• Title/Summary/Keyword: Three-generation

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Study on Stable Gait Generation of Quadruped Walking Robot Using Minimum-Jerk Trajectory and Body X-axis Sway (최소저크궤적과 X축-스웨이를 이용한 4족 보행로봇의 안정적 걸음새 연구)

  • Lee, Dong-Goo;Shin, Wu-Hyeon;Kim, Tae-Jung;Lee, Jeong-Ho;Lee, Young-Seok;Hwang, Heon;Choi, Sun
    • The Journal of Korea Institute of Information, Electronics, and Communication Technology
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    • v.12 no.2
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    • pp.170-177
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    • 2019
  • In this paper, three theories for improving the stability of quadruped robot are presented. First, the Minimum-Jerk Trajectory is used to optimize the leg trajectory. Second, we compare the newly proposed sine wave and the conventional LSM in this paper based on the Jerk value. Third, we calculate the optimum stride of the sway through repetitive robot simulation using ADAMS-MATLAB cosimulation. Through the above process, the improvement of the robot walking is compared with the existing theory. First, the average gradient of the point where the leg trajectory changes rapidly was reduced from at least 1.2 to 2.9 by using the Minimum-Jerk targetory for the movement of the body and the end of the leg during the first walk, thereby increasing the walking stability. Second, the average Jerk was reduced by 0.019 on the Z-axis, 0.457 on the X-axis, and 0.02, 3D on the Y-axis by 0.479 using the Sin wave type sways presented in this paper, rather than the LSM(Longitude Stability Margin) method. Third, the length of the optimal stride for walking at least the Jerk value was derived from the above analysis, and the 20cm width length was the most stable.

Optimal Parameter Analysis and Evaluation of Change Detection for SLIC-based Superpixel Techniques Using KOMPSAT Data (KOMPSAT 영상을 활용한 SLIC 계열 Superpixel 기법의 최적 파라미터 분석 및 변화 탐지 성능 비교)

  • Chung, Minkyung;Han, Youkyung;Choi, Jaewan;Kim, Yongil
    • Korean Journal of Remote Sensing
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    • v.34 no.6_3
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    • pp.1427-1443
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    • 2018
  • Object-based image analysis (OBIA) allows higher computation efficiency and usability of information inherent in the image, as it reduces the complexity of the image while maintaining the image properties. Superpixel methods oversegment the image with a smaller image unit than an ordinary object segment and well preserve the edges of the image. SLIC (Simple linear iterative clustering) is known for outperforming the previous superpixel methods with high image segmentation quality. Although the input parameter for SLIC, number of superpixels has considerable influence on image segmentation results, impact analysis for SLIC parameter has not been investigated enough. In this study, we performed optimal parameter analysis and evaluation of change detection for SLIC-based superpixel techniques using KOMPSAT data. Forsuperpixel generation, three superpixel methods (SLIC; SLIC0, zero parameter version of SLIC; SNIC, simple non-iterative clustering) were used with superpixel sizes in ranges of $5{\times}5$ (pixels) to $50{\times}50$ (pixels). Then, the image segmentation results were analyzed for how well they preserve the edges of the change detection reference data. Based on the optimal parameter analysis, image segmentation boundaries were obtained from difference image of the bi-temporal images. Then, DBSCAN (Density-based spatial clustering of applications with noise) was applied to cluster the superpixels to a certain size of objects for change detection. The changes of features were detected for each superpixel and compared with reference data for evaluation. From the change detection results, it proved that better change detection can be achieved even with bigger superpixel size if the superpixels were generated with high regularity of size and shape.

Single Nucleotide Polymorphism (SNP) Discovery and Kompetitive Allele-Specific PCR (KASP) Marker Development with Korean Japonica Rice Varieties

