• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.122-129
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• 2021

For the Simultaneous Localization and Mapping (SLAM) problem, a different path results in different SLAM results. Usually, SLAM follows a trail of input data. Active SLAM, which determines where to sense for the next step, can suggest a better path for a better SLAM result during the data acquisition step. In this paper, we will use reinforcement learning to find where to perceive. By assigning entire target area coverage to a goal and uncertainty as a negative reward, the reinforcement learning network finds an optimal path to minimize trajectory uncertainty and maximize map coverage. However, most active SLAM researches are performed in indoor or aerial environments where robots can move in every direction. In the urban environment, vehicles only can move following road structure and traffic rules. Graph structure can efficiently express road environment, considering crossroads and streets as nodes and edges, respectively. In this paper, we propose a novel method to find optimal SLAM path using graph structure and reinforcement learning technique.

• Journal of Korean Medicine Rehabilitation
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• v.18 no.3
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• pp.147-156
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• 2008

Objectives : Oriental Medicine Music Therapy is a new way of treating and preventing various diseases and promoting health by means of music specially picked and designed to produce Qi(氣) fitting to an individual person in the areas of the structure of human body, physiological function, pathological change, diagnosis and treatment. Therefore, it can facilitate the efficiency of the treatment much better and faster than only with herb or acupuncture. Equilibrium between body and mind is its originality. Methods : A 38-year old man came to hospital suffering from left side weakness, dysarthria because of cerebral infarction. After one week's medication in the part of neurology, he was sent to the oriental medicine music therapy center, and he took ten times' medical treatments once a day. Before and after the treatments, implementing 'Ink foot print analysis', as for the movement capacity and walking of left side weakness, these results are acquired. Results and Conclusions : 1. Before the oriental medicine music therapy, except the acceleration and deceleration section, within three meters, a right foot's step was measured 30.55 cm and a left foot was measured 15.2 cm, and the step distance was 15.2 cm. After the 10 times treatments, the right foot's step was 112.6 cm, the left foot's step was 113 cm, and the step distance improved to 51.8 cm. 2. The normal person's average step is about 38 cm, and it could be decreased owing to a decreptitude, pain, fatigue, and the weakness of the legs. In spite of all, from the increased 50 cm step measurement with the patient's body condition, it means that his movement capacity is recovered. 3. In the measurement of walking time, before 10 times treatments, it took 46.35 seconds within 6M, but after the treatments, it increased to 7.47 seconds as same as a normal person's walking speed. 4. In insomnia, and the abnormality of a facial muscle, it shows lots of improvement, and even the accuracy of a pronunciation, but despite of the 10 times treatments, the 'ㄹ(r)' sound placed under a vowel is unclear. 5. Before the 10 times' treatments, he can move the left side shoulder with pain and cannot move below the left elbow. After the treatments, the pain was disappeared, and he was able to move over 60 cm without pain. And improving of the movement of fingers, he can beat over 8 times with a drumstick.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.20 no.6
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• pp.745-750
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• 2011

A jig vise is a device to clamp workpiece precisely, which is widely used for various machine tools and manufacturing purpose. A new elastic structured jaw-wedge of jig vise is developed, in this paper, so as to satisfy the clamping requirement and the suppression effect of upright movement of workpiece. The advanced design parameters of jaw-wedge are derived step by step considering the stress distribution and the displacement profiles of ANSYS analysis, and it could find the optimum model which shows the uniform displacement profiles and exhibits the non-concentrated stress distribution of jaw neck. As a result, it is ascertained that an jaw-wedge developed in this study is the simple elastic structure which is effective for automatic multiple clamping purpose without the danger of shear crack or bucking of jaw.

