• 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 Korea Game Society
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• v.15 no.5
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• pp.109-118
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• 2015

The game of Go originated from ancient China is regarded as one of the most difficult challenges in the filed of AI. Over the past few years, the top computer Go programs based on MCTS have surprisingly beaten professional players with handicap. MCTS is an approach that simulates a random sequence of legal moves until the game is ended, and replaced the traditional knowledge-based approach. We applied the UCT algorithm which is a MCTS variant to the game of Tic-Tac-Toe for finding the best first move, and compared it with the result generated by a pure MCTS. Furthermore, we introduced and compared the performances of epsilon-Greedy algorithm and UCB algorithm for solving the Multi-Armed Bandit problem to understand the UCB.

• Journal of the Korean Society of Costume
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• v.50 no.4
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• pp.147-164
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• 2000

This thesis examines the origin, the change and the symbolic meanings of class representation, and offers a comparative study on the differences of class representation in the history of Korean and western costume on the basis of class representation methods and types shown from ancient times to 18C. In both eastern and western costume, the differences in status are commonly represented in the width and length of costume, color, textile, ornamental design, wearing, decoration, etc. The costume of noble class was wide and long, while that of common class was narrow and short so that it could be convenient for them to move around. Especially, from 16C to 18C in the west the costume of noble class was expanded to the extent that it was inconvenient for them to move around not only by skirt swelling by using hoop, but also by pad, ruff, lace, etc. This appears to show that they are not working class. Wearing and decoration of noble class were much more colorful, complicated and varied, while those of common class were simple and plain. In the west, the wearing of chiton and toga in Greece and Rome was different depending on social status. More specific look at the differences in class representation shown in the eastern and western costume reveals that the higher the rank, the more the women in both Gothic and Chosun period covered the body, thereby representing rank. In 18C, the women in both Rococo and Chosun period commonly showed excessive decoration and lavishness on their hair, and in this period the width of skirt was also commonly expanded to the longest extent, with a slight difference put aside.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.8
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• pp.971-980
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• 2010

In this paper, we present a navigation control algorithm for mobile robots that move in environments having static and moving obstacles. The algorithm includes a global and a local path-planning algorithm that uses $D^*$ search algorithm, a fuzzy logic for determining the immediate level of danger due to collision, and a fuzzy logic for evaluating the required wheel velocities of the mobile robot. To apply the $D^*$ search algorithm, the two-dimensional space that the robot moves in is decomposed into small rectangular cells. The algorithm is verified by performing simulations using the Python programming language as well as by using the dynamic equations for a two-wheeled mobile robot. The simulation results show that the algorithm can be used to move the robot successfully to reach the goal position, while avoiding moving and unknown static obstacles.

• Transactions of the Korean Society of Mechanical Engineers
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• v.10 no.1
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• pp.86-95
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• 1986

A study on film water flow on steep open channel has been seldom found up to date. Therefore, this paper dealed with the depth variation of film thickness of water (city supply normal water) flowing on steep open channel. For this purpose, Experimental apparatus (made of a normal glass with 160cm of length and 15cm of width) was made and the depths of the water flowing on the channel were measured experimentally, changing the channel slope angle from 30 to 80 degree (5 steps) and the flow rate from 0.25 to 10CPM (11 steps). The results obtained, some characteristics of the film flow on the channel are as follows. (1) When thin film water flowed on steep open channel, the depths of flow tended to increase after decreasing and was kept nearly constant in its downstream in case of laminar and transitional flow region. The turining point of the depths of flow from decrease to increase tended to move downward with the increase of Reynolds number. In turbulent flow region, the depths of flow showed reapid decrease in its upper stream, gradual decrease in its midstream and were kept nearly constant in its downstream. (2) While the differences between the depths of flow along the channel slope got small in its upper stream and got large in its downstream in case of laminar flow region, they got very large in its upper stream and were kept nearly constant in its downstream in case of transitional and turbulent flow region. And the move flow rate increases, the more the differences between the depths of flow along the channel slope got large in its upper stream.

• Architectural research
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• v.13 no.3
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• pp.31-40
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• 2011