  • Cheon, Kyeong-Seong;Baek, Jeongho;Cho, Young-il;Jeong, Young-Min;Lee, Youn-Young;Oh, Jun;Won, Yong Jae;Kang, Do-Yu;Oh, Hyoja;Kim, Song Lim;Choi, Inchan;Yoon, In Sun;Kim, Kyung-Hwan;Han, Jung-Heon;Ji, Hyeonso
    • Plant Breeding and Biotechnology
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    • v.6 no.4
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    • pp.391-403
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    • 2018
  • Genome resequencing by next-generation sequencing technology can reveal numerous single nucleotide polymorphisms (SNPs) within a closely-related cultivar group, which would enable the development of sufficient SNP markers for mapping and the identification of useful genes present in the cultivar group. We analyzed genome sequence data from 13 Korean japonica rice varieties and discovered 740,566 SNPs. The SNPs were distributed at 100-kbp intervals throughout the rice genome, although the SNP density was uneven among the chromosomes. Of the 740,566 SNPs, 1,014 SNP sites were selected on the basis of polymorphism information content (PIC) value higher than 0.4 per 200-kbp interval, and 506 of these SNPs were converted to Kompetitive Allele-Specific PCR (KASP) markers. The 506 KASP markers were tested for genotyping with the 13 sequenced Korean japonica rice varieties, and polymorphisms were detected in 400 KASP markers (79.1%) which would be suitable for genetic analysis and molecular breeding. Additionally, a genetic map comprising 205 KASP markers was successfully constructed with 188 $F_2$ progenies derived from a cross between the varieties, Junam and Nampyeong. In a phylogenetic analysis with 81 KASP markers, 13 Korean japonica varieties showed close genetic relationships and were divided into three groups. More KASP markers are being developed and these markers will be utilized in gene mapping, quantitative trait locus (QTL) analysis, marker-assisted selection and other strategies relevant to crop improvement.

Generation of a transgenic pig expressing human dipeptidylpeptidase-4 (DPP-4) (Human dipeptidylpeptidase-4(DPP-4) 발현 형질전환 돼지의 생산)

  • Chung, Hak Jae;Sa, Soo Jin;Baek, Sun Young;Cho, Eun Suek;Kim, Young Shin;Hong, Jun Ki;Cho, Kyu Ho;Kim, Ji Youn;Park, Mi Ryung;Kim, Kyung Woon
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.20 no.9
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    • pp.306-314
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    • 2019
  • As dipeptidyl peptidase-4(DPP-4) inhibitors are used widely as a secondary treatment for type 2 diabetes because they tend to be well tolerated with minimal side effects, the human DPP-4(hDPP-4) gene was injected into a pig zygote through micro-injection, and 1-cell stage fertilized embryos were then transplanted surgically into the oviduct. Three pigs were fertilized with hDPP-4 genes and produced sixteen piglets, in which one male piglet was identified to be transgenic. Finally, transgenic pigs showing hDPP-4 gene expression in the tail were produced. Western blot and RT-PCR analysis confirmed that the hDPP-4 is expressed strongly in the membrane cells of the transgenic pig, and that the hDPP-4 gene appears in various tissues and tails. This suggests that the expression vector is normally expressed in transgenic pigs. These results are anticipated to be a model animal to check the endocrine function for insulin resistance that occurs in a hDPP-4 transgenic pig and to increase its value for use as a material in newly developed medicines.

Evaluation of Intensity of Extremely Low Frequency Magnetic Fields (ELF-MF) Inside of Cabins as Generated During Subway Operation (지하철 운행 중 발생하는 객차 내부 극저주파 자기장(ELF-MF) 세기 평가)

  • Lee, Jihyun;Kang, Myeongji;Park, Yunkyung;Park, Donguk;Choi, Sangjun
    • Journal of Korean Society of Occupational and Environmental Hygiene
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    • v.29 no.2
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    • pp.185-194
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    • 2019
  • Objective: This study was conducted to investigate the intensity of the extremely low frequency magnetic fields(ELF-MF) generated inside of the cabins during subway operation. Methods: The ELF-MF intensity were investigated on 30 subway lines in Korea, including in the Greater Seoul Metropolitan Area(Seoul and Gyeonggi-do Province), Incheon, Busan, Daegu, Daejeon, and Gwangju. ELF-MF intensity was measured at 0.9 m from the floor using EMDEX II meters with a resolution of $0.01{\mu}T$. All data were collected every three seconds and analyzed with EMCALC 2013 version 3.0B software. Basic characteristics of subway operation, including alternative current(AC) or direct current(DC), voltage level, and opening year of the line were investigated. Real-time information during measurement, such as the time of departure, moving and arrival of trains, were also recorded. Results: The arithmetic mean(AM) and maximum(Max) intensity of ELF-MF were $0.62{\mu}T$ and $11.51{\mu}T$, respectively. Compared by region, the ELF-MF intensity measured inside cabin were the highest in the Seoul Metropolitan Area($AM=0.80{\mu}T$), followed by Busan($AM=0.30{\mu}T$), Daegu($AM=0.29{\mu}T$), Incheon($AM=0.14{\mu}T$), Gwangju($AM=0.04{\mu}T$) and Daejeon($AM=0.03{\mu}T$). The average ELF-MF level measured in AC trains($AM=1.36{\mu}T$) was also significantly higher than in DC trains($AM=0.28{\mu}T$). In terms of the opening year of the subway, trains opened before 1990($AM=0.85{\mu}T$) was the highest and the lowest was 2000-2009($AM=0.24{\mu}T$). Conclusions: The AC supply has the greatest influence on the generation of the ELF-MF intensity in subway cabins.

