Effective Tracking Algorithm for Human Following of Mobile Robot with Kinect Sensor

BUI QUANG TAN 경희대학교 대학원 2017 국내석사

Abstract EFFECTIVE TRACKING ALGORITHM FOR HUMAN FOLLOWING OF MOBILE ROBOT WITH KINECT SENSOR By Bui Quang Tan Master in Mechanical Engineering Graduate Shool of Kyung Hee University Advised by Ph.D. Soon-Geul Lee Almost half of jobs in the United States are likely to be automated within the next 20 years. That is the prediction from researchers at the University of Oxford in England. They think more and more machines will be given jobs that people traditionally performed. Robots now work in the food industry and build cars. Other robots can be programmed to welcome people as they arrive at a store or hotel. Imagine that you are in an airport and you have to take care your children. You will be very happy if there is a robot it can follow you and help you to carry your luggage. To do the task the robot must have ability to detect, following human and collision a voidance. In this paper, a vacuum cleaning robot platform equipped by Kinect camera sensor to follow a moving human. The system is defined as the Tracking Human Robot System (THRS). This robot is used as a service robot it can track a person quickly and smoothly on a flat floor and maintain a safe distance to that person. There are several sensors they can be used for human tracking. Ultrasonic sensors transmit and receive ultrasonic waves and determine the distance to an object by calculating the time interval between sending the signal and receiving the echo. They are used to track a human and avoid obstacles by developing an ultrasonic-sensor array. However, ultrasonic-sensors cannot distinguish human from object. RGB cameras, which can deliver the three basic color components (red, green, and blue), are frequently used some image processing software for object detection and tracking. For example, OpenCV, Matlab, and Point Cloud Library (PCL) can be used for image processing. However, 3D motion sensors (or depth sensors) are very likely to supersede other sensors in human tracking due to their reliability and depth sensing ability. A 3D motion sensor is a device that can capture motions in 3D. There are two popular commercial 3D motion sensors, Kinect from Microsoft and Xtion PRO Live from Asus. The Kinect sensor has high resolution (1–75mm) and is more adaptable than the Xtion PRO Live. Human-tracking is easy to realize with 3D motion sensors because they usually come with a software development kit (SDK) that processes color, depth, and skeleton data. With these data, it is convenient to create human-tracking applications. Key Words Tracking Human Robot System (THRS), Kinect sensor, vacuum cleaning robot, collision avoidance.

