• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1934-1937
• /
• 2005

This paper proposes suitable gait generation for dynamic walking of biped robot with varying load in real time. Author proposes the relationship between ZMP(Zero Moment Point) and measurement from FSR(Force Sensing Register). Simplifying this relationship, it is possible to reduce the computational time and control the biped robot in real time. If the weight of the biped robot varies in order to move some object, then joint trajectories of the the biped robot must be changed. When some object is loaded on the biped robot in it's home position, FSRs can measure the variation of weight. Evaluating the relations between varying load and stable gait of the biped robot, it can walk adaptively. This relation enables the biped robot to walk properly with varying load. The simulation is also represented in this paper which shows proposed relationships.

• Journal of the Korean Data and Information Science Society
• /
• v.26 no.3
• /
• pp.755-762
• /
• 2015

One of the main objectives of the U.S. Census Bureau is the proper estimation of median household income for small areas. These estimates have an important role in the formulation of various governmental decisions and policies. Since direct survey estimates are available annually for each state or county, it is desirable to exploit the longitudinal trend in income observations in the estimation procedure. In this study, we consider Fay-Herriot type small area models which include time-specific random effect to accommodate any unspecified time varying income pattern. Analysis is carried out in a hierarchical Bayesian framework using Markov chain Monte Carlo methodology. We have evaluated our estimates by comparing those with the corresponding census estimates of 1999 using some commonly used comparison measures. It turns out that among three types of time-specific random effects the small area model with a time series random walk component provides estimates which are superior to both direct estimates and the Census Bureau estimates.

• Korean Journal of Optics and Photonics
• /
• v.5 no.1
• /
• pp.90-99
• /
• 1994

Picosecond time-correlated single photon counting system and time-resolved luminescence spectrometer were constructed, employing a mode-locked picosecond laser, fast electronics, and microchannel plate tube. It has been shown that the instrument response function critically depends on laser pulse shape, timing jitter and walk of the electronics, and characteristics of detector and amplifier. Correcting time dispersion in the optical system, the best instrument response function obtained appears to be 25 ps, which made it possible to measure the luminescence lifetime with less than 10 ps resolution in the picosecond to microsecond range. range.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
• /
• v.22 no.11
• /
• pp.1141-1144
• /
• 2011

Range walk has been a major problem in achieving correct Doppler processing. This frequently occurs when range variation is severe just like in a bistatic radar or in high speed target scenario. This paper presents a range walk compensated range-Doppler processing algorithm applicable to the bistatic radar. In order for the compensation, a range-domain interpolation is applied for range compressed signal so that Doppler processing is performed along the evenly time-spaced range bins that contain target returns. Under a bistatic radar scenario, the proposed algorithm including a range domain pulse compression is mathematically described. Finally, the validity of the algorithm is demonstrated by simulation results showing the superiority of a SCDP(Squint Cross-range Doppler Processing) over an uncompensated Doppler processing.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1440-1443
• /
• 2004

Most previous robots had used the wheels as means for movement. These structures were relatively simple and easy to control and this is why the method had been used until currently. However, there are many realistic problems to move from one place to another in human life, for instance, steps and edges. So we need to develop the two-legged walking humanoid robot. The 2-legged walking Robot system has been vigorously developed in so many corporations and academic circles of several countries. However, 2-legged walking Robot has been mostly studied in view of the static walk. We design a stable humanoid Robot which can walk in high-speed through the research of the dynamic walk in this paper. Especially, worldwide companies have been interested in developing humanoid robots for a long time to solve the before mentioned problems so that they can become more familiar with the human form. The most important thing, for the novel two-legged walk, is to create a stable and fast walking in two-legged robots. For realization of this movement, an optimal mechanical design of 12 DOFS, a distributed control and a parallel processing control are implemented in this paper. This paper proves that high speed and stable walking can be achieved, through experiments.

