• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1539-1543
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• 2004

This paper describes platform overview, system integration and dynamic walking control of the humanoid robot, KHR-2 (KAIST Humanoid Robot - 2). We have developed KHR-2 since 2003. KHR-2 has totally 41 DOF (Degree Of Freedom). Each arm including a hand has 11 DOF and each leg has 6 DOF. Head and trunk also has 6 DOF and 1 DOF respectively. In head, two CCD cameras are used for eye. In order to control all joints, distributed control architecture is adopted to reduce the computation burden of the main controller and to expand the devices easily. The main controller attached its back communicates with sub-controllers in real-time by using CAN (Controller Area Network) protocol. We used Windows XP as its OS (Operating System) for fast development of main control program and easy extension of peripheral devices. And RTX, HAL(Hardware Abstraction Layer) extension program, is used to realize the real-time control in Windows XP environment. We present about real-time control of KHR-2 in Windows XP with RTX and basic walking control algorithm. Details of the KHR-2 are described in this paper.

• 대한전자공학회논문지SP
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• 제37권3호
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• pp.57-69
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• 2000

본 논문에서는 주행차량에 장착된 CCD 카메라를 통하여 획득되어진 영상으로부터 moving window를 사용하여 차선을 인식하고 장애물을 감지하는 방법을 제안한다 입력되는 동영상을 실시간에 처리하기 위해서는 하드웨어적으로 상당히 많은 제약을 초래한다. 이러한 문제점을 극복하고 영상을 사용하여 실시간에 차선 인식 및 장애물을 감지하기 위해, 도로조건과 차량상태에 바탕을 둔 최적의 window 크기를 결정하고 그 window 영상만을 처리하여 차선 인식 및 장애물 감지를 실시간에 가능하게 하는 기법을 제안한다 영상의 각 프레임에 대하여 moving window는 칼만필터에 의해 정확성이 향상된 예측방향으로 옮겨진다. 제안된 알고리즘의 효용성을 고속도로 주행영상을 사용한 실험을 통해 보여준다

• 전자공학회논문지S
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• 제34S권5호
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• pp.86-93
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• 1997

With recent development of speech recognition technology and multimedia computer systems, more potential applications of voice will become a reality. In this paper, we implement speech interface on the windows95 environment for practical use fo multimedia computers with voice. Speech interface is made up of three modules, that is, speech input and detection module, speech recognition module, and application module. The speech input and etection module handles th elow-level audio service of win32 API to input speech data on real time. The recognition module processes the incoming speech data, and then recognizes the spoken command. DTW pattern matching method is used for speech recognition. The application module executes the voice command properly on PC. Each module of the speech interface is designed and examined on windows95 environments. Implemented speech interface and experimental results are explained and discussed.

• Journal of the Korean Data and Information Science Society
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• 제18권4호
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• pp.1033-1043
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• 2007

The multi layer perceptron for segmenting objects in images only uses the input windows that are made from a image in a fixed size. These windows are recognized so each independent learning data that they make the performance of the multi layer perceptron poor. The poor performance is caused by not considering the position information and effect of input windows in input images. So we propose a new approach to add the position information and effect of input windows to the multi layer perceptron#s input layer. Our new approach improves the performance as well as the learning time in the multi layer perceptron. In our experiment, we can find our new algorithm good.

• 한국농촌건축학회논문집
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• 제10권1호
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• pp.19-26
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• 2008

1) Lishu village is located in a riverside of an upper Tu-men river. Since an upper tream of Tu-men river is narrow and easy to pilot a boat, early in the past, it facilitated the form of the village near to the North Korea. 2) As for elevation, it consisted of only doors, but as time goes by, windows were made. So windows and doors were appearing much in the elevation. In 1970s', elevations are constructed in various ways; in 1980, attributed to brick housing, the elevations become much more diverse; from 1990, symmetrical elevation was revealed which consists of one door and two windows in each side of a door after 2000, the structure of the housing restored of 1930s' style which contained one window in Jungji and 1970s' style consisting of 3 windows, moreover, many free-style elevations appeared to be commercial use.

