• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.4 s.175
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• pp.1007-1015
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• 2000

This paper proposes an adaptive trajectory generation strategy of using on-line ZMP information and an impedance control method for biped robots. Since robots experience various disturbances during their locomotion, their walking mechanism should have the robustness against those disturbances, which requires an on-line adaptation capability. In this context, an on-line trajectory planner is proposed to compensate the required moment for recovering stability. The ZMP equation and sensed ZMP information are used in this trajectory generation strategy. In order to control a biped robot to be able to walk stably, its controller should guarantee stable footing at the moment of feet contacts with the ground as well as maintaining good trajectory tracking performance. Otherwise, the stability of robot will be significantly compromised. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, this paper. proposes to increase the damping of the leg drastically and to modify the reference trajectory of the leg. In the proposed control scheme, the constrained leg is controlled by impedance control using the impedance model with respect to the base link. Computer simulations performed with a 3-dof environment model that consists of combination of a nonlinear and linear compliant contact model show that the proposed controller performs well and that it has robustness against unknown uneven surface. Moreover, the biped robot with the proposed trajectory generator can walk even when it is pushed with a certain amount of external force.

• Korean Journal of Radiology
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• v.24 no.11
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• pp.1151-1163
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• 2023

Objective: To develop a deep-learning-based bone age prediction model optimized for Korean children and adolescents and evaluate its feasibility by comparing it with a Greulich-Pyle-based deep-learning model. Materials and Methods: A convolutional neural network was trained to predict age according to the bone development shown on a hand radiograph (bone age) using 21036 hand radiographs of Korean children and adolescents without known bone development-affecting diseases/conditions obtained between 1998 and 2019 (median age [interquartile range {IQR}], 9 [7-12] years; male:female, 11794:9242) and their chronological ages as labels (Korean model). We constructed 2 separate external datasets consisting of Korean children and adolescents with healthy bone development (Institution 1: n = 343; median age [IQR], 10 [4-15] years; male: female, 183:160; Institution 2: n = 321; median age [IQR], 9 [5-14] years; male: female, 164:157) to test the model performance. The mean absolute error (MAE), root mean square error (RMSE), and proportions of bone age predictions within 6, 12, 18, and 24 months of the reference age (chronological age) were compared between the Korean model and a commercial model (VUNO Med-BoneAge version 1.1; VUNO) trained with Greulich-Pyle-based age as the label (GP-based model). Results: Compared with the GP-based model, the Korean model showed a lower RMSE (11.2 vs. 13.8 months; P = 0.004) and MAE (8.2 vs. 10.5 months; P = 0.002), a higher proportion of bone age predictions within 18 months of chronological age (88.3% vs. 82.2%; P = 0.031) for Institution 1, and a lower MAE (9.5 vs. 11.0 months; P = 0.022) and higher proportion of bone age predictions within 6 months (44.5% vs. 36.4%; P = 0.044) for Institution 2. Conclusion: The Korean model trained using the chronological ages of Korean children and adolescents without known bone development-affecting diseases/conditions as labels performed better in bone age assessment than the GP-based model in the Korean pediatric population. Further validation is required to confirm its accuracy.

• The Journal of Korean Academy of Prosthodontics
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• v.42 no.2
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• pp.226-237
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• 2004

Purpose: Four finite element models were constructed in the mandible having a single implant fixture connected to the first premolar-shaped superstructure, in order to evaluate how the shape of the fixture and the implant-abutment connection would influence the stress level of the supporting tissues fixtures, and prosthethic components. Material and methods : The superstructures were constructed using UCLA type abutment, ADA type III gold alloy was used to fabricate a crown and then connected to the fixture with an abutment screw. The models BRA, END , FRI, ITI were constructed from the mandible implanted with Branemark, Endopore, Frialit-2, I.T.I. systems respectively. In each model, 150 N of vertical load was placed on the central pit of an occlusal plane and 150 N of $40^{\circ}$ oblique load was placed on the buccal cusp. The displacement and stress distribution in the supporting tissues and the other components were analysed using a 2-dimensional finite element analysis . The maximum stress in each reference area was compared. Results : 1. Under $40^{\circ}$ oblique loading, the maximum stress was larger in the implant, superstructure and supporting tissue, compared to the stress pattern under vertical loading. 2. In the implant, prosthesis and supporting tissue, the maximum stress was smaller with the internal connection type (FRI) and the morse taper type (ITI) when compared to that of the external connection type (BRA & END). 3. In the superstructure and implant/abutment interface, the maximum stress was smaller with the internal connection type (FRI) and the morse taper type (ITI) when compared to that of the external connection type (BRA & END). 4. In the implant fixture, the maximum stress was smaller with the internal connection type (FRI) and the morse taper type (ITI) when compared to that of the external connection type (BRA & END). 5 The stress was more evenly distributed in the bone/implant interface through the FRI of trapezoidal step design. Especially Under $40^{\circ}$ oblique loading, The maximum stress was smallest in the bone/implant interface. 6. In the implant and superstructure and supporting tissue, the maximum stress occured at the crown loading point through the ITI. Conclusion: The stress distribution of the supporting tissue was affected by shape of a fixture and implant-abutment connection. The magnitude of maximum stress was reduced with the internal connection type (FRI) and the morse taper type (ITI) in the implant, prosthesis and supporting tissue. Trapezoidal step design of FRI showed evenly distributed the stress at the bone/implant interface.