• Proceedings of the KSR Conference
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• 2007.05a
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• pp.1475-1480
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• 2007

Numerical analysis has been conducted to simulate pedestrian flow in the model of two-storied subway station. Because almost all the subway stations are two or three storied structure, simulations are conducted for the passengers those who get off the train and pass the wicket. Passenger flow analysis is very important factor to design the station and also to manage the operation of subway system. In the subway station, pedestrians move to the horizontal directions as well as vertical ones. Therefore, to consider the movement of pedestrians is necessary for the guarantee of safety and conveniency. As the up and down floors are connected with step, escalator and elevator, the entire movements in the multi-storied station should be simulated as like a 3-dimensional flow. Numerical schemes for the directional sweeping are developed to prevent the dependency on physical structure of station and to determine primary direction and secondary one. By using the developed program, we compared the simulation results of the effects of the location and size of exit and elapsed time.

• Korean Institute of Interior Design Journal
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• v.19 no.2
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• pp.234-242
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• 2010

The twenty seven houses at Incheon city, were remodeled in 2009 for the physically handicapped people. This research had been done the analysis of the itemized questionnaire by the needs of the physically handicapped for their better living environment and suggested the following remodeling devices. First of all, there was the priority for the remodeling of their living facilities. According to their priority, they wanted to remodel their bathroom, kitchen & dining room, veranda, living room, and hall way. These were based on their needs of movement, personal hygiene, convenient closet, and cabinet usage. In particular, their demands were shown as followings. The wheelchair using handicapped people required safe doorknobs, unslippery floor materials, removal of step levels, and heights adjustable washing stand for their bathroom. They also requested washboard, non-threshold, and automatic door locks. Otherwise, the disabled in critical condition who could not move anything preferred the remodeling of inner structure of living spaces and automatic door system. The slight disabled and the families those who have the disabled demanded the remodeling of kitchen & dining room, and preferred the reorganization of closet, cabinets, floor tiles, and turncock. The remodeling of bedroom was mostly requested by the disabled women, people with the brain disorder, and disabled people in critical condition who could not move anything. They wanted the remote controlled lightings.

• Journal of Ocean Engineering and Technology
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• v.9 no.1
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• pp.161-172
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• 1995

A numerical procedure is described fro predicting the motion and structural responses of tension leg platforms(TLPs) in waves. The developed numerical approach is based on a combination of a three dimensional source distribution method and the dynamic response analysis method, in which the superstructure of TLPs is assumed flexible instead of the rigid body assumption used in tow-step analysis method. Both the hydrodynamic interactions among TLP members, such as columns and pontoons, and the structural whole structure are formulated using element-fixed coordinate systems which have the origin at the node of the each hull element and move parallel to a space-fixed coordinate system. Numerical results are compared with the experimental and numerical ones, which are obtained in the literature, concerning the motion and structural responses of a TLP in waves. The results of comparison confirmed the validity of the proposed approach.

• Management & Information Systems Review
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• v.23
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• pp.75-97
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• 2007

In the meantime hospital system of Korea has institutionally performed its errand in stable circumstance, however the system now faces with new environment of change of customer's satisfaction, of regime, deepening of competition, and opening market. Under the rapidly and complicatedly changing circumstance, the hospital system is required to promote getting a dominant position in the competition, enhancing outcome, creating value added, and customer satisfaction in both internally and externally likewise other organizations, as they continuously introduce a knowledge management and originate, accumulate, and put the knowledge to practical use. This organization capacity of knowledge management involves a process of management that requires great change of all organizations and individuals and it is brought up through four steps which are Initiation, Propagation, Integration, and Networking. The main factors of successful knowledge management are intension of the chief executive officer(CEO), organizational culture, appraisal and compensation of work, knowledge controlling system, and organizational structure, and each of these five stage has got different characteristic. To be successful by introducing knowledge management, hospital organization should be based on these premises. Not only CEO or the director of a hospital, but also the constituent members should be fully aware of knowledge, the characteristic of knowledge management, and successful factors of this operation. Should understand step-by-step characteristic of knowledge management, therefore able to analyse a situation of specific hospital and see which step corresponds to that hospital. By analysing, constituents should make up for the weak points and ready to move on to next step. CEO or the director of a hospital should be aware of knowledge management as a strategic factor which is able to get a dominant position in the rapidly changing environment, and also it should be firm in the director's intention to introduce the knowledge management into the hospital. By continuously carrying out education and training constituent members, the director of a hospital should promote their interest and participation in knowledge management, and build an organization culture that ultimately creates, accumulates, shares, and put the knowledge to practical use. The hospital organization needs to systematize an institution of objective compensation that corresponds to objective appraisal of knowledge management outcome. The hospital ought to build knowledge controlling system in stages, in order to take the initiative in rapidly changing environment. By considering the characteristic of hospital system, it is required to change the organizational structure into self-managing team which is a sort of horizontal structure that allows members to make decisions and take the responsibility by themselves. The limitation of this study is experimental study. Positive investigation about successful factors of hospital knowledge management and characteristic of each steps is expected with following study.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2000.04a
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• pp.35-38
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• 2000