• 한국안전학회지
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• 제36권1호
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• pp.86-94
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• 2021

Lecture rooms are crowded with many attendees. Moreover, they rely significantly on the natural ventilation through windows for removing and controlling indoor contaminants such as CO₂. With the aim of broadening the understanding of the characteristics of natural ventilation phenomena in lecture rooms, the average individual CO₂ release rates of attendees were measured during the course of a lecture and compared with previously reported CO₂ release rates. In addition, the effects of natural ventilation through windows on the time-variant CO₂ concentrations in the center of the lecture room were measured and analyzed. Moreover, details about the overall and regional CO₂ concentrations, as well as the air flows in the lecture room, were simulated and analyzed with computational fluid dynamics software, Fluent 2020 R2. It was found that the average individual CO₂ release rates were slightly slower than previously reported rates. The local CO₂ concentrations in the lecture room for regions with a high density of attendees increased over a short period of time, although the natural ventilation was already started by opening the windows. The overall CO₂ concentration in the lecture room rapidly decreased in the early stage of ventilation, but declined very slowly after a longer period of ventilation time. Therefore, in order to enhance the efficiency of a lecture room's natural ventilation, it is recommended to homogeneously distribute the attendees in the lecture room, and to frequently open the windows for short periods of time.

• 대한산업공학회지
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• 제30권4호
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• pp.346-354
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• 2004

Most industrial logistic systems have focused on carrying products from manufacturers or distribution centers to customers. In recent years, they are faced with the problem of integrating reverse flows into their transportation systems. In this paper, we address the vehicle routing problems with mixed delivery and pick-up(VRPMDP). Mixed operation of delivery and pick-up during a vehicle tour requires rearrangement of the goods on board. The VRPMDP considers the reshuffling time of goods at customers, hard time windows, and split operation of delivery and pick-up. We construct a mixed integer mathematical model and propose a new genetic algorithm named GAMP for VRPMDP. Computational experiments on various types of test problems are performed to evaluate GAMP against the modified Dethloff's algorithm. The results show that GAMP reduces the total vehicle operation time by 5.9% on average, but takes about six times longer computation time.

• 융합보안논문지
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• 제8권1호
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• pp.43-48
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• 2008

기존에는 Syslog 메시지를 확인하기 위해서는 Telnet에나 Console을 통해 대상 System에 로그인을 하여야 했다. 이는 System의 이상유무를 실시간으로 감시할 수 없는 단점이 있다. 이러한 단점을 해결하기 위해 본 논문에서는 Syslog 실시간 감시 시스템을 설계하였다. 제안된 시스템은 로그인 과정 없이 Syslog 메시지를 실시간 감시하여 System의 이상을 실시간으로 탐지함으로써 적시에 문제를 해결할 수 있다. 본 논문에서 제안된 실시간 모니터링 시스템은 Windows 기반으로 구성되었다.

• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 2006년도 춘계공동학술대회 논문집
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• pp.1740-1745
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• 2006

This paper is concerned with a novel heuristic algorithm for the multi-trip vehicle routing problem with time windows. The objective function is the minimization of total vehicle operating time, fixed cost of vehicle and the minimization of total lateness of customer. A mixed integer programming formulation and a heuristic algorithm for a practical use are suggested. A heuristic algorithm is constructed two phases such as clustering and routing. Clustering is progressed in order to assign appropriate vehicle to customer, and then vehicle trip and route are decided considering traveling distance and time window. It is shown that the suggested heuristic algorithm gives good solutions within a short computation time by experimental result.

• Structural Engineering and Mechanics
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• 제38권2호
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• pp.249-259
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• 2011

Band windows are commonly used in reinforced concrete structures for the purpose of ventilation and lighting. These applications shorten the lengths of the columns and, consequently, they are subject to higher shear forces as compared with those of hollow frames. Such short columns may cause some damages during earthquakes. Hence, these effects of short columns should be minimized by choosing the dimensions of the band windows properly in order to prevent serious damages in the structure. This can be achieved by taking into account the parameters that are crucial in causing short column effect. Hence, in this study, the effects of those parameters such as the widths and heights of the band windows, the number of bays and storeys within the frame, and the heights of storeys are examined. The effects of the parameters are analyzed using time history analysis. One of the important results of these analyses, is that, the widths of the band windows should be less than 60% of the clear span between the columns, whereas, their heights should be greater than 35% of the clear storey height in order to decrease the short column effects substantially during the design of the reinforced concrete structures.