• International Journal of Control, Automation, and Systems
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• v.5 no.6
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• pp.643-651
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• 2007

The various blood pressure simulators have been proposed to evaluate and improve the performance of the automatic sphygmomanometer. These have some problems such as the deviation of the actual blood pressure waveform, limitation in the blood pressure condition of the simulator, or difficulty in displaying the blood flow. An improved simulator using disturbance observer is proposed to supplement the current problems of the blood pressure simulator. The proposed simulator has an artificial arm model capable of feeding appropriate fluids that can generate the blood pressure waveform to evaluate the automatic sphygmomanometer. A controller was designed and thereafter, simulation was performed to control the output signal with respect to the reference input in the fluid dynamic model using the proposed proportional control valve. To minimize the external fluctuation of pressure applied to the artificial arm, a disturbance observer was designed on the plant. A hybrid controller combined with a proportional controller and feed-forward controller was fabricated after applying a disturbance observer to the control plant. Comparison of the simulations between the conventional proportional controller and the proposed hybrid controller indicated that even though the former showed good control performance without disturbance, it was affected by the disturbance signal induced by the cuff. The latter exhibited an excellent performance under both situations.

• 한국벤처창업학회:학술대회논문집
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• 2021.04a
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• pp.33-42
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• 2021

Based on the findings of Lee et al.(2020) and Lee & Oh(2021), this paper aims to fill the gap in our knowledge regarding the relationship between strategic choices and corporate growth by utilizing a novel dataset of 'Unicorn' and 'Hyper-growing' companies. Two previous studies provide coherent findings that the relationship between firms' strategies and their performance should be explored under a more comprehensive framework with consideration of both internal and external factors. Therefore, in this study, we apply a single conceptual framework to two different datasets, which considers the strategy factors as independent variables, and the industry(market) and the firm age as moderating variables. For our dependent variables, valuations for unicorn companies and revenue CAGR for hyper-growing companies are used after categorizing them into three uniform groups. The strategy variables include 'Generic (Cost-leadership, Differentiation, focus) strategies', 'Growth(Organic, M&A) strategies', 'Leading(Pioneer, Fast-follower) strategies', 'Target market(B2B, B2C, B2G, C2C) strategies', 'Global(Global, Local) strategies', 'Digital(Online, Offline) strategies.' For industry(market) factors, it consists of historical growth rate for industries and economic, demographic, and regulatory aspects of states and countries. To overcome the differences in their units, they are also uniformly categorized into multiple groups. Before we conduct a regression analysis, we analyze the industry distribution of the 'Unicorn' and the 'Hyper-growing' companies with descriptive statistics at the integrated and individual levels. Next, we employ hierarchical regression models on Study A('Unicorn' companies in 2019) and Study B('Hyper-growing' companies in 2019) under the same comprehensive framework. We then analyze the relationship between the 'strategy' and the 'performance' factors with two different approaches: 1) an integrated regression model with both the sample of Study A and B and 2) respective regression models on Study A and B. This empirical study aims to provide a complete understanding and a reference to which strategy factors should be considered to promote firms' scale-up and growth.

• Journal of Radiation Protection and Research
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• v.37 no.4
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• pp.181-190
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• 2012

Naturally occurring radioactive materials (NORM) in building materials are main sources of external radiation exposure to the general public. The objective of this study was to assess external radiation dose in Korean dwellings due to NORM in concrete walls. Reference room model for dose assessment was made by analyzing room structure and housing scale of Korean dwellings. In addition, dose assessments were made for varying room sizes. Absorbed doses to air and effective dose rates were calculated using radiation transport code MCNPX. Assuming a reference room of $3{\times}4{\times}2.8m^3$, absorbed dose rates in air were 0.80, 0.97, 0.08 nGy $h^{-1}$ per Bq $kg^{-1}$ for uranium series, thorium series, and $^{40}K$, respectively. Effective dose rates were 0.57, 0.69, 0.058 nSv $h^{-1}$ per Bq $kg^{-1}$, respectively. Radiation dose resulting from concrete of ceiling and floor increased with room area while radiation dose from concrete of walls decreased with room area. Therefore, total radiation doses were almost the same for the varying room area from 5 to $30m^2$. Effective dose in Korean dwellings was calculated based on measurement data of NORM concentration in concrete and occupancy fraction of Korean population by location. Annual effective dose was 0.59 mSv assuming that indoor occupancy fraction was 0.89 and concentrations of uranium series, thorium series and $^{40}K$ were 26, 39, 596 Bq $kg^{-1}$, respectively. Finally, annual effective dose in Korean dwellings can be calculated by the following equation: Effective dose=indoor occupancy fraction${\times}8760\;h\;y^{-1}{\times}(0.57C_U+0.69C_{Th}+0.058C_K)$.

