Human Motion Retargeting to a Full-scale Humanoid Robot Using a Monocular Camera and Human Pose Estimation

Sujin Baek,Ahyeon Kim,Jin-Young Choi,Eunju Ha,Jong-Wook Kim 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.9

The retargeting human motions to those of a humanoid robot is a difficult task that involves using complex humanoid models and intensive geometric calculations, while also requiring high joint recognition accuracy. Herein, we propose a new motion retargeting framework for whole-body motions using a monocular camera composed of three modules per frame: 1) the extraction of 3D human joint coordinates from a package from pose AI, 2) the calculation of human joint angles by fitting the humanoid model to the skeleton model attained from the pose AI using a global optimization method, and 3) the transmission of the estimated joint angles as a pose command to a full-scale humanoid robot. The results suggest that the proposed framework can reproduce human-like motion sequences while reflecting certain limitations in the robot’s joint angles due to intentionally set hardware limitations and constraints. Using the proposed method, the robot can directly mimic human motion at the joint angle level based solely on images taken by an RGB camera or video files. These findings suggest that it would be useful to construct big data consisting of joint angle vectors for various human poses and joint angle trajectories for human motions, so that—as one example application in the near future—a robot butler could refer to these big data when performing various motions at a person’s home or in the office.

Monolithic Two-Dimensional Photonic Crystal Reflectors for the Fabrication of Highly Efficient and Highly Transparent Dye-Sensitized Solar Cells

Baek, Sujin,Ha, Su-Jin,Lee, Heechul,Kim, Kiwon,Kim, Dongchoul,Moon, Jun Hyuk American Chemical Society 2017 ACS APPLIED MATERIALS & INTERFACES Vol.9 No.42

<P>The transparent characteristic of dye-sensitized solar cells (DSCs) makes them suitable for building integrated photovoltaic (BIPV) devices. However, the diffusive scattering layer, which is usually used to increase the efficiency of these devices, greatly lowers the transparency of the DSC. This paper described a two-dimensional (2D) photonic crystal (PC) reflector with a sub-micrometer characteristic length that can improve the efficiency of these devices while maintaining transparency. This 2D PCs were fabricated directly onto TiO2 photoelectrodes using colloidal lithography and have the structure of a nanopillar array. A nanopillar with a height of 430 nm was observed to selectively reflect up to 40% of the light of 400-500 nm wavelength. The perceived transparency of the 2D PC electrode was 52%, which is much higher than 0.3% of the conventional scattering layer. The DSC fabricated using the 2D PC electrode demonstrated a maximum photon-to-electric conversion efficiency of 8.23%, which is 18% higher than the pristine electrode. The 2D PC is a highly efficient and wavelength selective reflector that can be applied to various photoelectric conversion devices.</P>

A facile method to prepare regioregular poly(3-hexylthiophene) nanorod arrays using anodic aluminium oxide templates and capillary force

Baek, Sujin,Park, Jong Bae,Lee, Wonjoo,Han, Sung-Hwan,Lee, Jouhahn,Lee, Soo-Hyoung Royal Society of Chemistry 2009 NEW JOURNAL OF CHEMISTRY Vol.33 No.5

<P>Regioregular poly(3-hexylthiophene) (RR-P3HT) nanorod arrays were prepared on the indium tin oxide (ITO) substrate by capillary force in a vacuum oven (0.855 torr, 250 °C) using a drop-coating of RR-P3HT and anodic aluminium oxide (AAO) templates. The AAO templates were prepared by a two step anodizing process in an oxalic acid electrolyte. The templates had a highly ordered structure with a uniform pore diameter of ∼55–80 nm and cell lengths of ∼100–3930 nm. With suitable temperature and capillary force in the vacuum oven, the drop-coated RR-P3HT solution infiltrated the AAO templates. After removal of the AAO template, the RR-P3HT has a nanorod array form, with diameters of ∼55 nm and heights of ∼70 nm.</P> <P>Graphic Abstract</P><P>Regioregular poly(3-hexylthiophene) (RR-P3HT) nanorod arrays were prepared on the ITO substrate by capillary force in a vacuum oven using a drop-coating of RR-P3HT and anodic aluminium oxide (AAO) templates. <IMG SRC='http://pubs.rsc.org/services/images/RSCpubs.ePlatform.Service.FreeContent.ImageService.svc/ImageService/image/GA?id=b821288k'> </P>