• PNF and Movement
• /
• v.15 no.1
• /
• pp.97-104
• /
• 2017

Purpose: This study seeks to determine the effect of a lower extremity strengthening exercise that uses proprioceptive neuromuscular facilitation (PNF) on the gait and balance ability of a stroke patient. Methods: In this case study, a lower extremity strengthening exercise that used PNF was performed by the subject for 30 minutes 4 times per week for a 4-week period alongside typical rehabilitation therapy. The lower extremity pattern used flexion-abduction-internal rotation with knee flexion, extension-abduction-internal rotation, bilateral leg extension pattern. The 10 m walk test and 6 minute walk test were used to assess gait ability. The Berg balance scale was used to assess balance ability. Results: After the intervention, the time for the 10 m walk test decreased by 5.72 sec, the distance for the 6 minute walk test decreased by 20 meters, and the score on the Berg balance scale improved by 7 points, which indicates the effectiveness of this therapy for stroke patients. Conclusion: The results of this study indicate that a lower extremity strengthening exercise using PNF can improve the gait ability and balance ability of stroke patients.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.16 no.9
• /
• pp.2846-2866
• /
• 2022

Caenorhabditis elegans exhibits sophisticated chemotaxis behavior through two parallel strategies, klinokinesis and klinotaxis, executed entirely by a small nervous circuit. It is therefore suitable for inspiring fast and energy-efficient solutions for autonomous navigation. As a random search strategy, the Lévy walk is optimal for diverse animals when foraging without external chemical cues. In this study, by combining these biological strategies for the first time, we propose a spiking neural network model for search and contour tracking of specific concentrations of environmental variables. Specifically, we first design a klinotaxis module using spiking neurons. This module works in conjunction with a klinokinesis module, allowing rapid searches for the concentration setpoint and subsequent contour tracking with small deviations. Second, we build a random exploration module. It generates a Lévy walk in the absence of concentration gradients, increasing the chance of encountering gradients. Third, considering local extrema traps, we develop a termination module combined with an escape module to initiate or terminate the escape in a timely manner. Experimental results demonstrate that the proposed model integrating these modules can switch strategies autonomously according to the information from a single sensor and control steering through output spikes, enabling the model worm to efficiently navigate across various scenarios.

• Journal of the Korean Statistical Society
• /
• v.32 no.4
• /
• pp.401-409
• /
• 2003

We consider a particle walking on the nonnegative integers and each unit of time it makes, given it is at site k, either a jump of size m distance units to the right with probability $p_{k}$ or it goes back (falls down) to its starting point 0, a retaining barrier, with probability $v_{k}\;=\;1\;-\;p_{k}$. This is a Markov chain on the integers $mZ^{+}$. We show that if $v_{k}$ has a nonzero limit, then the Markov chain is positive recurrent. However, if $v_{k}$ speeds to 0, then we may get transient Markov chain. A critical speeding rate to zero is identified to get transience, null recurrence, and positive recurrence. Another type of random walk on $Z^{+}$ is considered in which a particle moves m distance units to the right or 1 distance unit to left with probabilities $p_{k}\;and\;q_{k}\;=\;1\;-\;p_{k}$, respectively. A necessary condition to having a stationary distribution and positive recurrence is obtained.

• Proceedings of the Korean Institute of Building Construction Conference
• /
• 2009.11a
• /
• pp.273-276
• /
• 2009

Interior space of large scale composition facilities influences in walk population of distance according to trade and space rescue and walk population of distance is armed business activity. First, chose representative COEX mall of domestic representative multiplex utilization facilities on greate upper limbs for progress of research. Because executing space analysis of COEX mall interior, can analyzed the walk amount and location and also confirm result that floating population according to accessibility increases. Produced time, day of the week, the passageway passing amount through CCTV on actuality COEX mol interior to compare this. Was proved that it is quantity in the passageway passing amount and analysis incidental of the passing amount that get executing space difference.

• Journal of Internet Computing and Services
• /
• v.4 no.6
• /
• pp.43-55
• /
• 2003

Workflow mining is a newly emerging research issue for rediscovering and reengineering workflow models from workflow logs containing information about workflows being executed on the workflow engine. In this paper, we proposed workcase mining which was used dependency among activities. Main purpose of this paper is to minimize discrepancies between the modeled workflow process and the enacted workflow process as it is actually being executed. That is, we can get a complete set of activity firing sequences on buildtime. Besides, we can discover from workflow logs that which path out of all reachable paths a workcase has actually followed through on runtime. For this purpose we proposed two algorithm, the one is 'Activily-Dependent Net Algorithm' and the other is 'E-Walk Series Analysis Algorithm'.