• Archives of design research
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• v.11 no.2
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• pp.215-226
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• 1998

As late as middle of 1980s, what was referred to as new model cars consisted, on the premise of a standardized packaging layout, principally of the endeavor to transform their style images by changing little by little the form of layouts almosts similar to or with larger bodies than those of the old model ones. Afterwards even in the period of competition of engeineering and mechanical body styles for reducing fuel cost and improving comfortability in riding, the standardized packaging layout did not change visibly, simply trying to ameliorating commercialism through high output and high efficacy on the engineering part. Today the sudden prevalent motorization in every walk of life has brought about the development of the car industry, thus producing surplus supply and technical standardization. This phenomenon of technical standardization leads the concept of the renovation of car design to a way quite different from that of the past and so may be said to be confronted with an era that requires genuine-sense car design in a way. It seems that interior design plans are of much more importance than external shapes. This is because the effort for enhancing comfortability to keep car passengers' needs of transportation is one of the essences of car design. The objective of this study consists in inquiring into how to plan motorcar interior design, an essential prerequisite in determining the external or of a car, obtaining data needed via analysis of interior design plans of the car models that have won favorable criticism from consumers, thus contributing to the use of the data obtained for reference in car design activities in a genuine sense.

• Spatial Information Research
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• v.22 no.1
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• pp.65-73
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• 2014

Recently indoor navigation with indoor map such as Indoor Google Maps is served. For the services, constructing indoor data are required. CityGML and IFC are widely used as standards for representing indoor data. The data models contains spatial information for the indoor visualization and analysis, but indoor navigation requires semantic and topological information like graph as well as geometry. For this reason, IndoorGML, which is a GML3 application schema and data model for representation, storage and exchange of indoor geoinformation, is under standardization of OGC. IndoorGML can directly describe geometric property and refer elements in external documents. Because a lot of data in CityGML or IFC have been constructed, a huge amount of construction time and cost for IndoorGML data will be reduced if CityGML can help generate data in IndoorGML. Thus, this paper suggest practical use of CityGML including deriving from and link to CityGML. We analyze relationships between IndoorGML and CityGML. In this paper, issues and solutions for linkage of IndoorGML and CityGML are addressed.

• Journal of the Korea Institute of Building Construction
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• v.18 no.6
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• pp.611-619
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• 2018

The researches have only conducted regarding construction safety management and risk on interior construction site(workers) and is insufficient about the exterior construction site(third party). As a result, ordinary people who were near construction sites have injured and hold a negative view when they think about the construction industry because construction industry have been exposed to them having a high accidents rate through media. In addition, the importance of industrial disaster prevention is emphasized at this point in time, the overall safety management system should be constructed with considering construction site external(third human) for improving the negative image of the construction industry among ordinary people. Therefore, the objective of this study is to develop the quantification model of human accident utilizing the insurance claim payout occurred construction site exterior(third party). In the future, it can be used as a reference for developing the safety management checklist in construction site interior exterior and development for forecasting control system of human accident.

• Nutrition Research and Practice
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• v.5 no.3
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• pp.246-252
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• 2011

Bioelectrical impedance analysis (BIA) models must be validated against a reference method in a representative population sample before they can be accepted as accurate and applicable. The purpose of this study was to compare the eight-electrode BIA method with DEXA as a reference method in the assessment of body composition in Korean adults and to investigate the predictive accuracy and applicability of the eight-electrode BIA model. A total of 174 apparently healthy adults participated. The study was designed as a cross-sectional study. FM, %fat, and FFM were estimated by an eight-electrode BIA model and were measured by DEXA. Correlations between BIA_%fat and DEXA_%fat were 0.956 for men and 0.960 for women with a total error of 2.1%fat in men and 2.3%fat in women. The mean difference between BIA_%fat and DEXA_%fat was small but significant (P < 0.05), which resulted in an overestimation of $1.2{\pm}2.2$%fat (95% CI: -3.2-6.2%fat) in men and an underestimation of $-2.0{\pm}2.4$%fat (95% CI: -2.3-7.1%fat) in women. In the Bland-Altman analysis, the %fat of 86.3% of men was accurately estimated and the %fat of 66.0% of women was accurately estimated to within 3.5%fat. The BIA had good agreement for prediction of %fat in Korean adults. However, the eight-electrode BIA had small, but systemic, errors of %fat in the predictive accuracy for individual estimation. The total errors led to an overestimation of %fat in lean men and an underestimation of %fat in obese women.