HLA이다. High Level Architecture (HLA)는 미국방성에서 모델과 시뮬레이션에 공통의 구조와 인터페이스를 제공하기 위해 개발된 통합 구조이다. HLA는 분산 컴퓨팅 환경에서 각각의 시뮬레이터들이 정보를 교환 할 수 있게 해줌으로써 하나의 통합 시뮬레이션 시스템을 구축하게 해준다. HLA는 크게 Object Model Template (OMT)와 Run-Time Infrastructure (RTI)로 구성되어 있으며, 이를 통하여 공통된 구조와 상호 작용 환경을 제공한다. 각각의 시뮬레이터들은 RTI를 통하여 Federation에 참여하고 선별적으로 원하는 정보를 주고받으며 하나의 통합 시뮬레이션을 이루게 된다. 본 논문에서는 분산 컴퓨팅 환경에서 이기종의 3차원 영상 시뮬레이터들에 HLA 인터페이스를 삽입하고 3차원 영상 시뮬레이션에 적합하게 개발된 공통 구조인 FOM 제공하여 하나의 통합 가상훈련 시스템을 구축하였다. 이 시스템은 현재 KA-32 헬기 시뮬레이터 영상 프로그램 제작에 적용되어있다.

• Journal of the Korean Magnetics Society
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• v.5 no.5
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• pp.487-490
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• 1995

With the object of developing a new magnetic core materials for high frequency use, the crystallization behaviors and the soft magnetic properties of amorphous $F_{86-x}Al_{4}B_{10}Zr_{x}\;(5{\leq}x{\leq}10\;at%)$ alloys subjected to annealing treatment at wide temperature range were investigated. For optimally annealed $Fe_{86-x}Al_{4}B_{10}Zr_{x}$ alloys in amorphous state, rather good soft magnetic properties of ${\mu}_{e}=17000~25000,\;H_{c}=20~30$ mOe and $B_{10}{\geq}0.6$ T are obtained. However, as the alloys crystallize, the soft magnetic properties are largely dergely deteriorated, which is attributed principally to the narrow temperature gap between $T_{x1}$ and $T_{x2}$, which allows the nearly co-precipitation of bcc phase and Fe-B compounds in incipient crystallization stage.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.80.4-80
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• 2002

Performance of the previously proposed 2D-image reconstruction method for soft tissues in x-ray computed tomography is evaluated thoroughly through numerical experiments with 4 assumed absorption rates of different symmetries under practical conditions, and the following special features are made clear: It is quite precise, especially at points where the object taking larger values; about two orders less magnitude errors than the conventional most precise method when no noise existing, without any 1D- or 2D-interpolation. In spite of its high sensitivity to the noises, it is even more precise by about 8dB than the latter, to relative pojection data noise power of 5%.

• Journal of The Korean Astronomical Society
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• v.38 no.3
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• pp.339-344
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• 2005

We present analysis results of the energy spectra of MCG-2-58-22 associated with occasional flares which appear in a long-term X-ray light curve. We measure an intrinsic power-law slope of this object to be ${\Gamma}=1.74{\pm}0.02$ in the energy range of ${\sim}1-5keV$ and find that this slope is little affected by flares. We confirm that there exists a broad excess emission above 5 keV to the power-law continuum. The excess emission is less variable compared with a flux variation of flare and tends to be relatively weak during flares. A soft X-ray spectrum is also found to change, implying the presence of a variable soft component. We discuss the implications of these spectral variations.