Conventional atom model must be criticized on the following four points.(1) natural motions between positive and negative entities are not circular motions but linear going and returning ones, for examples sexual motion, tidal motion, day and night etc.(2) Potential energy generation was neglected when electron changes its orbit from outer one to inner one. The hv is the kinetic energy of the photo-electron. The total energy difference between orbits comprises kinetic and potential energies. (3) The structure of the space must be taken into consideration because the properties of the electron do not changed during the transition from outer orbit to inner one even though it produces photon. (4) Total energy conservation law applies to the energy flow between mind and matter because we daily experiences a interconnection between mind and body.New atomic model 9the crystallizing $\pi$-bonding) was proposed in the journal of material processing technology since 1997 for the explanation of the mechanical behaviors in terms of physics. $\prod$-ray physics proved that the electrons can come out from in the nucleus and modern chemistry corresponds to the $\pi$-bonding by the nuclear electrons. The $\pi$-bonding structure of the protons outside the nucleus is that electrons move between protons of the different atoms. The perception step and the characteristic frequency in signal transduction is due to the accumulation of the $\pi$-rays outside of the proton before their absorption to the nucleus.

• Proceedings of the Korean Society for Cognitive Science Conference
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• 2000.05a
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• pp.71-75
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• 2000

Conventional atom model must be criticized on the following four points. (1) Natural motions between positive and negative entities are not circular motions but linear going and returning ones, for examples sexual motion, tidal motion, day and night etc. (2) Potential energy generation was neglected when electron changes its orbit from outer one to inner one. The hv is the Kinetic energy of the photo-electron. The total energy difference between orbits comprises kinetic and potential energies. (3) The structure of the space must be taken into consideration because the properties of the electron do not change during the transition form outer orbit to inner one even though it produces photon. (4) Total energy conservation law applies to the energy flow between mind and matter because we daily experiences a interconnection between mind and body. New atomic model (the crystallizing $\pi$-bonding) was proposed in the journal of material processing technology since 1997 for the explanation of the mechanical behaviors in terms of physics. $\prod$-ray physics proved that the electrons can come out from in the nucleus and modern chemistry corresponds to the $\pi$-bonding by the nuclear electrons. The $\pi$-bonding structure of the protons outside the nucleus is that electrons move between protons of the different atoms. The perception step and the characteristic frequency in signal transduction is due to the accumulation of the $\pi$-rays outside fo the proton before their absorption to the nucleus.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2012.05a
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• pp.278-281
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• 2012

Numerical studies were performed to investigate the three-dimensional front structure and dynamics features of detonation wave propagating in a circular tube such as Pulse Detonation Engine (PDE). By carrying out a series of parametric study using one step irreversible Arrhenius kinetics model, mechanisms of the three-dimensional front structure were investigated for two-, three-, four and six-cell mode detonations. A comparison with two-dimensional results, the effects of slapping transverse waves in radial direction were confirmed. In the all muti-cell modes, the detonation front structures and smoked-records on the wall are formed by the propagation of transverse waves along the wall in clockwise and counter-clockwise while the slapping move in radial direction. And the strength of reflected waves on the curved wall is changed by the multi-dimensional confinement effect.