• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1106-1114
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• 2012

To achieve synchronized motion between a wearable robot and a human user, the redundancy must be resolved in the same manner by both systems. According to the seven DOF (Degrees of Freedom) human arm model composed of the shoulder, elbow, and wrist joints, positioning and orientating the wrist in space is a task requiring only six DOFs. Due to this redundancy, a given task can be completed by multiple arm configurations, and thus there exists no unique mathematical solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and their effect on the redundancy resolution of the human arm based on a seven DOF manipulator model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing different cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid for the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each two consecutive points along the task space trajectory. As a first step, the redundancy based on the kinematic criterion will be thoroughly studied based on the motion capture data analysis. Experimental results indicate that by using the proposed redundancy resolution criterion in the kinematic level, error between the predicted and the actual swivel angle acquired from the motor control system is less than five degrees.

• Journal of Korean Society of Transportation
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• v.28 no.4
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• pp.107-118
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• 2010

Wireless communication technologies including vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) enable the development of more sophisticated and effective traffic information systems. This study presents a method to estimate vehicular travel times in a vehicular ad hoc network (VANET) environment. A novel feature of the proposed method is estimating individual vehicle travel times through advanced on-board units in each vehicle, referred to as self-estimated travel time in this study. The method uses travel information including vehicle position and speed at each given time step transmitted through the V2V and V2I communications. Vehicle trajectory data obtained from the VISSIM simulator is used for evaluating the accuracy of estimated travel times. Relevant technical issues for successful field implementation are also discussed.

• KDI Journal of Economic Policy
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• v.29 no.2
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• pp.1-40
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• 2007

This paper mainly estimates a trajectory of GDP induced by variations in fiscal expenditure and taxation policy using three variable structural VAR models. By assigning different combinations of identifying restrictions on the disturbances and measuring the corresponding fiscal multipliers, we compare how robust the estimated values of fiscal multipliers are with respect to the restrictions. Then, considering the dependency of Korean economy on the foreign sector, we extend the three variable SVARs to four variable ones by adding a variable reflecting external shocks. Empirical analyses into the Korean quarterly data (from 1979 to 2000) with the three variable SVARs reveal that the size and the significance of the estimated fiscal multipliers in Korea are very small and low or they decay very fast. Results from the four variable SVARs confirm these results while the significance of the effectiveness of fiscal policy is enhanced in some cases.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.15 no.3
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• pp.311-318
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• 2004

It is required to design the RF link with sufficiently stable signal margin to minimize bit errors and improve the quality of received data in the telemetry system modulated digitally like PCM/FM. In case of the vehicle flying at a high speed, the variation of the gain pattern between transmitting and receiving antenna and the fee space loss due to flight distance cause the fluctuation of link. In this paper, KSR(Korea Sounding Rocket)- III, the first domestic liquid rocket which was successfully launched in Nov. 2002 is introduced. The SNR(signal-to-noise ratio) variation of the telemetry signal which was measured at S-band ground station, the one which was simulated considering the flight trajectory, and the attitude variation such as roll, pitch and yaw are compared, analyzed, and agree very well. In addition, two virtual flying situations are simulated and evaluated-only one antenna is equipped in one case, and rocket is roll-free in the other.

• Environmental Sciences Bulletin of The Korean Environmental Sciences Society
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• v.10 no.S_4
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• pp.197-206
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• 2001

The long-range transport mechanisms of Asian dust were analyzed based on the synoptic weather system and numerical simulation by using NCEP/NCAR reanalysis and TOMS data during the periods of 1996-2001. We classified the whole weather types of eastern Asia during spring and created the representative weather types during the yellow sand events using cluster analysis and weather charts for the last 6 years(1996~2001). These long-range transport mechanisms were related to various pressure patterns including high and low, trough and ridge, and upper-level fronts. Case studies of the yellow sand events have performed by the simulation of MM5 with meteorological elements such as the horizontal wind of u and v component, potential temperature, potential vorticity, and vertical circulation during the episodic days(2~8 March 2001). In addition, the origin of the long-range transport was examined with the estimation of backward trajectory using HYSPLIT4 Model. In this paper, we concluded that three weather types at 1000 hPa, 850 hPa, 500 hPa, and 300 hPa levels were classified respectively. The dominant features were the extending continental outflow from China to Korea at 1000 hPa and 850 hPa levels, the deep trough passage and cold advection at 500 hPa and 300 hPa levels during the yellow sand events. And also, we confirmed the existence of pola $r_tropical jets in the upper-level, the behavior of potential vorticity over Korea, the estimation of potential vorticity through vertical cross section, and the transport of yellow sand through backward trajectories.es.

