• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1387-1391
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• 2003

The fundamental aim of this paper is to present a solution algorithm to achieve cooperative contour controlling, under joint acceleration constraint with maximum cooperative speed. Usually, the specifications like maximum velocity of cooperative trajectory are determined by the application itself. In resolving the cooperative trajectory into two complementary trajectories, an optimum task resolving strategy is employed so that the task assignment for each robot is fair under the joint acceleration constraint. The proposed algorithm of being an off-line technique, this could be effectively and conveniently extended to the existing servo control systems irrespective of the computational power of the controller implemented. Further, neither a change in hardware setup nor considerable reconfiguration of the existing system is required in adopting this technique. A simulation study has been carried out to verify that the proposed method can be realized in the generation of complementary trajectories so that they could meet the stipulated constraints in simultaneous maneuvering.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.4
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• pp.360-365
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• 2013

The paper introduces dynamic generation technique of foot trajectories using CPG(Central Pattern Generator). In this approach, the generated foot trajectories can be changeable according to variable outputs of CPG in various environments, because they are given as mapping functions of the output signals of the CPG oscillators. It enables to provide an adaptable foot trajectory for environmental change. To demonstrate the effectiveness of the proposed approach, experiments on humanoid robot Nao is executed in the Webot simulation. The performance and motion features of CPG based approach is analyzed.

• Journal of the Korean Data Analysis Society
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• v.20 no.6
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• pp.3227-3238
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• 2018

This study attempts to investigate the trajectories of socio-economic deprivation on the depression trajectories among middle-aged individuals using a latent growth model over the last five years. Using the Korea welfare panel study data ranged from the year 2013 (8th wave) to the year 2017 (12th wave), a sample of 7,437 aged over 40 was selected. Three hypothesis was proposed as follows. Is the trajectory of depression changing over the years? Are the initial values of socio-economic deprivation causally related to the initial values of depression? Are the rates of change in socio-economic deprivation causally related to the rates of change in depression? Results showed that the growth curve of depression tended to decline negatively over the five-year period. As the intial values of socio-economic deprivation increased, so did the initial values of depression move upwards. Finally, as the changes of socio-economic deprivation tended to get larger, those changes of depression also accordingly increased as well. The public policy implications based on the current study were discussed to pay more attention to those middle-aged individuals suffering from socio-economic deprivations.

• Korean Journal of Child Studies
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• v.36 no.6
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• pp.165-188
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• 2015

The purpose of this study was to examine the relationships among Korean early adolescents' perceived negative parenting practices, trajectories of mobile phone dependency(MPD), and self-regulated learning(SRL), while taking into account gender differences. Early adolescents are required to acquire self-regulation in Korean cultural contexts of a strong emphasis on academic achievement and recent technological advancements. The study made use of data from the Korean Children and Youth Panel Study(KCYPS), and three waves of data collected from 1,953 adolescents in $7^{th}$, $8^{th}$ and $9^{th}$ grade were analyzed. The results can be summarized as follows. Growth-curve longitudinal analysis indicates that their initial value of MPD through $7^{th}$ to $9^{th}$ grade had increased, but the initial value and rate of change were significantly different according to gender. Furthermore, the results of multiple group analysis revealed that some path weights appeared different according to gender. For male students, the rate of change in MPD did not have a significant effect on either SRL in $7^{th}$ or $9^{th}$ grade, whereas for female students, it predicted the existence of significant relationships with them. The implications of these findings were also discussed.

• Korean Journal of Social Welfare Studies
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• v.43 no.1
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• pp.389-411
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• 2012

A new era of research has focused on examining the growth of change in drinking problems among the elderly. Thus, the purpose of the present study was two fold: (1) to investigate trajectories of drinking problems(CAGE) among the Korean elderly(age$${\geq_-}65$$); and (2) to identify the predicting factors for the intercept and the slope of alcohol problems using multi-level growth curve model. Data come from three waves(1st wave(2006)~3rd wave(2008) of the Korea Welfare Panel(KWP) study. The results indicated that the levels of drinking problems decreased over time and that age, gender, marital status, religion, poverty, self-rated health, and social relationship satisfaction were associated with the baseline CAGE. Further analysis showed that social relationship satisfaction affected the declining slope of drinking problems over time. Specifically, among those who satisfied social relationship, there was a sharp decline of CAGE over time. Overall findings highlight the importance of developing and implementing effective alcohol prevention programs for the elderly in the community settings to mitigate the harmful effects of various psycho-social stressors. Especially, programs to maintain and form healthy social support network are suggested as critical interventions for prevention as well as recovery of alcohol problems in late life.

