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Path Tracking Control of 6X6 Skid Steering Unmanned Ground Vehicle for Real Time Traversability (실시간 주행 안정성 분석을 위한 6X6 스키드 조향 무인 자율 주행 차량의 경로 추종 제어)

  • Hong, Hyosung;Han, Jong-Boo;Song, Hajun;Jung, Samuel;Kim, Sung-Soo;Yoo, Wan Suk;Won, Mooncheol;Joo, Sanghyun
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.41 no.7
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    • pp.599-605
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    • 2017
  • For an unmanned vehicle to be driven on the off-road terrain, it is necessary to consider the vehicle's stability. This paper suggests a path tracking controller for simulation of real-time vehicle stability analysis. The path tracking controller uses the preview distance to track the given trajectory. The disturbance moment is estimated using the yaw moment observer, and this information is used for compensation in the yaw moment control. On a curved path, the vehicle's desired velocity is determined from the curvature of the path. Because the vehicle is equipped with six independent motor driven wheels, the driving torques are distributed on all the wheels. The effectiveness of the path tracking controller is verified using ADAMS/MATLAB co-simulation.

LIFE AND ASTRONOMICAL ACTIVITY OF LEE DEOK-SEONG AS AN ASTRONOMER IN THE LATE OF JOSEON DYNASTY (조선후기 천문학자 이덕성의 생애와 천문활동)

  • AHN, YOUNG SOOK;MIHN, BYEONG-HEE;SEO, YOON KYEONG;LEE, KI-WON
    • Publications of The Korean Astronomical Society
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    • v.32 no.2
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    • pp.367-380
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    • 2017
  • The life and astronomical activity of Lee Deok-Seong (李德星, 1720-1794) was studied using various historical sources, including the astronomical almanac, Seungjeongwon-Ilgi (Daily records of Royal Secretariat of Joseon dynasty), and the Gwansang-Gam's logbooks during Joseon dynasty (A.D. 1392-1910). We present the results of the study including the following main findings. First, from the investigation of Lee's family tree, we find that a number of his relatives were also astronomers, notably Samryeok-Gwan (三曆官, the post of calendrical calculation). Second, we find that he took part in the compilation of an annual astronomical almanac over a period of at least 16 years. His major achievements in the astronomy of the Joseon dynasty were to establish a new method of calendar-making calculation and to bring astronomical materials to the Joseon court through a visit to China. The Joseon dynasty enforced the Shixianli (時憲曆, a Chinese calendar made by Adam Shall) in 1654 without fully understanding the calendar. So an astronomer and an envoy were dispatched to China in order to master the intricacies of the calendar and to learn as much of Western science as was available in that time and place. Lee Deok-Seong worked at the Gwansang-Gam (觀象監, Royal Astronomical Bureau) during the reigns of King Yeongjo (英祖) and Jeongjo (正祖). As best as we can ascertain in relation with the calculations in the Shixian calendar, Lee visited China four times. During his trips and interactions, he learned a new method for calendar-making calculations, and introduced many Western-Chinese astronomical books to Joseon academia. Lee greatly improved the accuracy of calendrical calculations, even while simplifying the calculation process. With these achievements, he finally was promoted to the title of Sungrok-Daebu (崇祿大夫), the third highest grade of royal official. In conclusion, history demonstrates that Lee Deok-Seong was one of the most outstanding astronomers in the late-Joseon dynasty.

Proposal for the Model of mobile RPG lobby layoutfrom Viewpoint of UX (UX관점에서의 모바일 RPG 로비 layout 모델 제시)

  • Kim, Seong-gon;Kim, Tae-Gyu
    • Journal of Digital Convergence
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    • v.17 no.12
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    • pp.467-472
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    • 2019
  • Growing smartphone usage in South Korea has also accelerated the pace of development of mobile games, but competition is intensifying as the market grows. As one of the factors for the success of the game in this mobile game market, UI has been presented, suggesting that the design of such mobile game UI should be approached in terms of designing the user's experience, along with its function, aesthetic expression, function-oriented design and information delivery before. In this paper, we propose an effective lobby layout of mobile RPG using experience among UX factors. Through the layout classification of Ernest Adams and Andrew Rollings, we selected 9 mobile RPGs in the 20th place of google play cumulative sales rankings and analyzed the layout of the lobby. As a result, the lobby layout of the game, which led the first market success of the mobile RPG genre, The result was that it became the standard of the boxed game. It can be interpreted that the lobby layout, which is similar to the game used previously by the user, is effective because low entry barriers and learning are unnecessary due to the experience of using the existing RPG. Future studies may produce a common layout of a broad genre if studies are conducted to measure the optimum UX for other genres than RPG.