Function of MST1/2 in the Regulation of Breast Cancer Cell Proliferation

BUI THI CHAU PHUONG 세종대학교 대학원 2018 국내석사

Mammalian sterile 20-like kinase 1/2 (MST1/2)는 종양 형성에 중요한 역할을 하지만, 유방암 발병 시 MST1/2의 기능은 완전히 밝혀진 것은 아니다. 이 연구에서 MST1/2-siRNA를 이용한 MST1/2 억제를 통해 ER가 존재하는 MCF-7 유방암 세포주의 세포 증식이 효과적으로 억제됨을 확인하였고, ER, cyclin D1, pS2와 같은 유방암세포 성장에 중요한 인자들이 MST2억제로 인해 감소함을 확인할 수 있었다. 게다가 breast invasive carcinoma datasets (from Gene Expression Omnibus) 와 The Cancer Genome Atlas (from Gene set Enrichment Analysis)를 통하여 MST2의 발현과 세포주기 조절에 관련된 gene set의 발현 패턴이 양성적으로 관련이 있음을 확인 할 수 있었고, Kaplan Meier plotter를 통하여 MST2 발현에 따른 유방암 환자의 생존률을 확인한 결과 MST2 발현이 낮은 유방암 환자 그룹이 예후가 더 좋음을 확인할 수 있었다. 이 연구는 MST2와 유방암의 진행과의 관계를 이해하는데 도움을 줄 수 있을 것이라 생각된다. Mammalian sterile 20-like kinase 1/2 (MST1/2), upstream kinase of Hippo pathway, plays important roles in tumorigenesis, yet the function of this factor in breast cancer development is not fully characterized. In this study, I utilized distinct methods of checking cell viability by knock down of MST1/2 to show that the ablation of this kinase dramatically suppresses the proliferation of ER -positive breast cancer cell line (MCF7). I also identify some key proteins that regulate breast cancer cell growth, which are ER, cyclin D1, pS2, are downregulated specifically by MST2 elimination. In addition, breast invasive carcinoma datasets from Gene Expression Omnibus (GEO) (NCBI) and The Cancer Genome Atlas (TCGA), which were subjected to Gene Set Enrichment Analysis (GSEA), suggested that high expression values of STK3 (MST2) were positively coordinated with expression of cell cycle related gene sets. My observations are firmly supported by Kaplan Meier plotter which demonstrates that breast cancer patients with high expression of MST2 have a poorer prognosis than the low-expressed group. This investigation provides a new insight into the relationship between MST2 and the mediation of breast cancer progression. Mammalian sterile 20-like kinase 1/2 (MST1/2)는 종양 형성에 중요한 역할을 하지만, 유방암 발병 시 MST1/2의 기능은 완전히 밝혀진 것은 아니다. 이 연구에서 MST1/2-siRNA를 이용한 MST1/2 억제를 통해 ER가 존재하는 MCF-7 유방암 세포주의 세포 증식이 효과적으로 억제됨을 확인하였고, ER, cyclin D1, pS2와 같은 유방암세포 성장에 중요한 인자들이 MST2억제로 인해 감소함을 확인할 수 있었다. 게다가 breast invasive carcinoma datasets (from Gene Expression Omnibus) 와 The Cancer Genome Atlas (from Gene set Enrichment Analysis)를 통하여 MST2의 발현과 세포주기 조절에 관련된 gene set의 발현 패턴이 양성적으로 관련이 있음을 확인 할 수 있었고, Kaplan Meier plotter를 통하여 MST2 발현에 따른 유방암 환자의 생존률을 확인한 결과 MST2 발현이 낮은 유방암 환자 그룹이 예후가 더 좋음을 확인할 수 있었다. 이 연구는 MST2와 유방암의 진행과의 관계를 이해하는데 도움을 줄 수 있을 것이라 생각된다. Mammalian sterile 20-like kinase 1/2 (MST1/2)는 종양 형성에 중요한 역할을 하지만, 유방암 발병 시 MST1/2의 기능은 완전히 밝혀진 것은 아니다. 이 연구에서 MST1/2-siRNA를 이용한 MST1/2 억제를 통해 ER가 존재하는 MCF-7 유방암 세포주의 세포 증식이 효과적으로 억제됨을 확인하였고, ER, cyclin D1, pS2와 같은 유방암세포 성장에 중요한 인자들이 MST2억제로 인해 감소함을 확인할 수 있었다. 게다가 breast invasive carcinoma datasets (from Gene Expression Omnibus) 와 The Cancer Genome Atlas (from Gene set Enrichment Analysis)를 통하여 MST2의 발현과 세포주기 조절에 관련된 gene set의 발현 패턴이 양성적으로 관련이 있음을 확인 할 수 있었고, Kaplan Meier plotter를 통하여 MST2 발현에 따른 유방암 환자의 생존률을 확인한 결과 MST2 발현이 낮은 유방암 환자 그룹이 예후가 더 좋음을 확인할 수 있었다. 이 연구는 MST2와 유방암의 진행과의 관계를 이해하는데 도움을 줄 수 있을 것이라 생각된다.

