• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.278-284
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• 2019

Legged locomotion has high mobility on irregular surfaces by touching the ground at discrete points. Inspired by the creature's legged locomotion, legged robots have been developed to explore unstructured environments. In this paper, we propose a modular crawler that can easily adjust the number of legs for adapting the environment that the robot should move. One module has a pair of legs, so the number of legs can be adjusted by changing the number of modules. All legs are driven by a single driving motor for simple and compact design, so the driving axle of each module is connected by the universal joint. Universal joints between modules enable the body flexion for steering or overcoming higher obstacles. A prototype of crawler with three modules is built and the driving performance and the effect of module lifting on the ability to overcome obstacles are demonstrated by the experiments.

• Journal of Korea Multimedia Society
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• v.22 no.2
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• pp.194-202
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• 2019

In the information society represented by the Fourth Industrial Revolution, various types of data and information that are difficult to see are produced, processed, and processed and circulated to enhance the value of existing goods. The IoT(Internet of Things) paradigm will change the appearance of individual life, industry, disaster, safety and public service fields. In order to implement the IoT paradigm, several elements of technology are required. It is necessary that these various elements are efficiently connected to constitute one system as a whole. It is also necessary to collect, provide, transmit, store and analyze IoT data for implementation of IoT platform. We designed and implemented a big data processing IoT platform for IoT service implementation. Proposed platform system is consist of IoT sensing/control device, IoT message protocol, unstructured data server and big data analysis components. For platform testing, fixed IoT devices were implemented as solar power generation modules and mobile IoT devices as modules for table tennis stroke data measurement. The transmission part uses the HTTP and the CoAP, which are based on the Internet. The data server is composed of Hadoop and the big data is analyzed using R. Through the emprical test using fixed and mobile IoT devices we confirmed that proposed IoT platform system normally process and operate big data.

• The Journal of Information Systems
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• v.28 no.3
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• pp.105-121
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• 2019

Purpose One of the reasons for the expansion of information systems in the enterprise is the increased efficiency of data analysis. In particular, the rapidly increasing data types which are complex and unstructured such as video, voice, images, and conversations in and out of social networks. The purpose of this study is the customer needs analysis from customer voices, ie, text data, in the web environment.. Design/methodology/approach As previous study results, the word frequency of the sentence is extracted as a word that interprets the sentence has better affects than frequency analysis. In this study, we applied the TF-IDF method, which extracts important keywords in real sentences, not the TF method, which is a word extraction technique that expresses sentences with simple frequency only, in Korean language research. We visualized the two techniques by cluster analysis and describe the difference. Findings TF technique and TF-IDF technique are applied for Korean natural language processing, the research showed the value from frequency analysis technique to semantic analysis and it is expected to change the technique by Korean language processing researcher.

• Journal of Information Technology Services
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• v.18 no.1
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• pp.187-200
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• 2019

Bankruptcy prediction model is an issue that has consistently interested in various fields. Recently, as technology for dealing with unstructured data has been developed, researches applied to business model prediction through text mining have been activated, and studies using this method are also increasing in bankruptcy prediction. Especially, it is actively trying to improve bankruptcy prediction by analyzing news data dealing with the external environment of the corporation. However, there has been a lack of study on which news is effective in bankruptcy prediction in real-time mass-produced news. The purpose of this study was to evaluate the high impact news on bankruptcy prediction. Therefore, we classify news according to type, collection period, and analyzed the impact on bankruptcy prediction based on sentiment analysis. As a result, artificial neural network was most effective among the algorithms used, and commentary news type was most effective in bankruptcy prediction. Column and straight type news were also significant, but photo type news was not significant. In the news by collection period, news for 4 months before the bankruptcy was most effective in bankruptcy prediction. In this study, we propose a news classification methods for sentiment analysis that is effective for bankruptcy prediction model.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.455-462
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• 2022

Since electric connectors such as power connectors have a small assembly tolerance and have a complex shape, the assembly process is performed manually by workers. Especially, it is difficult to overcome the assembly error, and the assembly takes a long time due to the error correction process, which makes it difficult to automate the assembly task. To deal with this problem, a reinforcement learning-based assembly strategy using contact states was proposed to quickly perform the assembly process in an unstructured environment. This method learns to generate a search trajectory to quickly find a hole based on the contact state obtained from the force/torque data. It can also learn the stiffness needed to avoid excessive contact forces during assembly. To verify this proposed method, power connector assembly process was performed 200 times, and it was shown to have an assembly success rate of 100% in a translation error within ±4 mm and a rotation error within ±3.5°. Furthermore, it was verified that the assembly time was about 2.3 sec, including the search time of about 1 sec, which is faster than the previous methods.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.24 no.6
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• pp.49-65
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• 2021

