• Title/Summary/Keyword: structure sense

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RL-based Path Planning for SLAM Uncertainty Minimization in Urban Mapping (도시환경 매핑 시 SLAM 불확실성 최소화를 위한 강화 학습 기반 경로 계획법)

  • Cho, Younghun;Kim, Ayoung
    • 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.

Factors Influencing Health Status by the salutogenic Theory of Radiologists (방사선사의 건강생성이론에 의한 건강상태 영향요인)

  • Seo, Young-Ho;Kim, Keon-Yeop;Nam, Hang-Me;Park, Chang-Hee
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.21 no.1
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    • pp.291-299
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    • 2020
  • This study is based on the theory of salutogenesis, and investigates factors affecting the health status of radiologists who experience high stress and health problems in the rapidly changing medical environment. The study enrolled 379 radiologists working at hospitals in Daegu. A health structure model was established by applying the theory of salutogenesis. Sense of coherence had a direct effect on the health status of radiologists. Psychological stress, social support, and drinking were also influential factors, due to their mediating effect on the sense of coherence. Moreover, social support was also found to be lower when job stresses were higher. Hence, increased psychological stress resulted in lower levels of sense of coherence, social support and exercise. Taken together, results of this study indicate that effects on the sense of coherence have maximum influence on the health status of radiologists, and social support among general resistance resources is an important factor for enhancing sense of coherence. In addition to social support and health behaviors, researches involving various resources and the development of organizational strategies and health promotion intervention programs are required in future, to enable radiologists to cope with their stresses and improve health.

The Relationship between Structured Time Usage and Quality of Life for University Students : Centered on Health-related University Students (대학생들의 시간 사용과 삶의 질의 관계 : 보건계열 대학생을 중심으로)

  • Sim, Kyoung-Bo;Kwag, Sung-Won
    • The Journal of Korean society of community based occupational therapy
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    • v.9 no.3
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    • pp.31-39
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    • 2019
  • Objective : The purpose of this study is to identify time management among college students and provide them with a basic resource for planning and educating them on efficient time management methods for improving the quality of life of all clients who receive occupational therapy services, including non-disabled people. Methods : This study is a survey of four-year university students using the questionnaire to know the relationship between structured time usage and quality of life. A total of 142 questions, excluding eight missing questionnaires, was compared and analyzed with using the general characteristics, time structure questionnaires (time structure questionnaires) and World Health Organization (WHOQOL-BREF). Results : The results of this study showed that there was a significant correlation between quality of life and structured time management, and between the sub-items of structured time management; sense of purpose, structured daily life, persistence, past direction and sleep intensity. Also, factors that affect the quality of life were sleep (β=.214), structured daily life (β=.203), a sense of purpose(β=.343), and past direction(β=.244) appeared in order. Conclusion : In the case of university student who is working within structured time, there were difficulties in showing satisfactory quality of life. These factors of poor quality of life were analyzed to affect structured daily life, sense of purpose, past direction, and sleep level.

The Hope of the Stroke Patients (뇌졸중환자의 희망)

  • 김이순
    • Journal of Korean Academy of Nursing
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    • v.27 no.1
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    • pp.212-227
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    • 1997
  • Cerebrovascular diseases in Korea is an important health problem since mortality and mobidity have been increased rapidly. It marked the 2nd cause of specific death rates in 1993. The stroke causes physical function disorder due to hemiparalysis and emotional disorder, and stroke patients experience helplessness, powerlessness. sense of alienation and loss of hope. These feelings make the rehabilitation difficult because they lose the will of life. The subjects of the study were seven citizens who live in Pusan, are over 50 years old and belong to low income-level. The data were collected from Jan. to Sep. 1995. The researcher as a caregiver and volunteer made confidence of them and asked for their agreement on the purpose of the study. The subjects expressed their experience as openheartedly as possible. The analysis of the data was made through the phenomenological analytic method suggested by Giorgi, which is as follows ; as an unit of description which include the subject' expressions and the researcher's observation, it is examined the theme that express the hope experience with the subject's language(underlining), and the focal meanings are identified. The focal meaning is the crystalization of the theme, which is written in the language of the researcher. After intergrating the focal meaning and make the situated structural description as the meaning of the hope experience identified on each subject's point. After intergrating the situated structural description and make the general structural description as the meaning of the hope experience identified on total subject's point then the systemizing of the structure of the hope experienced phenomena and the flowing of the conciousness was researched. The conclusions of this study was as follows : The ten sources of hope which the subjects experienced were sorted as under 〈mutual relations to others : spouse, children, relatives, fellow believer. health professioner. associate patient group〉, 〈spiritual dependence〉. 〈recovery of physical function〉. 〈rumination of the past life〉, 〈expectation of the future〉. 〈economic power〉, 〈belief〉, 〈ability〉. 〈spontaneous participation〉 and 〈recovery of roles〉. Their hope was spoken out by the following two kinds of linguistics. First. the hope was expressed in the affirmative expression as follows : 〈 to be dependable〉, 〈to make efforts〉, 〈to keep under control〉, 〈to desire〉, 〈to be pleasant〉, 〈to be peaceful〉, 〈to be grateful〉, 〈to give help〉, 〈self-confidence. Courage〉, 〈to be happy〉, 〈to satisfy oneself〉, 〈to share with others〉, 〈to understand〉 and 〈to be affected, be impressed〉 Second, the hope was expressed in the negative on pression as under : 〈to be distressed〉, 〈to be uneasy〉, 〈to be sorry, be unsatisfied〉 〈despair〉, 〈to abandon〉, 〈to be fearful〉, 〈to suffer〉, 〈to bear a burden〉 〈to be confused〉, 〈to be solitary〉, 〈chest trouble〉, 〈to feel heavy〉 〈grief〉, 〈to be daunted〉, 〈to get angry〉, 〈to be uncomfortable〉, 〈to have something regretable〉 and 〈to feel guilty〉. And their hope was expressed by the following four behavioral expressions : 〈physical sphere〉, 〈psychological sphere〉, 〈social support sphere〉 and 〈spiritual sphere〉. The reaction patterns of their hope experience appeared in the following 4 coping method : 〈conquest type〉, 〈dependence type〉, 〈adaptation type〉 and 〈fate type〉. Finally, in the hope structure the sense of certainty don't always coexict with the sense of uncertainty, When the stroke patients try to search for the best quality of life, the senses of certainty and uncertainty make a continual cyclic system in the hope structure.

