• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.487-495
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• 2012

In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 4 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.25 no.6_1
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• pp.545-555
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• 2007

3D buildings are the most prominent feature comprising urban scene. A few of mega-cities in the globe are virtually reconstructed in photo-realistic 3D models, which becomes accessible by the public through the state-of-the-art online mapping services. A lot of research efforts have been made to develop automatic reconstruction technique of large-scale 3D building models from remotely sensed data. However, existing methods still produce irregular building polygons due to errors induced partly by uncalibrated sensor system, scene complexity and partly inappropriate sensor resolution to observed object scales. Thus, a geometric regularization technique is urgently required to rectify such irregular building polygons that are quickly captured from low sensory data. This paper aims to develop a new method for regularizing noise building outlines extracted from airborne LiDAR data, and to evaluate its performance in comparison with existing methods. These include Douglas-Peucker's polyline simplication, total least-squared adjustment, model hypothesis-verification, and rule-based rectification. Based on Minimum Description Length (MDL) principal, a new objective function, Geometric Minimum Description Length (GMDL), to regularize geometric noises is introduced to enhance the repetition of identical line directionality, regular angle transition and to minimize the number of vertices used. After generating hypothetical regularized models, a global optimum of the geometric regularity is achieved by verifying the entire solution space. A comparative evaluation of the proposed geometric regulator is conducted using both simulated and real building vectors with various levels of noise. The results show that the GMDL outperforms the selected existing algorithms at the most of noise levels.

• Journal of Families and Better Life
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• v.32 no.2
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• pp.27-40
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• 2014

The purpose of this study is to examine the motive of participating in the care work, the overall cognition survey for the care work and the infant care practice areas required in the care work for the child care helpers who activate in the care work, and search for methods of specializing infant care and care experiences on the results. Results of study showed that firstly, middle- or the late middle-age women participated in the care worker recognized care work as productive labor to create economic value and that secondly, the child care helpers' recognition degree of self-development and job satisfaction through performance of care work was wholly high level and that there was will of participation in training for self-development but actual participation rate was low due to restrictions by general conditions. Thirdly, the infant care practice areas and their particular contents that the child care helpers recognized in the care work necessary were highly shown in the whole. The requested level of education for safety management, play guidance, humanity guidance for infant and child was high. Point to discuss is that occupation stability and occupation image must be raised through the public job-hunting system for the child care helpers. In addition, a tailor-made education support suitable for the child care helpers' career stage is needed. Education support by the performance of infant care practice area and the educational requirements must be provided to major rearers to ensure that they can function as behavioral and emotional supporters. Finally, a support system for continuous self-management.

• Archives of Pharmacal Research
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• v.29 no.5
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• pp.424-429
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• 2006

In the present study, a human mammary epithelial cell (HMEC) culture model was developed to evaluate the potential involvement of carrier-mediated transport systems in drug transfer into milk. Trypsin-resistant HMECs were seeded on $Matrigel^{circledR}-coated$ filters to develop monolayers of functionally differentiated HMEC. Expression of the specific function of HMEC monolayers was dependent of the number of trypsin treatments. Among the monolayers with different numbers of treatment (treated 1 to 3 times), the monolayer treated 3 times (3-t-HMEC monolayer) showed the highest maximal transepithelial resistance and expression of $\beta-casein$ mRNA as an index of differentiation. Transport of tetraethylammonium (TEA) across the 3-t-HMEC monolayer in the basolateral-to-apical direction was significantly higher than that in the apical-to-basolateral direction (p<0.05), whereas such directionality was not observed for p-aminohippurate, suggesting the existence of organic cation transporters, but not organic anion transporters. In fact, expression of mRNAs of human organic cation transporter (OCT) 1 and 3 were detected in the 3-t-HMEC monolayer. These results indicate that the 3-t-HMEC monolayer is potentially useful for the evaluation of carrier-mediated secretion of drugs including organic cations into human milk.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.22 no.10
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• pp.1320-1326
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• 2018

Digital video equipment is important in the 4th industrial revolution and is widely used in different fields for various purpose. Data of digital video equipment is exposed to noise due to different reasons including user environment and processing and such noise affect output and processing method. This can even cause error, resulting in decreased reliability of the equipment. In this research, it offers algorithm to effectively recover video by removing noise and impulse noise occurring during the process of channel delivery. This proposed algorithm recovers video by exploring valid pixel using directional local mask and noise determination. Then, valid pixel calculated goes through the final output calculation through comparative analysis on estimation. For comparing suggested method and algorithm, simulation is carried out. For checking the function of it, PSNR and profile are analyzed.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.34 no.6
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• pp.713-719
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• 2001

The aim of this study is to check the application criteria of the conventional techniques and clarify the effects of breaker depth, seabed conditions on the stability in relation to the effects of uncertainty of storm duration and directional irregular waves. The typical damage modes were divided by the direct wave force on the armor unit and by the local scouring around the toe of a breakwater head by the model experiments. The destruction modes are defined, and some criteria on the damage modes and scouring/deposition at the toe of a breakwater head in relating the wave-bottom-structural conditions can be checked using the multi-directonal irregular wave generator system. According to the results, it is emphasized that the 3-D effects on the stability should be analyzed in the design of multi-purpose/function coastal structures in consideration of the evaluation of spatial variation of damage modes and hydraulic characteristics as well as the wave distribution along the structures.

• The Journal of the Convergence on Culture Technology
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• v.7 no.3
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• pp.599-604
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• 2021

In an era where AI artificial intelligence converges into each field, design of AI-CARE function and UI UX design are in the spotlight. The application of shape design and the trend of color are important for visual effects to match new features. In this paper, we would like to use this to present an example of the arrangement and application of form trends and to present design directions. In the introduction, the latest design environmental factors were analyzed and studied in the direction of the new proposal. In the text, the design direction and consideration of the design in the planning were studied by separating the functional design form, and the direction of the design work was presented. At the stage of form and color, a plan was proposed to match the flow of minimalism, universal design, and affordance design. A study method based on case practice is a consideration of how to consider content on shapes and colors specialized in the partial design work, and proposed to enable graphic production of new areas of UI UX in content images to be feasible. Through this study, the design direction and planning of the derivative method of shape and color was reached by suggesting design directionality and validity for each AI CARE bed PART.