Preparation of aminoclay-polymer nanocomposite hydrogels

BUI KHAC HOANG VU Gachon University 2017 국내석사

Aminoclay has been revealed to have potential in many applications. In this research, we used freezing-thawing method for 3 consecutive cycles to prepare poly(vinyl alcohol) (PVA) hydrogels composite with magnesium organophyllosilicate (MgAC) and zinc organophyllosilicate (ZnAC-[Cl2]). These hydrogels were tested by gel fraction, swelling ratio and SEM observation. In general, the presence of aminoclay materials reduced the gel fraction but increased the swelling ratio and porous size of hydrogels. The radial diffusion method was applied for antimicrobial test. Staphylococcus aureus and Escherichia coli were chosen as harmful bacteria. The ZnAC-[Cl2]/PVA hydrogels have stronger antimicrobial activity compared to MgAC/PVA hydrogels. We also prepared MgAC/PVA hydrogels with silver nanowire (AgNW) at different concentration. From initial experiments, silver nanowire enhanced antimicrobial activity but did not affect gel fraction and swelling ratio ability

Alumina and zirconia dissolution into molten flux during continuous steel casting : Anh Hoa Bui

Bui, Anh Hoa 경북대학교 2005 국내박사

A Study on Automatic Ship Berthing System Design with Side Thrusters

Van Phuoc Bui 부경대학교 2010 국내석사

This thesis contains some analyses and new results on the problem of automatic ship berthing system design. The main motivation driving this work is to propose a new approach for ship berthing automatically by using only bow and stern thrusters. In this thesis, the ship steering model is considered and simplified to suit the proposed system. Prediction Error Method, one of System identification techniques, is used to estimate the hydrodynamic coefficients of ship motion model. The two-degree-of-freedom servosystem incorporating observer is described. It satisfies two purposes: - Optimal tracking response to step reference by using linear optimal regulator - Robust stability with the uncertainty of model and effect of environmental disturbances In order to evaluate the efficiency of proposed steering model and designed controller, the ship control experiments are performed in model basin. Motion of ship is measured and controlled based on SIMTOOL program through DAQ board. Experimental results show good performances with reduced overshoot and steady state error as well as robustness against environmental disturbances.

An Application of?Full AHP to identify the best use of Dong Ngo Closed Landfill Site in Bac Ninh City, Viet Nam

Thi Hong Hieu BUI 서울시립대학교 2017 국내석사

Landfills should not be planned in urban areas where populations are densely populated as it is a source of pollutants for the environment. A landfill after reaching its limits will be closed to stop receiving waste, and a matter of concern here is how to reuse the landfill site efficiently. Developers and communities are beginning to consider closed landfills as a potential asset to the community and plan to use the landfill site for different purpose. Many closed landfills have been transformed to new land uses. The new land uses include peon space recreational uses such as parks, wildlife areas, and golf courses and more construction intensive applications such as hard end uos of parking lots and goverment or commercial buldings, woodland for forestry, energy generation, and agricultural land use. The purpose of the study is to find the best land use of a closed landfill site after studying the characterisitics of landfill site by suing Analysis Hierarchy Process (AHP) method. The data used in the study collected from local people surveys and the fifteen experts in three fields such as environment, urban planning, and policy development, the final results were based on their experience in evaluating the weight of criteria and alternatives in the same survey. To achieve the purpose of the study, three main criteria, six sub-criteria, and five alternatives were identified as being relevant to the redevelopment of Dong Ngo landfill site. Hierarchy of of decision levels for Dong Ngo case study has been tested and developed from a real source data and has successfully assessed the best use option as energy generation option for the landfill site under a scenario of decision-making. Keywords: Closed landfill site, redevelopment, after-options, AHP 매립은 환경오염원이기 때문에, 인구가 밀집된 도심지역에서는 피해야 한다. 한계점에 다다른 이후 쓰레기를 더 이상 매립할 수 없는 사용 종료 매립지는 향후 효율적인 이용 문제가 남게 된다. 최근 개발자들과 지역사회는 사용 종료 매립지를 지역사회의 잠재적 자산으로 생각하기 시작하였으며, 다른 용도로 활용할 계획도 수립한다. 이에 수많은 사용 종료 매립지가 새로운 용도의 땅으로 변화하여 왔다. 즉 공원, 야생동물 지역, 골프장, 등의 레크리에이션 목적의 공간으로 활용되거나, 주차장이나 정부청사, 상업 빌딩, 임업을 위한 삼림 지대, 에너지 재생 지역, 농업용지 등으로 재탄생되기도 한다. 본 연구의 목적은 단계적 분석과정(Analytic Hierarchy Process, AHP)을 사용하여, 매립지의 특성을 연구한 다음 사용 종료 매립지를 가장 잘 활용할 수 있는 방법을 모색하는 것이다. 본 연구에서는 현지인 조사 및 환경, 도시+J47계획, 정책개발 분야의 15명의 전문가로부터 수집한 데이터를 사용했고, 동일 조사에서 기준의 가중치 및 대안 평가에서 그들의 경험에 기반하여 최종 결과를 내놓았다. 본 연구의 목적상, 동엔고(Dong Ngo)매립지의 재개발과 관련하여 나온 세 개의 1차적 기준, 6개의 2차적 기준 및 5개의 대안을 사용하였다. 동엔고 사례 연구와 관련한 결정 수준의 계층을 실질원 데이터에서 개발, 시험하였고, 의사결정 시나리오 하에서, 매립지에 대한 에너지 생산 옵션으로서, 최선의 활용 옵션을 평가하는 데에 성공했다. 주요 용어: 사용종료 매립지, 재개발, 사용 후 옵션, AHP

