• Journal of Mechanical Science and Technology
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• v.17 no.7
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• pp.999-1010
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• 2003

Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. This maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system using electro-hydraulic manipulators because hydraulic manipulators have the advantage of electric insulation and power/mass density. Meanwhile an electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous assembly tasks using hydraulic manipulators. In this paper, the robust force control of a 6-link electro-hydraulic manipulator system used in the real maintenance task of active electric lines is examined in detail. A nominal model for the system is obtained from experimental frequency responses of the system, and the deviation of the manipulator system from the nominal model is derived by a multiplicative uncertainty. Robust disturbance observers for force control are designed using this information in an H$\_$$\infty$/ framework, and implemented on the two different setups. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved even if the stiffness of environment and the shape of wall change.

• Science of Emotion and Sensibility
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• v.26 no.4
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• pp.29-40
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• 2023

Anxiety is known to upset the balance of the attentional system and prioritize the stimulus-driven system over the goal-directed system; however, self-instruction induces goal-directed behavior with the self-regulation effect. This study verified the effects of meteorological and self-instruction conditions on pilot anxiety and flight task performance for in-service pilots in a virtual reality environment. The meteorological conditions were divided into visual meteorological and very low visibility conditions, and the flight tasks were conducted by varying whether or not self-instruction was performed. The experiment results reveal that anxiety and heart rate were higher, and the performance of the flight task was lower in the very low visibility condition. However, anxiety and heart rate were lower, and the performance of the flight task was higher in the self-instruction condition. This result suggests that accidents due to difficulty in flight may increase because of anxiety, but such accidents may decrease because of flight performance improvement by self-instruction.

• The Korean Journal of Nuclear Medicine
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• v.39 no.6
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• pp.413-420
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• 2005

Purpose: Neuroreceptor PET studies require 60-120 minutes to complete and head motion of the subject during the PET scan increases the uncertainty in measured activity. In this study, we investigated the effects of the data-driven head mutton correction on the evaluation of endogenous dopamine release (DAR) in the striatum during the motor task which might have caused significant head motion artifact. Materials and Methods: $[^{11}C]raclopride$ PET scans on 4 normal volunteers acquired with bolus plus constant infusion protocol were retrospectively analyzed. Following the 50 min resting period, the participants played a video game with a monetary reward for 40 min. Dynamic frames acquired during the equilibrium condition (pre-task: 30-50 min, task: 70-90 min, post-task: 110-120 min) were realigned to the first frame in pre-task condition. Intra-condition registrations between the frames were performed, and average image for each condition was created and registered to the pre-task image (inter-condition registration). Pre-task PET image was then co-registered to own MRI of each participant and transformation parameters were reapplied to the others. Volumes of interest (VOI) for dorsal putamen (PU) and caudate (CA), ventral striatum (VS), and cerebellum were defined on the MRI. Binding potential (BP) was measured and DAR was calculated as the percent change of BP during and after the task. SPM analyses on the BP parametric images were also performed to explore the regional difference in the effects of head motion on BP and DAR estimation. Results: Changes in position and orientation of the striatum during the PET scans were observed before the head motion correction. BP values at pre-task condition were not changed significantly after the intra-condition registration. However, the BP values during and after the task and DAR were significantly changed after the correction. SPM analysis also showed that the extent and significance of the BP differences were significantly changed by the head motion correction and such changes were prominent in periphery of the striatum. Conclusion: The results suggest that misalignment of MRI-based VOI and the striatum in PET images and incorrect DAR estimation due to the head motion during the PET activation study were significant, but could be remedied by the data-driven head motion correction.

• Information Systems Review
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• v.17 no.1
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• pp.65-92
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• 2015

Driven by the development of information technologies, information system (IS) use has been common even in military organizations. In particular, field artillery is currently using the Battalion Tactical Commanding System-A1 (BTCS-A1) to improve fire support. The use of BTCS-A1 makes fire-commanding processes simple and autonomous, which leads to shorten time to support fire. Although BTCS-A1 has been considered as a helpful system, there still exists some dispute regarding its effectiveness and impact on task performance. By conceptualizing BTCS-A1 use as appropriation, this study investigates how BTCS-A1 appropriation promotes task performance. We also hypothesize that IS quality, organizational pressure (institutional pressure and supervisor influence), and team climate (team learning climate and team empowerment climate) increase the appropriation. Survey results show that organizational pressure and team climate promote BTCS-A1 appropriation, which improves users' task performance. However, effect of IS quality is not significant. Theoretical and practical implications are presented.