An Interpretation of the Gaps between 'Fact' and 'Oral Materials' in Political Elite Oral History ('사실'과 '구술자료'의 간극에 대한 하나의 해석 정치엘리트 구술연구를 중심으로)

  • Jo, Young-Jae
    • The Korean Journal of Archival Studies
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    • no.43
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    • pp.43-70
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    • 2015
  • The value and validity of elite oral materials have been questioned because of their gaps with 'fact'. The purpose of this article is to analyze these gaps and to propose some solutions that can reduce the gaps. According to the analysis of this article, there are three types of the gaps that qualitatively differ from each other. The first type of the gaps is produced in the process of generation of memory. This type is made because informants cognize and memorize the facts that exist outside themselves. Selective cognition, selective memory and individual experience come under this category. The second type is produced in the process of preserving the memory. Forgetting and memory transformation are main examples of this type. The third type is produced in the process of the interviews with the informants. False statements or lies fall into this category. The main conclusions are as follows. 1) all gaps in oral materials are not necessarily negative. It is because Some of these gaps- the first and the second type- are not only parts of the real world but also very useful for interpreting the world. 2) The third type of the gaps are very harmful and it is need to be eradicated or reduced. For this, this article proposes some solutions.

Aboriginal Community Archives in Australia and Current Meaning of "Parallel Provenance" (호주 원주민 공동체 아카이브와 '평행출처주의'의 현재적 의미)

  • Lee, Kyong Rae
    • The Korean Journal of Archival Studies
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    • no.40
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    • pp.29-60
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    • 2014
  • The purpose of this study is to trace the formation process of "parallel provenance" concept in the context of Australia's aboriginal community archives development and draw its implications for contemporary rebuilding of domestic "past affairs-related committee archives". Focused on historical development of aboriginal community archives in Australia, this writing divides its development into three periods: colonial archives, post-colonial archives, and contemporary archives and investigates each period's distinct features in managing and building of aboriginal community archives. First of all, for colonial archives, it pays attention to Australia's archival tradition, which focused on current record-keeping and then development of multiple provenance resulted from this tradition. Second, for post-colonial archives, it examines the appearance of aboriginal people as the subject of documentation category and name indexing on them. Finally, for contemporary archives, it analyzes current activities of Australia's academic world of archival science for overcoming "the otherness" of aboriginal people through conceptualization of "parallel provenance". Conclusively, through current meaning of parallel provenance, this study draws implications for democratic contemporary rebuilding of domestic past affairs-related committee archives, in which historical victims become the subject of archives.

Machine Learning Model to Predict Osteoporotic Spine with Hounsfield Units on Lumbar Computed Tomography

