• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.500-507
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• 2022

In this study, a motion planning method based on the integer representation of contact status between wheels and the ground is proposed for planning swing motion of a 6×6 wheel-legged robot to cross large obstacles and gaps. Wheel-legged robots can drive on a flat road by wheels and overcome large obstacles by legs. Autonomously crossing large obstacles requires the robot to perform complex motion planning of multi-contacts and wheel-rolling at the same time. The lift-off and touch-down status of wheels and the trajectories of legs should be carefully planned to avoid collision between the robot body and the obstacle. To address this issue, we propose a planning method for swing motion of robot legs. It combines an integer representation of discrete contact status and a trajectory optimization based on the direct collocation method, which results in a mixed-integer nonlinear programming (MINLP) problem. The planned motion is used to control the joint angles of the articulated legs. The proposed method is verified by the MuJoCo simulation and shows that over 95% and 83% success rate when the height of vertical obstacles and the length of gaps are equal to or less than 1.68 times of the wheel radius and 1.44 times of the wheel diameter, respectively.

• Journal of Environmental Impact Assessment
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• v.4 no.3
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• pp.41-48
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• 1995

In former times the protection of our environment didn't play an important role due to the fact that emissions and effluents were not considered as serious impacts. However, opinions and scientific measurements meanwhile confirmed that the impacts are more serious than expected. Thus measures to protect our earth has to be taken into consideration. A part of these measures in the Environmental Impact Assessment (EIA). One of the most important parts of the EIA is the collection of basic datas and the following evaluation. Experience out of the daily business of Gerling Consulting Group shows that the content of the EIA has to be revised and enlarged in certain fields. The historical development demonstrated that in areas in which the population and the industrial activities reached high concentration there is a high necessity to develop strict environmental laws and regulations. Maximum values of the concentration of hazardous materials were fixed concerning the emission into and water. Companies not following these regulations were punished. The total amount of environmental offences increased rapidly during the last decade, at least in Germany. During this development the public consciousness concerning environmental affairs increased as well in the industrialized countries. But it could clearly be seen that the development in the field of environmental protection went into the wrong direction. The technologies to protect the environment became more and more sophisticated and terms as: "state of the art" guided more and more to lower emissions, Filtertechnologies and wastewater treatment for example reached a high technical level-but all these sophisticated technologies has one and the same characteristic: they were end-of-the pipe solutions. A second effect was that this kind of environmental protection costs a lot of money. High investments are necessary to reduce the dust emission by another ppm! Could this be the correct way? In Germany the discussion started that the environmental laws reduce the attractivity to invest or to enlarge existing investments within the country. Other countries seem to be not so strict with controlling the environmental laws which means it's simply cheaper to produce in Portugal or Greece. Everybody however knows that this is not the correct way and does not solve the environmental problems. Meanwhile the general picture changes a little bit and we think it changes into the correct direction "End-of-the-pipe" solutions are still necessary but this word received a real negative touch and nobody wants to be brought into connection with this word received a real negative touch and nobody wants to be brought into connection with this word especially in connection with environmental management and safety. Modern actual environmental management starts in a different way. Thoughts about emissions start in the very beginning of the production, they start with the design of the product and modification of traditional modes of production. Basis of these ideas are detailed analyses of products and processes. Due to the above mentioned facts that the public environmental consciousness changed dramatically a continous environmental improvement of each single production plant has to be guarantied. This question is already an important question of the EIA. But it was never really checked in a wholistic approach. Environmental risks have to be taken into considerations during the execution of an EIA. This means that the environmental risks have to be reduced down to a capable risk-level. Environmental risks have to be considered within the phase of planning, during the operation of a plant and after shut down. The experience shows that most of the environmental relevant accidents were and caused by human fault. Even in highly protected plants the human risk-factor can not be excluded during evaluation of the risk-potential. Thus the approach of an EIA has to regard technical evaluations as well as organizational thoughts and the human factor. An environmental risk is a threat to the environment. An analysis of the risk concerning the organizational and human aspect however never was properly executed during an EIA. A possible solution could be to use an instrument as the actual EMAS (Environmental Management System) of the EC for more accurate evaluation of the impact to the environment during an EIA. Organizations or investors could demonstrate by an approved EMAS or even by showing their installment of EMAS that not only the technical level of the planned investment meets the requested standards but as well the actual or planned management is able to reduce the environmental impact down to a bearable level.