• Journal of Oral Medicine and Pain
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• v.21 no.2
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• pp.383-392
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• 1996

An observation and evaluation of the reproducibility of the mandibular movements has been a integral part of a test for mandibular function and dysfunction. After Pantographic Reproducibility Index(PRI) was introduced in dentistry, many authors have used the index for investigation of mandibular movement function, especially in condylar compartment. Howerer, the difficult and time-consuming work of instrumentation for getting the PRI has been a major obstacle in using pantograph. This study was performed to try a new mandibular reproducibility index, so-called BioEGN reproducibility index(BERI), calculated from mandibular trajectory recorded with BioEGN. 26 dental students without any signs and symptoms of temporomandibular disorders and 22 patients with temporomandibular disorders took part in this study and classed to control group and patients group, respectively. Pantronic and BioEGN were used to record and calculate the indices, PRI and BERI. PRI had only one value, but BERI had two values of outgoing and incoming movement in each scale. With two scales of small and large, as a result, BERI had four values in this study. PRI corresponded to BERI in small scale on outgoing total movements. The data were calculated and analyzed with SAS/stat program and the conclusion of this study were as follows : 1. In every scales, in each movement, BERI on outgoing movement in control group was lower than that in patients group, respectively, but BERI on incoming movement was only different in one side movement, that was, left excursion. 2. The difference between BERI on outgoing movement and BERI on incoming movement was only shown in small scale on total movements, not in each movement, in control group. However, there was generally a positive correlationship between BERI on outgoing movement and BERI on incoming movement in each movement in both groups. 3. Simple statistics of PRI was similar to that of BERI on total movements in small scale, but there was a negative correlation between PRI and BERI on total movements in large sclae only in patients group.

• The KIPS Transactions:PartD
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• v.13D no.7 s.110
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• pp.879-888
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• 2006

Recently many researchers have focused on management of Historical trajectories of moving objects in Euclidean spaces due to numerous sizes of accumulated data over time. However, the movement of moving objects in real applications generally has some constraints, for example vehicles on roads can only travel along connected road networks. In this paper, we propose an indexing method for trajectories of moving objects on road networks in order to process the network-based spatiotemporal range query. Our method contains the connect information of road networks to use the network distance for query processing, deals with trajectories which are represented by road segments in road networks, and manages them using multiple R-trees assigned per each road segment. Furthermore, it has a structure to be able to share R-tree among several road segments in large road networks. Consequently, we show that our method takes about 30% less in node accesses for the network-based spatiotemporal range query processing than other methods based on the Euclidean distance by experiments.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.5
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• pp.609-616
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• 2007

Palletizing is necessary to promote the efficiency of storage and shipping tasks. These are, however some of the most monotonous, heavy and laborious tasks in the factory. Therefore many types of robot palletizing systems have been developed, but many robot motion commands still depend on the teaching pendent. That is, an operator inputs the motion command lines one by one. It is very troublesome, and most of all, the user must know how to type the code. That is why we propose a new GUI (Graphic User Interface) Palletizing System. To cope with this issue, we proposed a 'PLP' (Pallet Loading Problem) algorithm, Fast Algorithm and realize 3D auto-patterning visualization interface. Finally, we propose the robot palletizing simulator. Internally, the schematic of this simulator is as follows. First, an user inputs the physical information of object. Second, simulator calculates the optimal pattern for the object and visualizes the result. Finally, the calculated position data of object is passed to the robot simulator. To develop the robot simulator, we use an articulated robot, and analyze the kinematics and dynamics. Especially, All problem including thousands of boxes were completely calculated in less than 1 second and resulted in optimal solutions by the Fast Algorithm.

• Journal of Preventive Medicine and Public Health
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• v.53 no.3
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• pp.158-163
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• 2020

Objectives: In the current early phase of the coronavirus disease 2019 (COVID-19) outbreak, Bali needs to prepare to face the escalation of cases, with a particular focus on the readiness of healthcare services. We simulated the future trajectory of the epidemic under current conditions, projected the impact of policy interventions, and analyzed the implications for healthcare capacity. Methods: Our study was based on the first month of publicly accessible data on new confirmed daily cases. A susceptible, exposed, infected, recovered (SEIR) model for COVID-19 was employed to compare the current dynamics of the disease with those predicted under various scenarios. Results: The fitted model for the cumulative number of confirmed cases in Bali indicated an effective reproduction number of 1.4. Interventions have decreased the possible maximum number of cases from 71 125 on day 86 to 22 340 on day 119, and have prolonged the doubling time from about 9 days to 21 days. This corresponds to an approximately 30% reduction in transmissions from cases of mild infections. There will be 2780 available hospital beds, and at the peak (on day 132), the number of severe cases is estimated to be roughly 6105. Of these cases, 1831 will need intensive care unit (ICU) beds, whereas the number of currently available ICU beds is roughly 446. Conclusions: The healthcare system in Bali is in danger of collapse; thus, serious efforts are needed to improve COVID-19 interventions and to prepare the healthcare system in Bali to the greatest extent possible.

• Journal of KIISE:Software and Applications
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• v.28 no.10
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• pp.699-705
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• 2001

As it became possible to generate 3D sound on a PC environment due to the advances in computing performance and digital signal processing technology, 3D sound technology gains its focus in the multimedia area Specifically a two-channel based 3D sound technology is being studied by many researchers because of its space efficiency and economical structure. While the positional sound effect is simple in its implementation, the moving sound effect has many problems to be resolved as there are only discrete measured point of HRTF database. In this paper, we propose the method of generating smooth moving sound in a two-channel based 3D sound technique with respect to generating smooth trajectory, and the interpolation method of discrete measured HRTF data. We perform the tests in the PC environment and prove the utility of the proposed method.