A Review and Analysis of the Thermal Exposure in Large Compartment Fire Experiments

  • Gupta, Vinny;Hidalgo, Juan P.;Lange, David;Cowlard, Adam;Abecassis-Empis, Cecilia;Torero, Jose L.
    • International Journal of High-Rise Buildings
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    • v.10 no.4
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    • pp.345-364
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    • 2021
  • Developments in the understanding of fire behaviour for large open-plan spaces typical of tall buildings have been greatly outpaced by the rate at which these buildings are being constructed and their characteristics changed. Numerous high-profile fire-induced failures have highlighted the inadequacy of existing tools and standards for fire engineering when applied to highly-optimised modern tall buildings. With the continued increase in height and complexity of tall buildings, the risk to the occupants from fire-induced structural collapse increases, thus understanding the performance of complex structural systems under fire exposure is imperative. Therefore, an accurate representation of the design fire for open-plan compartments is required for the purposes of design. This will allow for knowledge-driven, quantifiable factors of safety to be used in the design of highly optimised modern tall buildings. In this paper, we review the state-of-the-art experimental research on large open-plan compartment fires from the past three decades. We have assimilated results collected from 37 large-scale compartment fire experiments of the open-plan type conducted from 1993 to 2019, covering a range of compartment and fuel characteristics. Spatial and temporal distributions of the heat fluxes imposed on compartment ceilings are estimated from the data. The complexity of the compartment fire dynamics is highlighted by the large differences in the data collected, which currently complicates the development of engineering tools based on physical models. Despite the large variability, this analysis shows that the orders of magnitude of the thermal exposure are defined by the ratio of flame spread and burnout front velocities (VS / VBO), which enables the grouping of open-plan compartment fires into three distinct modes of fire spread. Each mode is found to exhibit a characteristic order of magnitude and temporal distribution of thermal exposure. The results show that the magnitude of the thermal exposure for each mode are not consistent with existing performance-based design models, nevertheless, our analysis offers a new pathway for defining thermal exposure from realistic fire scenarios in large open-plan compartments.

A Comparison of Incarnation Theology in Christianity and Daesoon Jinrihoe (基督宗教与大巡真理会的「道成肉身」思想之比较)

  • Gao, Mingwen
    • Journal of the Daesoon Academy of Sciences
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    • v.34
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    • pp.323-351
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    • 2020
  • The purpose of this paper is to reveal how Christian ideas are indicative of Theocentricity (God-centeredness) whereas Daesoon Jinrihoe ideas are indicative of anthropocentrism (human-centeredness). This task will be accomplished through comparing incarnation theology from the Bible and The Canonical Scripture. Both Christianity and Daesoon Jinrihoe affirm that there is another world above the human world that cannot be touched by human sense organs. And they both acknowledge a supreme deity who exists in that above world. Furthermore, they share the notion that the supreme deity came into the human world after being born from a woman. Where they depart is that in Christianity, this belief refers to Jesus, the one who was born in Bethlehem more than 2,000 years ago, whereas in Daesoon Jinrihoe, it is instead believed to be Kang Jeungsan (secular name: Kang Il-Sun) who was born in Gaekmang Village in Korea more than 100 years ago. The Christian God came to the human world as an atonement for humanity and died on the cross; The God of Daesoon Jinrihoe came to the human world to help mankind settle all enmities. To this end, he traveled through the realms of Heaven, Earth, and Humanity, to recalibrate the faulty Degree Numbers. The sin mentioned in Christianity means treachery against the supreme deity. It is implied that sin is not tolerated in the world of God. Due to this, the first man, Adam, was driven out of Eden after betraying God, and afterwards, there came to be an infranchissable boundary between the world of God and the world of man. By way of comparison the faulty Degree Numbers, mentioned in Daesoon Jinrihoe, were produced naturally. In other words, the faulty Degree Number existed not only in the human world, but also in the world of divinities, and those two worlds not only interact but also affect each other. Therefore, it can be said that the two worlds of Christianity are worlds in which order and systems are completely different, and that the two worlds of Daesoon Jinrihoe are worlds that operate under the same order and systems. Both explain via this two-part division to emphasize one part as more important than the other. Christianity regards the world of God as the ultimate source and ultimate concern of the human world and emphasizes the absolute faith and worship of God is the highest value in life. But Daesoon Jinrihoe, on the other hand, argues that the human world determines the value of the divine world, and that the co-prosperity of man and his surroundings are the core values of the human era (The Era of Human Nobility). Therefore, the root cause of Christianity's theocentricity is that among the two worlds that are completely cut off from one another, they believe in God's world as the ultimate source and purpose of the human world. The root cause of Daesoon Jinrihoe's anthropocentrism is that among the two worlds that interact and influence each other, they believe the human world determines the meaning of the divine world.