베트남인 학습자를 위한 한국어 온도 형용사 교육 방안 연구

BUI TO QUYNH TRANG 경희대학교 대학원 2019 국내석사

There is a huge amount of Korean Adjectives of temperature in comparison with Vietnamese's. In addition, their definitions are various which put Vietnamese learners in a difficult state during learning process. There hasn't been a detail research in teaching and learning Korean temperature Adjectives for Vietnamese learners up to present. Therefore, I decided to do a study on the teaching method of Korean temperature Adjectives for Vietnamese learners. The research includes these following steps: In chapter 2, based on previous researches of both countries, I put the definitions and classifications of temperature Adjectives into consideration. Next, carrying out the comparison of those Adjectives between Korean and Vietnamese by dividing into two types which are the basic & the extend analysis. In the extend one, keep dividing temperature Adjectives into the synesthesia and the abstract. The results of the semantic analysis to show that there are a lot of differences in meanings between Korean and Vietnamese Adjectives of temperature. Many words have the same meaning but using in different situations. Therefore, when teaching temperature Adjectives, teachers should clarify the meaning in contexts. In chapter 3, I analyzed the frequent use of temperature Adjectives in Korean textbooks which are using in Vietnamese Universities such as Yonsei University's textbooks, Kyunghee University's textbooks, Seoul National University's textbooks and "General Korean for Vietnamese" textbooks. Based on these analyzing results, we can clarified the remaining problems of each textbook. In chapter 4, based on the researching on 66 students of Korean language major in The University of Danang-University of Foreign Language Studies to find out their perceptions in using Korean temperature Adjectives. This research focuses on students' perceptions when using Korean, language errors, language cognition, teaching methods, etc. In addition, this chapter also analyzes the reasons causing the lack of awareness and common errors when using Korean temperature Adjectives. They include the variety and complication of temperature Adjectives in Korean, the affect of mother tongue, teaching methods and textbooks. In chapter 5, based on educational