• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.1
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• pp.108-114
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• 2009

In this paper, we presents a behavior planning for humanoid robots using behavior primitive in 3 dimensional workspace. Also, we define behavior primitives that humanoid robot accomplishes various tasks effectively. Humanoid robot obtains information of the outside environment and its inner information from various sensors in complex workspace with various obstacles. We verify our approach on a developed small humanoid robot using embedded vision and sensor system in a experimental environment. The experimental results show that the humanoid robot performs its tasks fast and effectively.

• Korean Journal of Computational Design and Engineering
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• v.5 no.4
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• pp.380-392
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• 2000

This paper proposes a qualitative reasoning approach for the spatial configuration of mechanisms that could be applied in the early phase of the conceptual design. The spatial configuration problem addressed in this paper involves the relative direction and position between the input and output motion, and the orientation of the constituent primitive mechanisms of a mechanism. The knowledge of spatial configuration of a primitive mechanism is represented in a matrix form called spatial configuration matrix. This matrix provides a compact and convenient representation scheme for the spatial knowledge, and facilitates the manipulation of the relevant spatial knowledge. Using this spatial knowledge of the constituent primitive mechanisms, the overall configuration of a mechanism is described and identified by a spatial configuration state matrix. This matrix is obtained by using a qualitative reasoning method based on sign algebra and is used to represent the qualitative behavior of the mechanism. The matrix-based representation scheme allows handling the involved spatial knowledge simultaneously and the proposed reasoning method enables the designer to predict the spatial behavior of a mechanism without knowing specific dimension of the components of the mechanism.

• IEIE Transactions on Smart Processing and Computing
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• v.1 no.3
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• pp.192-200
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• 2012

In order for humans and robots to interact in daily life, robots need to understand human speech and link it to their actions. This paper proposes a hierarchical behavior model for robot action control using natural language commands. The model, which consists of episodes, primitive actions and atomic functions, uses a sentential cognitive system that includes multiple modules for perception, action, reasoning and memory. Human speech commands are translated to sentences with a natural language processor that are syntactically parsed. A semantic parsing procedure was applied to human speech by analyzing the verbs and phrases of the sentences and linking them to the cognitive information. The cognitive system performed according to the hierarchical behavior model, which consists of episodes, primitive actions and atomic functions, which are implemented in the system. In the experiments, a possible episode, "Water the pot," was tested and its feasibility was evaluated.

• International Journal of Control, Automation, and Systems
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• v.6 no.6
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• pp.904-914
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• 2008

An action-selection-mechanism(ASM) has been proposed to work as a fully connected finite state machine to deal with sequential behaviors as well as to allow a state in the task program to migrate to any state in the task, in which a primitive node in association with a state and its transitional conditions can be easily inserted/deleted. Also, such a primitive node can be learned by a shortest path-finding-based reinforcement learning technique. Specifically, we define a behavioral motivation as having state-dependent value as a primitive node for action selection, and then sequentially construct a network of behavioral motivations in such a way that the value of a parent node is allowed to flow into a child node by a releasing mechanism. A vertical path in a network represents a behavioral sequence. Here, such a tree for our proposed ASM can be newly generated and/or updated whenever a new behavior sequence is learned. To show the validity of our proposed ASM, experimental results of a mobile robot performing the task of pushing- a- box-in to- a-goal(PBIG) will be illustrated.

• Bulletin of the Korean Mathematical Society
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• v.52 no.5
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• pp.1587-1606
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• 2015

Comonoid, bi-algebra, and Hopf algebra structures are studied within the universal-algebraic context of entropic varieties. Attention focuses on the behavior of setlike and primitive elements. It is shown that entropic $J{\acute{o}}nsson$-Tarski varieties provide a natural universal-algebraic setting for primitive elements and group quantum couples (generalizations of the group quantum double). Here, the set of primitive elements of a Hopf algebra forms a Lie algebra, and the tensor algebra on any algebra is a bi-algebra. If the tensor algebra is a Hopf algebra, then the underlying $J{\acute{o}}nsson$-Tarski monoid of the generating algebra is cancellative. The problem of determining when the $J{\acute{o}}nsson$-Tarski monoid forms a group is open.