Characterization of clutch traits and egg production in six chicken breeds

  • Lei Shi;Yunlei Li;Adam Mani Isa;Hui Ma;Jingwei Yuan;Panlin Wang;Pingzhuang Ge;Yanzhang Gong;Jilan Chen;Yanyan Sun
    • Animal Bioscience
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    • v.36 no.6
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    • pp.899-907
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    • 2023
  • Objective: The better understanding of laying pattern of birds is crucial for developing breed-specific proper breeding scheme and management. Methods: Daily egg production until 50 wk of age of six chicken breeds including one layer (White Leghorn, WL), three dual-purpose (Rhode Island Red, RIR; Columbian Plymouth Rock, CR; and Barred Plymouth Rock, BR), one synthetic dwarf (DY), and one indigenous (Beijing-You Chicken, BYC) were used to characterize their clutch traits and egg production. The age at first egg, egg number, average and maximum clutch length, pause length, and number of clutches and pauses were calculated accordingly. Results: The egg number and average clutch length in WL, RIR, CR, and BR were higher than those in DY and BYC (p<0.01). The numbers of clutches and pauses, and pause length in WL, RIR, CR, and BR were lower than those in DY and BYC (p<0.01). The coefficient variations of clutch length in WL, RIR, CR, and BR (57.66%, 66.49%, 64.22%, and 55.35%, respectively) were higher than DY (41.84%) and BYC (36.29%), while the coefficient variations of egg number in WL, RIR, CR, and BR (9.10%, 9.97%, 10.82%, and 9.92%) were lower than DY (15.84%) and BYC (16.85%). The clutch length was positively correlated with egg number (r = 0.51 to 0.66; p<0.01), but not correlated with age at first egg in all breeds. Conclusion: The six breeds showed significant different clutch and egg production traits. Due to the selection history, the high and median productive layer breeds had higher clutch length than those of the less productive indigenous BYC. The clutch length is a proper selection criterion for further progress in egg production. The age at first egg, which is independent of clutch traits, is especially encouraged to be improved by selection in the BYC breed.

Predicting blast-induced ground vibrations at limestone quarry from artificial neural network optimized by randomized and grid search cross-validation, and comparative analyses with blast vibration predictor models

  • Salman Ihsan;Shahab Saqib;Hafiz Muhammad Awais Rashid;Fawad S. Niazi;Mohsin Usman Qureshi
    • Geomechanics and Engineering
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    • v.35 no.2
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    • pp.121-133
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    • 2023
  • The demand for cement and limestone crushed materials has increased many folds due to the tremendous increase in construction activities in Pakistan during the past few decades. The number of cement production industries has increased correspondingly, and so the rock-blasting operations at the limestone quarry sites. However, the safety procedures warranted at these sites for the blast-induced ground vibrations (BIGV) have not been adequately developed and/or implemented. Proper prediction and monitoring of BIGV are necessary to ensure the safety of structures in the vicinity of these quarry sites. In this paper, an attempt has been made to predict BIGV using artificial neural network (ANN) at three selected limestone quarries of Pakistan. The ANN has been developed in Python using Keras with sequential model and dense layers. The hyper parameters and neurons in each of the activation layers has been optimized using randomized and grid search method. The input parameters for the model include distance, a maximum charge per delay (MCPD), depth of hole, burden, spacing, and number of blast holes, whereas, peak particle velocity (PPV) is taken as the only output parameter. A total of 110 blast vibrations datasets were recorded from three different limestone quarries. The dataset has been divided into 85% for neural network training, and 15% for testing of the network. A five-layer ANN is trained with Rectified Linear Unit (ReLU) activation function, Adam optimization algorithm with a learning rate of 0.001, and batch size of 32 with the topology of 6-32-32-256-1. The blast datasets were utilized to compare the performance of ANN, multivariate regression analysis (MVRA), and empirical predictors. The performance was evaluated using the coefficient of determination (R2), mean absolute error (MAE), mean squared error (MSE), mean absolute percentage error (MAPE), and root mean squared error (RMSE)for predicted and measured PPV. To determine the relative influence of each parameter on the PPV, sensitivity analyses were performed for all input parameters. The analyses reveal that ANN performs superior than MVRA and other empirical predictors, andthat83% PPV is affected by distance and MCPD while hole depth, number of blast holes, burden and spacing contribute for the remaining 17%. This research provides valuable insights into improving safety measures and ensuring the structural integrity of buildings near limestone quarry sites.