• IEIE Transactions on Smart Processing and Computing
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• v.1 no.3
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• pp.143-151
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• 2012

A new data-driven method for the design of a blind modulation frequency filter that suppresses the slow-varying noise components is proposed. The proposed method is based on the temporal local decorrelation of the feature vector sequence, and is done on an utterance-by-utterance basis. Although the conventional modulation frequency filtering approaches the same form regardless of the task and environment conditions, the proposed method can provide an adaptive modulation frequency filter that outperforms conventional methods for each utterance. In addition, the method ultimately performs channel normalization in a feature domain with applications to log-spectral parameters. The performance was evaluated by speaker-independent isolated-word recognition experiments under additive noise environments. The proposed method achieved outstanding improvement for speech recognition in environments with significant noise and was also effective in a range of feature representations.

• Journal of Korean Institute of Industrial Engineers
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• v.29 no.2
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• pp.157-164
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• 2003

The amount of information increases rapidly when working in a distributed environment where multiple collaborative partners work together on a complex product. Today's PDM (product data management) systems provide good capabilities regarding the management of product data within a single company. However, taking into account the variety of systems used at partner sites in an engineering environment one can easily imagine problems regarding the interoperability and the data consistency. This paper presents a concept to improve the workflow management using the parameters network. It shows a parameter driven engineering workflow that is able to manage engineering task across company boarders. We introduce a mechanism of workflow management based on the engineering parameters and an architecture of the distributed workspace to apply it within a PDM system. For a parameter mapping between CAD and PDM system we developed an XML-based CATIA data interface module using CAA.

• Journal of KIBIM
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• v.6 no.4
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• pp.35-41
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• 2016

Learning effect is an observation that the more times a task is performed, the less time is required to produce the same amount of outcomes. The construction industry heavily relies on repeated tasks where the learning effect is an important measure to be used. However, most construction durations are calculated and applied in real projects without considering the learning effects in each of the repeated activities. This paper applied the learning effect to the repeated activities in a small sized apartment construction project. The result showed that there was about 10 percent of difference in duration (one approach of the total duration with learning effects in 41 days while the other without learning effect in 36.5 days). To make the comparison between the two approaches, a large number of BIM based computer simulations were generated and useful patterns were recognized using machine learning algorithm named Decision Tree (See5). Machine learning is a data-driven approach for pattern recognition based on observational evidence.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.27 no.3
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• pp.288-297
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• 2005

Rehabilitation of the paralyzed face as a result of trauma or surgery remains a daunting task. Complete restoration of emotionally driven symmetric facial motion is still unobtainable, but current techniques have enhanced our ability to improve this emotionally traumatic deficit. Problems of mass movement and synkinesis still plague even the best reconstructions. The reconstructive techniques used still represent a compromise between obtainable symmetry and motion at the expense of donor site deficits, but current techniques continue to refine and limit this morbidity. In chronically paralyzed face, direct nerve anastomosis, nerve graft, or microvascular-muscle graft is not always possible. In this case, regional muscle transposition is tried to reanimate the eyelid and lower face. Regional muscle includes maseeter muscle, temporalis muscle and anterior belly of the digastric muscle. Temporalis muscle is preferred because it is long, flat, pliable and wide-motion of excursion. In order to reanimate the upper and lower eyelid, Upper eyelid Gold weight implantion and lower eyelid shortening and tightening is mainly used recently, because this method is very simple, easy and reliable.

• Proceedings of the ESK Conference
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• 1995.10a
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• pp.41-45
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• 1995

Menu-driven interfaces are frequently employed for user -system interfaces on many electronic products. Due to the space and budget constraint, a single or multi-line display is used to show menu items. Single or Multi-line display present 8 .approx. 21 characters on an LCD screen and users select items using a series of button pushes. Multi-line displays are different from the single-line ones in the following aspects. First, they can present multiple menu items at the same time. Second, they can present menu items in a various way, for example, same-depth presentation, sub-depth presentation, previous selection, etc. In this study, a human factors experiment is being conducted to examine the effects of three independent variables on the design of a multi-line display. Factors investigated include menu structure, number of lines on the display, item presentation methodl. Usability of the multi-line display is being measured quantitatively in terms of four different aspects: task completion time, accuracy, inefficiency, user preference. A set of design guidelines will be drawn from this study which can be applied to usef-system interfaces of a various types of consumer products.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.894-897
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• 2004

In this paper, we address a position control scheme for a stage system, which is levitated and driven by electric magnetic actuators. This consists of a levitating object (called platen) with 4 permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion by the vertical and horizontal forces. Dynamic equations of the stage system are derived based on Newton-Euler method and its special Jacobian matrix describing a relation between the Joint velocity and platen velocity is done. There are proposed two control schemes for positioning, which are Cartesian space controller and Joint space controller. The control performance of the Cartesian space controller is better than the Joint space controller in task space trajectory while the Joint space controller is simpler than the Cartesian space controller in controller realization.