Profit-keeping behaviors naturally occur in the market to satisfy consumers, and the logic behind it lies in the economies of scale. On the flip side, some commodities transacted in the market are not available or can not be easily acquired unless the demand is high enough. Under this proposition, some consumers rise and find their own solution to meet the services at a reasonable cost or at an adequate level. The commonly adopted way is to establish a cooperative, and it stirs purchasing power by pooling resources and further bargains price and service quality. As a consumer cooperative, housing cooperatives notably found in rural towns enable the elderly to continue independent living. This study is to take a closer look at residential life of the rural elderly in housing cooperatives. Utilizing in-depth focus group interviews with 40 residents in four housing cooperatives, this qualitative research draws main factors affecting the decision to move in, residential assessment, and strengths and weakness of living in a housing cooperative. The primary factor influencing the moving decision is to continue to independent living in a familiar community, and the bottom line is planning ahead. Frailty and bereavement are found to be the leading occasions for them to move. The participants are satisfied with the independent living arrangement, and particularly, cited such features as safety and security, elderly-friendly design, common spaces, freedom, social activities and efficient living. Also, it is stated that some cooperative natures such as control over the property and giving a voice on management render positive impacts on the satisfaction with communal living. In spite of all the benefits and strengths, participants face with a public notion that an independent living arrangement like a housing cooperative has never done before in rural towns, so that most people recognize it as part of dependent living arrangements like nursing home.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.49 no.2
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• pp.63-70
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• 2012

The collision-free flight planning method based on the extended collision map is proposed for cooperation of multiple unmanned aerial vehicles (UAVs) in a common 3-dimensional workspace. First, a UAV is modeled as a sphere, taking its 3-D motions such as rolling into consideration. We assume that after entering the common workspace, the UAVs move along their straight paths until they depart from the workspace, and that the priorities of the UAVs are determined in advance. According to the assumptions, the collision detection problem between two spheres in $R^3$ can be reduced into the collision detection problem between a circle and a line in $R^2$. For convenience' sake and safety, the collision regions are approximated by collision boxes. Using the collision boxes, the entrance times of the UAVs are scheduled for collision avoidance among the UAVs. By this way, all UAVs can move in the common workspace without collisions with one another. For verifying the effectiveness of the proposed flight planning method, the simulation with 12 UAVs is carried out.

• Korean Journal of Human Ecology
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• v.9 no.3
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• pp.5-21
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• 2006

The purpose of this study was to grasp the consciousness of adolescents about their future in old aged housing. This research was executed with a questionnaire survey method. Data samples were collected from 255 students who finished first grade curriculum in high schools in Chonbuk province and Seoul city. The results were as followed. First, a healthcare plan was very highly recognized by students, and they wanted to live as couples or single in their old age. Second, the respondent students recognized elderly housing as a home for the aged, a silver town and nursing home. 72.1% of the respondents preferred a single detached house as an elderly house form. They preferred an elderly housing district with well provided convenient facilities for daily living. They wanted to live in the country or rest areas for the aged. They preferred an interior space composition with LDK with 2 bedrooms. 52.0% students wanted a neighborhood for their friends to live together. Third, 28.3% of the respondent students thought the appropriate time to move in elderly exclusive housing was 66-70 years old. And when their physical condition worsened or they needed care, they would. want to move into that housing. Also, they wanted the most convenient facility and a medical care facility in elderly exclusive housing. Forth, students' space design needs for elderly were high, more than 4 points. It was especially needed safety in space design, and this grade was 4.56(,53) points. Also the needs of safety and the convenient facilities.equipments were statistically significant by boys and girls.

• Korean Journal of Environmental Biology
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• v.22 no.1
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• pp.220-226
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• 2004

The restoration effects in two sorts of forests created and managed on the bases of ecological principles in Sihwa industrial complex and Mt. Surak respectively were evaluated in both viewpoints of species composition and diversity. Species composition of the forests created based on the ecological design was move similar to that of the natural forests compared wit h the forests constructed by applying the landscape architectural method. The increased species diversity in the ecologically created forest reflected the effect as well. Black locust plantation managed by applying the ecological principle showed move similar species composition to the surrounding natural forest than the forest left without any management. Furthermore, the former forest showed higher species diversity than the latter one. The methods, which create and manage a forest based on ecological principles, revealed several problems, such as lack of specialty of project operators and inspecting officers, construction regulations without the ecological background, absence of the endemic young trees to be introduced in diverse natural environment, etc. Preparation of guidance for ecological planting and systematic environmental education including revision of construction regulation were recommended as the measures to solve such problems.

• Science of Emotion and Sensibility
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• v.5 no.1
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• pp.1-7
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• 2002

This paper studies on the human cognition of object's weight in virtual environment. We design the force input device which consists of a 3D mouse and a simple spring. It provides users with force feedback. The user can measure the weight of an object by the grasping force to move or lift it up in the virtual environment. Three kinds of experiments are performed. The first one is performed to analyze the relationships between the object's weight and its volume. The second one is to find the relationships between the object's weight and the its texture and finally the third one is to find the relationships between the object's weight and the force used to move an object. We conclude from the analysis of the experiment that object's volume or texture are not the critical factor for user to realize its weight. But the grasping force is critical and meaningful in realizing its weight so that the virtual environment with force cue provides users with more immersive environments. And, also the force input device is effective enough for user to feel the weight of the object.