A Study on Particulate Matter Forecasting Improvement by using Asian Dust Emissions in East Asia (황사배출량을 적용한 동아시아 미세먼지 예보 개선 연구)

  • Choi, Daeryun;Yun, Huiyoung;Chang, Limseok;Lee, Jaebum;Lee, Younghee;Myoung, Jisu;Kim, Taehee;Koo, Younseo
    • Journal of the Korean Society of Urban Environment
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    • v.18 no.4
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    • pp.531-546
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    • 2018
  • Air quality forecasting system with Asian dust emissions was developed in East Asia, and $PM_{10}$ forecasting performance of chemical transport model with Asian dust emissions was validated and evaluated. The chemical transport model (CTM) with Asian dust emission was found to supplement $PM_{10}$ concentrations that had been under-estimated in China regions and improved statistics for performance of CTM, although the model were overestimated during some periods in China. In Korea, the prediction model adequately simulated inflow of Asian dust events on February 22~24 and March 16~17, but the model is found to be overestimated during no Asian dust event periods on April. However, the model supplemented $PM_{10}$ concentrations, which was underestimated in most regions in Korea and the statistics for performance of the models were improved. The $PM_{10}$ forecasting performance of air quality forecasting model with Asian dust emissions tends to improve POD (Probability of Detection) compared to basic model without Asian dust emissions, but A (Accuracy) has shown similar or decreased, and FAR (False Alarms) have increased during 2017.Therefore, the developed air quality forecasting model with Asian dust emission was not proposed as a representative $PM_{10}$ forecast model in South Korea.

Korean Sentence Generation Using Phoneme-Level LSTM Language Model (한국어 음소 단위 LSTM 언어모델을 이용한 문장 생성)

  • Ahn, SungMahn;Chung, Yeojin;Lee, Jaejoon;Yang, Jiheon
    • Journal of Intelligence and Information Systems
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    • v.23 no.2
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    • pp.71-88
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    • 2017
  • Language models were originally developed for speech recognition and language processing. Using a set of example sentences, a language model predicts the next word or character based on sequential input data. N-gram models have been widely used but this model cannot model the correlation between the input units efficiently since it is a probabilistic model which are based on the frequency of each unit in the training set. Recently, as the deep learning algorithm has been developed, a recurrent neural network (RNN) model and a long short-term memory (LSTM) model have been widely used for the neural language model (Ahn, 2016; Kim et al., 2016; Lee et al., 2016). These models can reflect dependency between the objects that are entered sequentially into the model (Gers and Schmidhuber, 2001; Mikolov et al., 2010; Sundermeyer et al., 2012). In order to learning the neural language model, texts need to be decomposed into words or morphemes. Since, however, a training set of sentences includes a huge number of words or morphemes in general, the size of dictionary is very large and so it increases model complexity. In addition, word-level or morpheme-level models are able to generate vocabularies only which are contained in the training set. Furthermore, with highly morphological languages such as Turkish, Hungarian, Russian, Finnish or Korean, morpheme analyzers have more chance to cause errors in decomposition process (Lankinen et al., 2016). Therefore, this paper proposes a phoneme-level language model for Korean language based on LSTM models. A phoneme such as a vowel or a consonant is the smallest unit that comprises Korean texts. We construct the language model using three or four LSTM layers. Each model was trained using Stochastic Gradient Algorithm and more advanced optimization algorithms such as Adagrad, RMSprop, Adadelta, Adam, Adamax, and Nadam. Simulation study was done with Old Testament texts using a deep learning package Keras based the Theano. After pre-processing the texts, the dataset included 74 of unique characters including vowels, consonants, and punctuation marks. Then we constructed an input vector with 20 consecutive characters and an output with a following 21st character. Finally, total 1,023,411 sets of input-output vectors were included in the dataset and we divided them into training, validation, testsets with proportion 70:15:15. All the simulation were conducted on a system equipped with an Intel Xeon CPU (16 cores) and a NVIDIA GeForce GTX 1080 GPU. We compared the loss function evaluated for the validation set, the perplexity evaluated for the test set, and the time to be taken for training each model. As a result, all the optimization algorithms but the stochastic gradient algorithm showed similar validation loss and perplexity, which are clearly superior to those of the stochastic gradient algorithm. The stochastic gradient algorithm took the longest time to be trained for both 3- and 4-LSTM models. On average, the 4-LSTM layer model took 69% longer training time than the 3-LSTM layer model. However, the validation loss and perplexity were not improved significantly or became even worse for specific conditions. On the other hand, when comparing the automatically generated sentences, the 4-LSTM layer model tended to generate the sentences which are closer to the natural language than the 3-LSTM model. Although there were slight differences in the completeness of the generated sentences between the models, the sentence generation performance was quite satisfactory in any simulation conditions: they generated only legitimate Korean letters and the use of postposition and the conjugation of verbs were almost perfect in the sense of grammar. The results of this study are expected to be widely used for the processing of Korean language in the field of language processing and speech recognition, which are the basis of artificial intelligence systems.