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Design and Implementation of Self-networking and Replaceable Structure in Mobile Vector Graphics

  • Jeong Gu-Min;Na Seung-Won;Jung Doo-Hee;Lee Yang-Sun
    • Journal of Korea Multimedia Society
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    • v.8 no.6
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    • pp.827-835
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    • 2005
  • In this paper, self-networking and replaceable structure in vector graphics contents are presented for wireless internet service. The wireless networks over 2G or 3G are limited in the sense of the speed and the cost. Considering these characteristics of wireless network, self-networking method and replaceable structure in downloaded contents are introduced in order to save the amount of data and provide variations for contents. During the display of contents, a certain data for the contents is downloaded from the server and it is managed appropriately for the operation of the contents. The downloaded materials are reflected to the original contents using replaceable structure. Also, the downloading and modification are independent of the play. In this implementation, the data consists of control data for control and resource data for image, sound or text. Comparing to the conventional methods which download the whole data, the amount of the transmitted data is very small since only the difference is downloaded. Also, during the play of the contents, the changes are adopted immediately. The whole functions are implemented in wireless handset and the various applications are discussed.

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Effect of raft and pile stiffness on seismic response of soil-piled raft-structure system

  • Saha, Rajib;Dutta, Sekhar C.;Haldar, Sumanta
    • Structural Engineering and Mechanics
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    • v.55 no.1
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    • pp.161-189
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    • 2015
  • Soil-pile raft-structure interaction is recognized as a significant phenomenon which influences the seismic behaviour of structures. Soil structure interaction (SSI) has been extensively used to analyze the response of superstructure and piled raft through various modelling and analysis techniques. Major drawback of previous study is that overall interaction among entire soil-pile raft-superstructure system considering highlighting the change in design forces of various components in structure has not been explicitly addressed. A recent study addressed this issue in a broad sense, exhibiting the possibility of increase in pile shear due to SSI. However, in this context, relative stiffness of raft and that of pile with respect to soil and length of pile plays an important role in regulating this effect. In this paper, effect of relative stiffness of piled raft and soil along with other parameters is studied using a simplified model incorporating pile-soil raft and superstructure interaction in very soft, soft and moderately stiff soil. It is observed that pile head shear may significantly increase if the relative stiffness of raft and pile increases and furthermore stiffer pile group has a stronger effect. Outcome of this study may provide insight towards the rational seismic design of piles.

A Study on the Private Security Training in Korea (한국민간경비원의 교육훈련 개선방안에 관한 연구)

  • Lim, Moung-Soon
    • Korean Security Journal
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    • no.6
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    • pp.167-193
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    • 2003
  • Korean social structure is changing by leaps and bounds caused by industrialization, urbanization and information. Because of this, the sense of value, and moral consciousness of Korean people have been edteriorating and all kinds of social evils have been increasing also. However, the police who ought to be in charge of public well-being, security, social order are not playing their role on account of bad working conditions, and lack of budget. For this reason, individuals are desirous of preserving their security and lives at their cost. Private security has emerged at this background.

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A digital aesthetic in music (음악에서의 디지탈 미학)

  • 윤증선
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10b
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    • pp.130-133
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    • 1996
  • An exploration for an emotional intelligence paradigm has been delineated. Emotional intelligence is investigated in terms of composing machine as a modern abstract art. The system consists of interface, plan and performance modules. Design concepts of the system are modular, open, and user friendly to ensure the overall performance. The exploration of art in the view of intelligence, information and structure will restore the balanced sense of the art and the science seek the happiness of life. The investigations of emotional intelligence will establish the foundations of intelligence, information and control technologies.

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피동 정보를 통한 한국어 동사 어휘의미망 정제

  • Lee, Eun-Ryeong;Yun, Ae-Seon
    • Proceedings of the Korean Society for Language and Information Conference
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    • 2005.06a
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    • pp.71-85
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    • 2005
  • To build a Korean wordnet, we translated semi-automatically the English wordnet PWN into Korean verbs. During this process, we found that some of translation errors are related to the arbitrariness of PWN`s sense distinction in regard to the accusativity/inaccusativity of the same verb form in English. This study presents an empirically based method of remodeling the PWN for Korean wordnet and while revising the PWN`s hierarchical structure, it shows the necessity of classifying the Korean passive verbs as semantically autonomous.

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Neural Network Controller with Dynamic Structure for nonaffine Nonlinear System (불확실한 비선형 계통에 대한 동적인 구조를 가지는 강인한 신경망 제어기 설계)

  • 박장현;서호준;박귀태
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.384-384
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    • 2000
  • In adaptive neuro-control, neural networks are used to approximate the unknown plant nonlinearities. Until now, most of the papers in the field of controller design fur nonlinear system using neural networks considers the affine system with fixed number of neurons. This paper considers nonaffne nonlinear systems and dynamic variation of the number of neurons. Control laws and adaptive laws for weights are established so that the whole system is stable in the sense of Lyapunov.

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