• The Journal of the Convergence on Culture Technology
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• v.8 no.1
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• pp.239-244
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• 2022

Neural Machine Translation (NMT) is gradually breaking down the boundary between human and machine translation. We look at actual cases of human and machine translation and discuss why machine translation needs a human touch. In this paper, we raise three driving questions: Can humans be replaced by machines?; How human translators can remain successful in a NMT-driven world?; Is it possible to eliminate language barrier in the era of NMT and World Englishes? The answers to these questions are all negative. We suggest that machine translation is a useful tool with rapidity, accuracy, and low cost productivity. However, the machine translation is limited in the areas of culture, borrowing, ambiguity, new words and (national) dialects. The machines cannot imitate the emotional and intellectual abilities of human translators since machines are based on machine learning, while humans are on intuition. The machine translation will be a useful tool that does not cause moral problems when using methods such as back translation and human post-editing. To conclude, we propose the blended approach that machine translation cannot be completed without the touch of human translation.

• Korean Journal of Applied Biomechanics
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• v.25 no.1
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• pp.1-10
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• 2015

Objective : The purpose of this study was to find some kinetic variable's relationships between personal records and low records in female high jump. Methods : Collected data of the subjects(N=8, ages: $25.5{\pm}1.85$, height: $173{\pm}5.83$, mass: $54.75{\pm}6.36$ personal record: $1.71{\pm}0.04$, low record: $1.62{\pm}0.03$) were used for the last three strides and take-off phase. Five video cameras set in 30frames/s were used for recording. After digitizing motion, the Direct Linear Transformation(DLT) technique was employed to obtain 3-D position coordinates. The kinematic and kinetic factors of distance, velocity, angle, impulse, jerk variables were calculated. A paired t-test was applied for the difference of variables between personal records and lower records and for correlation with performances and variables. The significance level was accepted at p<.05. Results : There was no relationship between pattern of stride and performance. However, rate of change of velocity was related with cental of mass height(CMH) at peak point(PP). Knee, hip, backward lean, foot plant, approach and take off angle showed no difference between best record and low record. Vertical impulse momentum also showed no difference between performances. Conclusion : According to a t-test result, there were significant differences in CMH at PP and jerk at touch down between best record and low record.

• Korean Journal of Applied Biomechanics
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• v.21 no.3
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• pp.289-296
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• 2011

The purpose of this study was to quantify the biomechanical characteristics of the ground reaction force(GRF) during the Taekwondo's Apkubi, one of the basic movement in Taekwondo and the walking. The GRF profiles under the stance foot of Apkubi movement and walking were directly measured in sample of 20 healthy older persons. In the anterior-posterior and vertical direction, the GRF of the Apkubi movement reached to the peak braking force at 10% of the normalized stance time percent and the peak driving force at 90% of stance time, but that of the walking reached to the peak braking force at 20% of stance time and the peak driving force at 80% of stance time. In vertical force, the GRF of the walking showed two peak values, but that of the Apkubi movement seemed three peak values. Moreover the first peak vertical force was significantly(t=6.085, p<.001) greater in the walking(about 1.8 times of body weight) than the Apkubi(about 1.4 times of body weight). The walking velocity was affected significantly(over p<.05) by the braking impulse, the peak braking force and the first peak vertical force. Futhermore the peak braking force in the Apkubi showed a significant effect on the Apkubi's stride length(p<.01). So, we concluded that the braking force after the right touch down, the stance foot on the ground contributed to move the leg forward.

• Journal of Korea Multimedia Society
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• v.11 no.3
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• pp.373-385
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• 2008

The evolution of input device for computer has pretty much slowed down after the introduction of mouse as feinting input device. Even though stylus and touch screen were invented later on which provide some alternatives, all these methods were designed to have close range interaction with computer. There are not many options available for user to interact with computer from afar, which is especially needed during presentation. Therefore, in this paper, we try to fill the gap by proposing a laser pointer interaction system to allow user to give pointing input command to the computer from some distance away using only laser pointer, which is cheap and readily available. With the combination of image processing based software, we could provide mouse-like pointing interaction with computer. The proposed system works well not only in currently plane screen, but also in flexible screen by incorporating the feature of non-linear coordinate mapping algorithm in our system so that our system can support non-linear environment, such as curved and flexible wall.