A Deep Learning Based Approach to Recognizing Accompanying Status of Smartphone Users Using Multimodal Data (스마트폰 다종 데이터를 활용한 딥러닝 기반의 사용자 동행 상태 인식)

  • Kim, Kilho;Choi, Sangwoo;Chae, Moon-jung;Park, Heewoong;Lee, Jaehong;Park, Jonghun
    • Journal of Intelligence and Information Systems
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    • v.25 no.1
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    • pp.163-177
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    • 2019
  • As smartphones are getting widely used, human activity recognition (HAR) tasks for recognizing personal activities of smartphone users with multimodal data have been actively studied recently. The research area is expanding from the recognition of the simple body movement of an individual user to the recognition of low-level behavior and high-level behavior. However, HAR tasks for recognizing interaction behavior with other people, such as whether the user is accompanying or communicating with someone else, have gotten less attention so far. And previous research for recognizing interaction behavior has usually depended on audio, Bluetooth, and Wi-Fi sensors, which are vulnerable to privacy issues and require much time to collect enough data. Whereas physical sensors including accelerometer, magnetic field and gyroscope sensors are less vulnerable to privacy issues and can collect a large amount of data within a short time. In this paper, a method for detecting accompanying status based on deep learning model by only using multimodal physical sensor data, such as an accelerometer, magnetic field and gyroscope, was proposed. The accompanying status was defined as a redefinition of a part of the user interaction behavior, including whether the user is accompanying with an acquaintance at a close distance and the user is actively communicating with the acquaintance. A framework based on convolutional neural networks (CNN) and long short-term memory (LSTM) recurrent networks for classifying accompanying and conversation was proposed. First, a data preprocessing method which consists of time synchronization of multimodal data from different physical sensors, data normalization and sequence data generation was introduced. We applied the nearest interpolation to synchronize the time of collected data from different sensors. Normalization was performed for each x, y, z axis value of the sensor data, and the sequence data was generated according to the sliding window method. Then, the sequence data became the input for CNN, where feature maps representing local dependencies of the original sequence are extracted. The CNN consisted of 3 convolutional layers and did not have a pooling layer to maintain the temporal information of the sequence data. Next, LSTM recurrent networks received the feature maps, learned long-term dependencies from them and extracted features. The LSTM recurrent networks consisted of two layers, each with 128 cells. Finally, the extracted features were used for classification by softmax classifier. The loss function of the model was cross entropy function and the weights of the model were randomly initialized on a normal distribution with an average of 0 and a standard deviation of 0.1. The model was trained using adaptive moment estimation (ADAM) optimization algorithm and the mini batch size was set to 128. We applied dropout to input values of the LSTM recurrent networks to prevent overfitting. The initial learning rate was set to 0.001, and it decreased exponentially by 0.99 at the end of each epoch training. An Android smartphone application was developed and released to collect data. We collected smartphone data for a total of 18 subjects. Using the data, the model classified accompanying and conversation by 98.74% and 98.83% accuracy each. Both the F1 score and accuracy of the model were higher than the F1 score and accuracy of the majority vote classifier, support vector machine, and deep recurrent neural network. In the future research, we will focus on more rigorous multimodal sensor data synchronization methods that minimize the time stamp differences. In addition, we will further study transfer learning method that enables transfer of trained models tailored to the training data to the evaluation data that follows a different distribution. It is expected that a model capable of exhibiting robust recognition performance against changes in data that is not considered in the model learning stage will be obtained.