perspective of Seal B (1991), this research presented a teaching method of using Korean temperature Adjectives for Vietnamese learner. When coming to methods of education about these Adjectives, teachers need to consider learners' study levels then choose the right type of exercise or contents for each level. This research is valuable for educating the use of Korean temperature Adjectives for Vietnamese students. It conducts researches in analysis and comparisons, which clarify problems related to textbooks, perceptions and also show the correct teaching methods for Vietnamese in learning Korean temperature Adjectives. This research is helpful for Vietnamese learners to understand more about the definitions and uses of Korean temperature Adjectives. In addition, I hope that teachers can have effective methods of teaching for Vietnamese students through the educational method given in this research. 양적으로는 베트남어에 비해 한국어 온도 형용사는 더 많다. 또한 한국어 온도 형용사의 의미 시용 양상이 다양하게 분화되기 때문에 베트남인 학습자는 학습 과정에서 어려움을 쉽게 겪는다. 그런데 현재까지 베트남인 학습자를 위한 한국어 온도 형용사 교육에 대한 연구가 아직 이루어지 않다. 온도 형용사 교육의 필요성을 깊게 인식하기 때문에 본고에서는 베트남인 학습자를 위해 체계적이고 효과적인 온도 형용사 교육 방안을 연구하는 것을 목적으로 하였다. 연구 철자는 다음과 같다. 2장에서 먼저 양국의 기존 연구를 바탕으로 온도 형용사 개념 및 분류 기준을 살펴보았다. 그 다음에 의미적 측면에서 한국어 온도 형용사와 베트남어의 대응하는 온도 형용사를 대조-분석을 진행하였다. 여기에서 양 언어의 온도 형용사 기본 의미와 확장 의미를 나누어서 살펴봤다. 확장 의미 중 공간적인 의미와 추상적인 의미로 구체화하게 분류하여 분석하였다. 의미 분석 결과를 통하여 한국어와 베트남어 온도 형용사 간의 차이가 많이 존재하는 것을 확인할 수 있다. 비슷한 의미를 가지는 온도 형용사들은 상황에 따라 용법이 달라질 수 있기 때문에 베트남인 학습자를 대상으로 한국어 온도 형용사를 교육할 때 의미와 용법의 차이점을 자세하게 설명해 줄 필요가 있다. 3장에서 현재 베트남 대학교에서 사용하고 있는 교재에 나타난 온도 형용사 분포 현황을 살펴봤다. 이 장에서 연세대학교, 경희대학교, 서울대학교의 한국어 교재와 베트남인 학습자를 중심으로 하여 개발되는『베트남인을 위한 종합한국어』교재를 분석하였다. 분석 결과를 통해 각각 교재 문제점을 밝혀냈다. 4장에서 베트남인 학습자의 온도 형용사에 대한 학습 현황 및 사용 양상을 알아보기 위해 다낭외국어 대학교의 재학생 66명을 대상으로 설문조사를 진행하였다. 조사 결과를 통해 온도 형용사 교육 현황, 베트남인 학습자의 온도 형용사 사용 오류, 온도 형용사 교육 방법 현황 등과 같은 정보를 수집하였다. 5장에서 베트남인 학습자를 대상으로 한 한국어 교육 입장을 고려하는 것과 같이 본 장에서 Seal,B.(1991)의 어휘 교육 단계에 대한 관점에 입각하여 베트남인 학습자를 위한 한국어 온도 형용사 교육 방안을 제시하였다. 온도 형용사 교육에 관한 수업 활동을 설계할 때 학습자의 수준을 고려하여 적당한 연습 활동 유형이나 내용을 선택해야 한다. 본 연구는 온도 형용사에 대한 이론적인 의미 대조분석; 한국어 교재, 베트남인 학습자 인식, 사용 오류에 관한 문제점 밝히고, 동시에 구체적인 수업 활동 설계와 같은 내용을 다 제시하고 논의하였으니 이점에서 의의가 있다고 생각한다. 본 연구를 통해 베트남인 학습자가 한국어 온도 형용사의 의미와 용법을 이해하는 데 도움이 될 수 있다. 그리고 제시된 실제 수업 활동 모형을 통해 교사는 베트남인 학습자를 대상으로 한 수업에서 온도 형용사를 효과적으로 가르칠 수 있길 바란다.