  • Nam, Kyoung Hyup;Seo, Il;Kim, Dong Hwan;Lee, Jae Il;Choi, Byung Kwan;Han, In Ho
    • Journal of Korean Neurosurgical Society
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    • v.62 no.4
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    • pp.442-449
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    • 2019
  • Objective : Bone mineral density (BMD) is an important consideration during fusion surgery. Although dual X-ray absorptiometry is considered as the gold standard for assessing BMD, quantitative computed tomography (QCT) provides more accurate data in spine osteoporosis. However, QCT has the disadvantage of additional radiation hazard and cost. The present study was to demonstrate the utility of artificial intelligence and machine learning algorithm for assessing osteoporosis using Hounsfield units (HU) of preoperative lumbar CT coupling with data of QCT. Methods : We reviewed 70 patients undergoing both QCT and conventional lumbar CT for spine surgery. The T-scores of 198 lumbar vertebra was assessed in QCT and the HU of vertebral body at the same level were measured in conventional CT by the picture archiving and communication system (PACS) system. A multiple regression algorithm was applied to predict the T-score using three independent variables (age, sex, and HU of vertebral body on conventional CT) coupling with T-score of QCT. Next, a logistic regression algorithm was applied to predict osteoporotic or non-osteoporotic vertebra. The Tensor flow and Python were used as the machine learning tools. The Tensor flow user interface developed in our institute was used for easy code generation. Results : The predictive model with multiple regression algorithm estimated similar T-scores with data of QCT. HU demonstrates the similar results as QCT without the discordance in only one non-osteoporotic vertebra that indicated osteoporosis. From the training set, the predictive model classified the lumbar vertebra into two groups (osteoporotic vs. non-osteoporotic spine) with 88.0% accuracy. In a test set of 40 vertebrae, classification accuracy was 92.5% when the learning rate was 0.0001 (precision, 0.939; recall, 0.969; F1 score, 0.954; area under the curve, 0.900). Conclusion : This study is a simple machine learning model applicable in the spine research field. The machine learning model can predict the T-score and osteoporotic vertebrae solely by measuring the HU of conventional CT, and this would help spine surgeons not to under-estimate the osteoporotic spine preoperatively. If applied to a bigger data set, we believe the predictive accuracy of our model will further increase. We propose that machine learning is an important modality of the medical research field.

FBX Format Animation Generation System Combined with Joint Estimation Network using RGB Images (RGB 이미지를 이용한 관절 추정 네트워크와 결합된 FBX 형식 애니메이션 생성 시스템)

  • Lee, Yujin;Kim, Sangjoon;Park, Gooman
    • Journal of Broadcast Engineering
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    • v.26 no.5
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    • pp.519-532
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    • 2021
  • Recently, in various fields such as games, movies, and animation, content that uses motion capture to build body models and create characters to express in 3D space is increasing. Studies are underway to generate animations using RGB-D cameras to compensate for problems such as the cost of cinematography in how to place joints by attaching markers, but the problem of pose estimation accuracy or equipment cost still exists. Therefore, in this paper, we propose a system that inputs RGB images into a joint estimation network and converts the results into 3D data to create FBX format animations in order to reduce the equipment cost required for animation creation and increase joint estimation accuracy. First, the two-dimensional joint is estimated for the RGB image, and the three-dimensional coordinates of the joint are estimated using this value. The result is converted to a quaternion, rotated, and an animation in FBX format is created. To measure the accuracy of the proposed method, the system operation was verified by comparing the error between the animation generated based on the 3D position of the marker by attaching a marker to the body and the animation generated by the proposed system.

A Study on the Evaluation of Urban Regeneration Project Sites Using the Density and Diversity Indicators of New Startup Stores (신규 창업점포의 밀도 및 다양성 지표를 활용한 도시재생사업 대상지 평가에 관한 연구)

  • Jang, Seongman;Park, Yongsu
    • Journal of the Korean Regional Science Association
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    • v.37 no.2
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    • pp.3-16
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    • 2021
  • This study analyzed various indicators of new stores targeting urban regeneration areas and compared them with the control group to evaluate the possibility of revitalization of areas where urban regeneration projects are taking place. The results of the study are divided into three categories. First, the density of new start-ups in urban regeneration areas was higher than that of the control group. Through this, urban regeneration areas will bring about an influx of new floating populations and will act as a positive factor in local revitalization. Second, the urban regeneration areas and the control group were compared based on the business type of new start-up stores. As a result of the analysis, urban regeneration areas have a high proportion of industries targeting the active population, not residents. This will promote local activation by attracting the daytime population. Third, the urban regeneration areas and the control group were compared based on the diversity of the business types of newly established stores. As a result of the analysis, urban regeneration areas in metropolitan cities will induce multipurpose shopping for consumers as stores selling different products are concentrated. On the other hand, urban regeneration areas in small cities will induce consumers to compare shopping as stores selling similar products are concentrated.