Although the Environmental Impact Assessment (EIA) is continuously being advanced, the number of environmental disputes regarding it is still on the rise. In order to supplement this, it is necessary to analyze the accumulated complaint cases. In this study, through the analysis of complaint cases, it is possible to identify matters that need to be improved in the existing EIA stages as well as various damages and conflicts that were not previously considered or predicted. In the process, we dervied 'complaint-based data demands' that should be additionally examined to improve the EIA. To this end, a total of 348 news articles were collected by searching with combinations of 'environmental impact assessment' and a keyword for each of the six assessment groups. As a result of analysis of collected data, a total of 54 complaint-based data demands were suggested. Among those were 15 items including 'impact of changes in seawater flow on water quality' in the category of water environment; 13 items including 'area of green buffer zone' in atmospheric environment; 10 items including 'impact of soundproof wall on wind corridor' in living environment; 8 items including 'expected number of users' in socioeconomic environment, 4 items including 'feasibility assessment of development site in terms of environmental and ecological aspects' in natural ecological environment; and 4 items including 'prediction of sediment runoff and damaged areas according to the increase in intensity and frequency of torrential rain' in land environment. In future research, more systematic complaint collection and analysis as well as specific provision methods regarding stages, subjects, and forms of use should be sought to apply the derived data demands in the actual EIA process. It is expected that this study can serve to advance the prediction and assessment of EIA in the future and to minimize environmental impact as well as social conflict in advance.

• Journal of the Korean Society for Marine Environment & Energy
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• v.14 no.4
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• pp.273-279
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• 2011

Turbulent flow analysis around a wind turbine blade was performed to evaluate the power performance of offshore wind turbine. Fluent package was utilized to solve the Reynolds-averaged Navier-Stokes equations in non-inertial rotating coordinates. The realizable k-$\varepsilon$ model was used for turbulence closure and the grid system combining structured and unstructured grids was generated. In the first, lift and drag forces of 2-D foil section were calculated and compared with existing experimental data for the validation. Then torque and thrust of the wind turbine blade having NACA 4-series sections were calculated with fixed pitch angle and rpm. Tip speed ratio was varied by changing wind speed. In the next, three kinds of end plate were attached at the tip of blade in order to increase the power of the wind turbine. Among them the end plate attached at the suction side of the blade was found to be most effective. Furthermore, performance analysis with tilt angle and rake was also performed.

• Journal of Digital Contents Society
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• v.15 no.4
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• pp.533-545
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• 2014

According to the evolving of IT technologies, the amount of data we are facing increasing exponentially. Thus, the technique for managing and analyzing these vast data that has emerged is a distributed processing system of big data. A quality evaluation for the existing distributed processing systems has been proceeded by the structured data environment. Thus, if we apply this to the evaluation of distributed processing systems of big data which has to focus on the analysis of the unstructured data, a precise quality assessment cannot be made. Therefore, a study of the quality evaluation model for the distributed processing systems is needed, which considers the environment of the analysis of big data. In this paper, we propose a new quality evaluation model by deriving the quality evaluation elements based on the ISO/IEC9126 which is the international standard on software quality, and defining metrics for validating the elements.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.4
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• pp.675-683
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• 1992

Mapping and navigation system based on certainty grids for an autonomous mobile robt operating in unknown and unstructured environment is described. The system uses sonar range data to build a map of robot's surroundings. The range data from sonar sensor are integrated into a probability map that is composed of two dimensional grids which contain the probabilities of being occupied by the objects in the environment. A Bayesian model is used to estimate the uncertainty of the sensor information and to update the existing probability map with new range data. The resulting two dimensional map is used for path planning and navigation. In this paper, the Bayesian updating model which was successfully simulated in our earlier work is implemented on a mobile robot and is shown to be valid in the real world through experiment. This paper also proposes a technique for reducing for reducing specular reflection problem of sonar system which seriousely deteriorates the map quality, and a new path planning method based on weighted distance, which enables the robot to efficiently navigate in an unknown area.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.12
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• pp.6145-6158
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• 2019

It is a challenge for the current security industry to respond to a large number of malicious codes distributed indiscriminately as well as intelligent APT attacks. As a result, studies using machine learning algorithms are being conducted as proactive prevention rather than post processing. The k-NN algorithm is widely used because it is intuitive and suitable for handling malicious code as unstructured data. In addition, in the malicious code analysis domain, the k-NN algorithm is easy to classify malicious codes based on previously analyzed malicious codes. For example, it is possible to classify malicious code families or analyze malicious code variants through similarity analysis with existing malicious codes. However, the main disadvantage of the k-NN algorithm is that the search time increases as the learning data increases. We propose a fast k-NN algorithm which improves the computation speed problem while taking the value of the k-NN algorithm. In the test environment, the k-NN algorithm was able to perform with only the comparison of the average of similarity of 19.71 times for 6.25 million malicious codes. Considering the way the algorithm works, Fast k-NN algorithm can also be used to search all data that can be vectorized as well as malware and SSDEEP. In the future, it is expected that if the k-NN approach is needed, and the central node can be effectively selected for clustering of large amount of data in various environments, it will be possible to design a sophisticated machine learning based system.