유해 조류 제어를 위한 수용성 나프토퀴논 유도체 개발과 이에 대한 살조 효과 연구

Bui Thi Nhu Quynh 한양대학교 대학원 2020 국내석사

Over the last several decades, harmful algae blooms (HABs) is one of the most escalating and worrisome environmental problems. Naphthoquinone (NQ) derivatives, one type of biologically derived substances (BDSs), with low toxicity and high algicidal effect, can be considered as one of the best option for controlling HABs. However, previous NQ 2-0 compounds (Joo et al., 2017) was a non-water soluble derivative that requires dimethyl sulfoxide (DMSO) as a dissolved matter, DMSO is a toxic chemical for ecosystem (Huang et al., 2018). In this study, we developed new NQ derivative from NQ 2-0 compound with water soluble characteristic. In order to compare algicidal effect of water soluble and non-water soluble NQ, we conducted algicidal test in 1.0 µM, 2.0 µM and 5.0 µM of NQ concentration and demonstrated that almost species have no significant difference between NQ 2-0 and water-soluble NQ. Moreover, eco-toxicity was investigated by culturing Vibrio fischeri and Daphnia magna in 1.0 µM water soluble NQ derivative, which showed no eco-toxicity during test interval. In addition, to determine algicidal effect of new NQ derivative, we screened on 21 strains including fresh and marine species. The screening test was investigated under optimal condition of each strain with concentration 1.0 µM, 2.0 µM and 5.0 µM of NQ compound. After 3 days of screening, with concentration of 1.0 µM NQ compounds showed 80.0 % algicidal activity on 9 species (Microcystis aeruginosa (3 strains), Microcystis flos-aquae, Dolichospermum sp., Dolichospermum circinale, Aphanizomenon sp., Cochlodinium polykrikoides, Alexandrium tamarense). With concentration of 2.0 µM, NQ compound demonstrated the efficiency of 80.0 % growth inhibition in 13 strains (with the addition of Heterosigma akashiwo, Chattonella marina, Oscillatoria sp. and Scenedesmus sp.). And with maximum concentration of 5.0 µM, 17 strains have more than 80.0 % algicidal effect (with the addition of Akashiwo sanguinea, Prorocentrum minimum, Pseudanabaena sp. and Trichodesmium thiebautii). These results suggest that water soluble NQ derivative could be a conveniently, economically and ecologically safe algicidal substance to mitigate HABs. 유해 조류 대발생(HABs)은 생태적, 경제적으로 대표적인 환경 문제이다. 이를 해결하기 위해, 다양한 유해 조류 제어물질이 연구되어 왔으며, 그 중 생물유래물질(BDSs)인 나프토퀴논 유도체는 낮은 독성과 높은 유해 조류 제어 효과를 가진 것으로 알려져 있다. 그러나, 나프토퀴논 기반 유도체인 NQ 2-0 (Joo et al., 2017)은 비 수용성 물질로서, 이를 녹이기 위해 DMSO (Dimethyl sulfoxide)을 용매로 사용하였고, 그로 인해, 화학 물질이 수계에 노출되는 단점이 있었다. 따라서, 본 연구에서는 수계 내 DMSO로 인한 화학물질의 노출을 막기 위해 수용성 나프토퀴논 유도체를 개발하였고, 이에 대한 생태독성 및 살조 효과를 확인하였다. 수용성 나프토퀴논 유도체와 NQ 2-0의 살조 효과를 비교한 결과, 모든 농도 조건에서 유의미한 차이가 없었다. 또한, 수용성 나프토퀴논 유도체는 1.0 µM 농도 조건에서 생태독성 실험종인 발광 박테리아 Vibrio fischeri와 동물플랑크톤 Daphnia magna을 대상으로 생태 독성을 평가한 결과, 검출되지 않았다. 추가적으로 13 개의 담수종과 8 개의 해양종을 대상으로 다양한 농도 (1.0, 2.0, 5.0 µM)의 수용성 나프토퀴논 유도체에서의 살조 효과를 확인하였다. 그 결과, 1.0 µM 농도에서 9 개의 배양주(Microcystis aeruginosa (3 개의 스트레인), Microcystis flos-aquae, Dolichospermum sp., Dolichospermum circinale, Aphanizomenon sp., Cochlodinium polykrikoides, Alexandrium tamarense)을 대상으로 80.0 % 이상의 살조 효과가 나타났다. 2.0 µM 농도에서는 Heterosigma akashiwo, Chattonella marina, Oscillatoria sp.와 Scenedesmus sp.를 포함한 13 개의 배양주를 대상으로 80.0 % 이상의 살조 효과가 관찰되었다. 5.0 µM 농도에서는 Akashiwo sanguinea와 Prorocentrum minimum, Pseudanabaena sp., Trichodesmium thiebautii을 포함한 17 개의 배양주를 대상으로 80.0 % 이상의 살조 효과가 관찰되었다. 결과적으로 본 연구를 통해 수용성 나프토퀴논 유도체는 녹조 원인종 및 적조 원인종을 대상으로 높은 살조 효과를 보이는 것을 확인하였다. 또한, 기존 살조 물질에 비해 사용이 용이하며 경제적이고, 수생태계에 적용하는 데 있어 안전한 물질임을 확인하였다.