• Journal of the Korean Society of Child Welfare
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• no.59
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• pp.183-208
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• 2017

The purpose of this study was to identify groups depending on the change trajectory of child maltreatment in childhood and early adolescence. For this study, the data from waves two through six (2011-2015) of the Korean Children and Youth Panel Survey (KCYPS) were used. Participants included first-grade (n=2,300) and fourth-grade (n=2,325) elementary school students. A latent class growth model (LCGM) using Mplus 7.21 was adopted to classify the types of developmental trajectories of child maltreatment. The main results were as follows: First, in physical abuse, childhood from the second to the sixth grades was classified into four groups: decreased, low maintenance, increased, and no maltreatment type. In addition, early adolescence from the fifth grade of elementary school to the third grade of middle school was also classified into the same types. Second, in emotional abuse, childhood was classified into three groups: decreased, increased, and no maltreatment type. Early adolescence was classified into four groups: decreased, low maintenance, increased, and no maltreatment type. Third, in neglect, childhood was classified into four groups: maintenance, low decreasing, low increasing, and no maltreatment type. Early adolescence was classified into three groups: maintenance, low increasing, and no maltreatment type. According to the change of child maltreatment by developmental period, physical abuse continued from childhood to early adolescence, whereas emotional abuse and neglect increased in early adolescence compared to childhood. This study is meaningful in classifying latent classes depending on maltreatment types. Theoretical and practical implications were suggested based on the study results.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.12
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• pp.234-245
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• 2020

This study examined the developmental trajectories of parenting efficacy of mothers of multicultural families and how these trajectories differentiate perceived mothers' career-related behaviors as well as the socio-psychological and academic characteristic of their children in the first grade of high school. The latent class analysis (LCA) and BCH method were applied by using data drawn from the 4th to 10th graders in 2011-2017 from the Multicultural Adolescents Panel Study (MAPS). Results showed that the latent profiles were classified into four groups based on the developmental trajectories of parenting efficacy of mothers of multicultural family: 'high level increasing-decreasing', 'above average increasing-decreasing', 'average unchanged', and 'below average unchanged'. As for demonstrated outcomes, the high parenting efficacy group increased when children were in elementary school but decreased when children were in middle school. At the same time, the low parenting efficacy group did not show much change during these periods. Next, parenting efficacy was a significant determinant of perceived mothers' career-related behaviors and socio-psychological and academic characteristic of their children who attend high school. Based on these results, this study implies a theoretical foundation for developing policies to encourage parenting efficacy of mothers of multicultural families and may result in positive socio-psychological and academic characteristics of their children in high school.

• Proceedings of the Korean Vacuum Society Conference
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• 2012.02a
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• pp.528-528
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• 2012

Recently, atmospheric pressure plasmas attract lots of interests for the useful applications such as surface modification and bio-medical treatment. In this study, a particle-in-cell Monte Carlo collision (PIC-MCC) simulation was adopted to investigate the discharge characteristics of a planar micro dielectric barrier discharge (DBD) with a driving frequency from 13.56 MHz to 162.72 MHz and with a gap distance of 80 micrometers. The variation of frequency, in the change in the electron energy probability function (EEPF). Through the relation between the ion trajectories and the frequency, results in the change of EEPFs is achievable with the turning point of frequency mode. Therefore, it is possible to categorize the efficient operation range of DBDs for its applications by controlling the interactions between plasmas and neutral gas for the generation of preferable radicals.

• Korean Journal of Social Welfare Studies
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• v.40 no.3
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• pp.377-406
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• 2009

This study used laten class growth analysis to identify discrete developmental patterns of delinquent behaviors in adolescence. This present article also examined associations among these trajectories to determine how the development of delinquent behaviors relates to protective and risk factors, which include parental monitoring, attachment with parent, association with deviant peers, self-control, and negative stigma from others. Four-wave panel data from a Korea Youth Panel Study were used for the latent class growth model analysis. The sample consisted of 3,446 adolescents who were assessed at 4 measurement waves with approximately 1-year interval. Four trajectories of delinquent behaviors emerged: delinquency persistence, delinquency increaser, delinquency decreaser, normative group(almost no delinquent behaviors). Association with deviant peers had the most proximal strong influence on the probability of being in the delinquency increaser and delinquency persistence group compared, noed to the normative group. Parental monitoring, self-efficacy and negative stigma also differentiated the four delinquent behavior trajectories from one another after controllig for socio-demographic variables. The study suggested that there is a significant heterogeneity in the timing and change rate of delinquency progression. Adolescent delinquency prevention and intervention programs will need to consider this heterogeneity and enhance attention to protective and risk factors depending on the subpopulation.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.708-713
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• 1994

A new flux observer based vector control system of an induction motor is constructed by using an observer in which the commanded stator currents are used to estimate the rotor flux. In this system, the flux observer is formulated by using a model of induction motor in a stationary coordinate system. By considering an observer of induction motor in a fixed co-ordinate system located on its secondary flux, a slip frequency controlled type of vector control system is also proposed. From these control schemes, the relation between the conventional slip frequency controlled type system and the observer based one is clarified. The steady-state error of the developed torque which is caused by the parameter change of induction motor is analyzed and discussed for the selection of observer gains. The poles of the observer error dynamics and those of the observer based vector control system are calculated analytically by neglecting the machine parameter change. In order to analyze the robust stability, a linear model of the observer based vector control system is proposed taking into account the machine parameter change. By using this model, the trajectories of the poles and zeros of the torque transfer function are computed and discussed. To test validity of the theoretical analysis, experiments are conducted by using a digital signal processor (TMS320C30) and a current controlled voltage source PWM inverter.