• Journal of Digital Contents Society
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• v.18 no.1
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• pp.1-7
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• 2017

Virtual reality(VR) is known as immersive multimedia or computer-simulated reality, is a computer technology that replicates an environment, real or imagined, and simulates a user's physical presence and environment to allow for user interaction. Virtual realities artificially create sensory experience including sight, touch, hearing, and smell. Owing to the use of a single device in most VR contents, user have difficulty in manipulating user interface and game object. And also immersion of the game goes down because they can't see the mouse and keyboard in virtual space. In this paper, we design and implement the chess game to easily and accurately control user interface to improve the immersion in game.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.3
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• pp.324-330
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• 2013

This paper describes a novel method to surface large optics mirror with an extremely high hardness, which could replace the high cost of the repetitive off-line measurement steps and the large ultra-precision grinding machine with ultra-positioning control of 10 nm resolution. A lot of diamond pellet to be attached on the convex aluminum base consists of a grinding tool for the concave large mirror, and the tool was pressured down on the large mirror blank. The tool motion at an interval on the spiral path was controlled with each feed rate as the dwell time in the conventional computer-controlled polishing. The shape to be surfaced was measured directly by a touch probe on the machine without any separation of the mirror blank. Total 40 iterative steps of the surfacing and measurement could demonstrate the form error of RMS $7.8{\mu}m$, surface roughness of Ra $0.2{\mu}m$ for the mirror blank with diameter of 1 m and spherical radius of curvature of 5400 mm.

• Journal of Fashion Business
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• v.10 no.3
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• pp.117-128
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• 2006

The purpose of this study was to understand changes of the current young generation's lifestyle, aesthetic attitude for an appearance, and way of thinking by making a close investigation into metrosexual, the recent mode, and find out its cultural and social implications. As a method of the study, the literature and the Internet data were reviewed. Articles from newspapers, magazines and the Internet were chosen roughly from the year 2000 to now because metrosexual mode remarkably boomed before and after 2000. Books related to the theory on the mode in a costume culture were referred. Also, articles in daily newspapers which dealt with cultural and social issues were reviewed, fashion magazines for men such as Esquire and GQ showing the new trend in men's lifestyle and fashion were examined, and the Internet providing us the latest news from cultural and social topics to fashion trends were investigated. The backgrounds of the rise of metrosexual mode were a collapse of stereotypes in various fields, spread of lookism in a visual image period, extension of commercialism, and expansion of men's character casual trend. Metrosexual was defined as an urban male with a strong aesthetic sense who spends a great deal of time and money on his appearance and lifestyle. His fashion style was characterized by slim and flowing silhouette, feminine and luxurious materials such as transparent chiffon, silk and cotton with a light and soft touch, and a knitted wear with a flowing line, a wide variety of vivid and pastel colors, floral and geometric patterns, and the decorative details like lace, beads, embroidery, and fur. From spread of this mode, two cultural and social implications were extracted. Firstly, the current young generation's aesthetic standards for the perfect man changed from macho man to considerate man who had a good appearance and this suggested that a conventional sex role broke down. Secondly, men began to explore for their own identity escaping from traditionally standardized masculinity that they had been forced to follow.

• Journal of Ocean Engineering and Technology
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• v.33 no.5
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• pp.400-410
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• 2019

In this study, the numerical code for the 3D nonlinear dynamic analysis of an SLWR (Steel Lazy Wave Riser) was developed using the lumped mass line model in a FORTRAN environment. Because the lumped mass line model is an explicit method, there is no matrix operation. Thus, the numerical algorithm is simple and fast. In the lumped mass line model, the equations of motion for the riser were derived by applying the various forces acting on each node of the line. The applied forces at the node of the riser consisted of the tension, shear force due to the bending moment, gravitational force, buoyancy force, riser/ground contact force, and hydrodynamic force based on the Morison equation. Time integration was carried out using a Runge-Kutta fourth-order method, which is known to be stable and accurate. To validate the accuracy of the developed numerical code, simulations using the commercial software OrcaFlex were carried out simultaneously and compared with the results of the developed numerical code. To understand the nonlinear dynamic characteristics of an SLWR, dynamic simulations of SLWRs excited at the hang-off point and of SLWRs in regular waves were carried out. From the results of these dynamic simulations, the displacements at the maximum bending moments at important points of the design, like the hang-off point, sagging point, hogging points, and touch-down point, were observed and analyzed.