• Journal of Korean Neurosurgical Society
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• v.49 no.6
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• pp.359-362
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• 2011

Ewing's sarcoma/primitive neuroectodermal tumor (ES/PNET) is an unusual malignancy with aggressive behavior. ES/PNET in the cerebellopontine angle (CPA) is extremely uncommon, and we report on a rare case here. A 31-year-old man presented with one month history of left facial palsy, hearing loss, swallowing difficulty, and hoarseness. Magnetic resonance images showed a large mass in the left CPA and a small one in the right cerebellar hemisphere. The patient underwent a surgery for the CPA mass lesion, and the pathology was compatible with ES/PNET. Radiation therapy and chemotherapy were administered. In contrast to the initial radiologic findings resembling vestibular schwannoma or meningioma, ES/PNET had several distinct clinical features. A patient with a CPA mass and presenting unusual clinical features should be suspected of having a rare malignancy.

• The Korean Journal of Health Service Management
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• v.8 no.3
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• pp.193-205
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• 2014

The purpose of this study is to find out the effects of the socio-demographic characteristics, self-recognition factors, and health behavior factors of Korean adolescents on suicide dimension, and grasp the effects of suicide thinking of adolescents on attempting suicide. This study used the eighth primitive data of the "Web-based Survey on Adolescents Health Behavior(2012)", and targeted 72,228 actual test respondent(93.8%). In conclusion, risk factors that greatly influence the suicide dimension of adolescents can be summarized into level of happiness, level of stress, depression, experience drinking, experience smoking, experience with drugs, suicide thinking, etc. and considering these risk factors, a preparation for preventing adolescents' suicide should be established, and along with a regular education, developing and expanding a treatment program for preventing recurrence afterwards of adolescents who have experience attempting suicide are necessary.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.06a
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• pp.170-175
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• 1998

Transporting a large table using multiple robotic agents requires at least two group behaviors of homing and herding which are to bo coordinated in a proper sequence. Existing GP methods for multi-agent learning are not practical enough to find an optimal solution in this domain. To evolve this kind of complex cooperative behavior we use a novel method called fitness switching. This method maintains a pool of basis fitness functions each of which corresponds to a primitive group behavior. The basis functions are then progressively combined into more complex fitness functions to co-evolve more complex behavior. The performance of the presented method is compared with that of two conventional methods. Experimental results show that coevolutionary fitness switching provides an effective mechanism for evolving complex emergent behavior which may not be solved by simple genetic programming.

• Journal of information and communication convergence engineering
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• v.10 no.2
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• pp.149-155
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• 2012

This paper presents mobile robot control architecture of hierarchical behaviors, inspired by biological life. The system is reactive, highly parallel, and does not rely on representation of the environment. The behaviors of the system are designed hierarchically from the bottom-up with priority given to primitive behaviors to ensure the survivability of the robot and provide robustness to failures in higher-level behaviors. Fuzzy logic is used to perform command fusion on each behavior's output. Simulations of the proposed methodology are shown and discussed. The simulation results indicate that complex tasks can be performed by a combination of a few simple behaviors and a set of fuzzy inference rules.

• The Journal of Korean Society for School & Community Health Education
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• v.16 no.2
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• pp.45-57
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• 2015

Objectives: This study identified a multicultural families and households youth targeting adolescents drinking behavior and sexual status, and alcohol problems and gender analyzes and the relevance of the cup and behavior. Methods: This study analysed drinking problem and sexual behavior among adolescents of multi-cultural and general families which is based on the primitive data from the Ninth Youth Risk Behavior Web-based Survey, 2013. All analysis were conducted using SPSS version 18. Results: Multicultural family adolescents showed significantly higher in lifetime's drinking experience, beginning age of drinking, binge drinking, CRAFFT and sex experience than general family adolescents. Conclusions: Therefore the result of this study suggests that families, schools and society should perceive and solve the problem concerning the drinking behavior and sex experience of the multicultural familiy adolescents.