Performance oriented prediction based on improved Gaussian process regression

Bui, Dinh-Mao Kyung Hee University 2018 국내박사

In many years, Gaussian process was popularly utilized in many research areas such as signal processing, data communications and image processing, etc. The main benefit of Gaussian process is to accurately model characteristics of the target system by engaging probabilistic methodology. Unlike other techniques which try to determine all of the parameters of system model, Gaussian process adapts these parameters to reflect the actual underlying model. Because of that, this approach can be explicitly addressed as a non-parametric methodology. Moreover, as a comparison to other well-known methods, Gaussian process regression (GPR) possesses much better performance in terms of precision and versatility. Due to these benefits, GPR should be considered as a promising solution for performing the prediction. However, this technique does have a critical drawback, which is the limitation in processing rate. Theoretically, most of the complexity of GPR focus on the expensive computation O(n^3) and the corresponding storage space O(n^2) when dealing with n data points. The majority of burden mostly originates from inverting the covariance matrix and computing the log determinant. Obviously, when the data grows up, the problem becomes even more serious. This problem indeed degrades the performance in term of processing speed and consequently deteriorates the overall efficiency of prediction. In order to solve the aforementioned limitation, a number of research have been done over these years. Some of them focus on applying mathematical methods to reduce the complexity. Others spend their efforts on improving optimization techniques. However, these methodologies encounter the reliability issue as well as the comprehensiveness. Also, a limited theoretical improvement, which has been achieved, is still unsatisfied to solve the realistic problems. In this thesis, with the purpose of significantly enhancing Gaussian process regression, we would like to propose a performance-oriented solution for prediction based on Gaussian process. Thoroughly, the proposed methodology solves the complexity problem in GPR by incorporating the latest mathematical modeling, optimization and parallel computing together. As a result, the final solution is able to drive the complexity to an affordable expense while still preserves an acceptable accuracy. In order to verify the proposed idea, some experiments and potential applications are also introduced in the performance evaluation to prove the effectiveness of the solution.

Development of musculoskeletal model and biomechanical analysis of lower limb during daily activities

Bui Thi Thanh Phuong 경희대학교 2010 국내석사

Biomechanical analysis combined with computer musculoskeletal models can provide significant insight into how the neuromuscular and musculoskeletal systems interact to produce movement. In this thesis, I built a musculoskeletal model of lower extremity. In addition, biomechanical analysis programs were also developed to study about joint kinetics, joint kinematics and muscle forces of lower extremity during daily activities. Kinematic data was investigated by kinematic analysis program, joint forces and moments were calculated from inverse dynamic analysis program whereas muscle forces were predicted using two procedures: inverse dynamics and forward dynamics. In inverse dynamics analysis procedure, both static and global optimizations were suggested. While the inverse dynamic with static optimization method has been proven useful in predicting muscle forces from the measured kinematics and kinetics of the segments, one major criticism is that this method does not properly predict co-contraction of antagonistic muscles. Global optimization that determines the knee joint center of rotation and constructs three knee moment equilibrium equations with respect to this rotation center was suggested to solve the elimination of ignoring co-contraction between agonist and antagonist muscles. These methodologies were used to study about biomechanics of lower extremity during daily activities (walking, sit to stand, squat).