GC-MS/MS를 이용한 갈색거저리 유충 중 Chlorpyrifos-methyl과 Deltamethrin의 잔류분석법 확립

백수진 ( Sujin Baek ),김이선 ( Leesun Kim ),손경애 ( Kyungae Son ),노현호 ( Hyunho Noh ),문병철 ( Byeong-chul Moon ),김단비 ( Danbi Kim ),오민석 ( Min-seok Oh ),노진호 ( Jin-ho Ro ),김은선 ( Eunsun Kim ) 한국환경농학회 2020 한국환경농학회 학술대회집 Vol.2020 No.-

Nowadays, edible insects are spotlighted as future food in the Korean local market due to its high protein contents. However, food safety for edible insects should be guaranteed. Therefore, this study was aimed to establish the analytical method of chlorpyrifos-methyl and deltamethrin in mealworms to provide data for guidelines on safety of edible insects. The sample preparation was based on modified QuEChERS (Quick, Easy, Cheap, Effective, Rugged and Safe) EN method. For extraction efficiency, acetonitrile (ACN) instead of ACN containing 0.1% formic acid were investigated. To compare cleanup methods, MgSO₄, PSA, C18, EMR-lipid ™ and n-hexane were applied to remove protein and fat. After establishing the final analytical method, the control samples were spiked at two levels (10 ㎍/kg, 100 ㎍/kg) and the recovery tests were performed as follows. Five grams of samples were extracted by 10 mL of ACN and added with MgSO₄ 4g, NaCl 1g, NaCitrate 1g and disodium citrate sesquihydrate 0.5g for partitioning. Finally, dispersive-solid phase extraction (MgSO₄ 150mg, PSA 25mg, and C18 25mg) was selected for rapid and efficient cleanup. The samples were analyzed by gas chromatography tandem mass spectrometry. The method limit of quantification of chlorpyrifos-methyl and deltamethrin were 2.5㎍/L and the correlation coefficient (r2) of calibration curve were > 0.99. The recoveries of chloropyrifos-methyl were 82.5 - 114.0 ± 1.6 -3.0% and deltamethrin were 84.9-93.8 ± 5.7 - 6.5 %. Two target pesticides were not detected in the real samples (n=30) of edible insects collected to monitor in South Korea. These results can be useful data for guidelines on safety of mealworms to prepare Positive List System in South Korea.

[응용논문] 사용자 관점의 자율주행 기능 인터페이스 정보 제공 수준 실험

백수진(Sujin Baek),양지현(Ji Hyun Yang) 한국자동차공학회 2020 한국 자동차공학회논문집 Vol.28 No.8

자율주행 시스템의 사용자 관점 인터페이스 정보 제공

백수진(Sujin Baek),홍사라(Sara Hong),양지현(Jihyun Yang) 한국자동차공학회 2019 한국자동차공학회 학술대회 및 전시회 Vol.2019 No.11

학교 내 의료적 지원에 대한 어려움과 개선 과제

백수진(Sujin Baek),임용재(Yongjae Lim),안상권(Sangkwon An) 한국지체.중복.건강장애교육학회 2024 지체.중복.건강장애연구 Vol.67 No.3

연구목적: 본 연구는 학교에서 의료적 지원을 담당하는 간호사를 대상으로 의료적 지원 의 장점과 어려움을 살펴보고, 이를 개선하기 위한 과제들을 도출하고자 하였다. 연구방법: 현재 학교 내 의료적 지원을 실시하고 있는 간호사 5명을 대상으로 FGI를 실시하였다. 분석은 연속적비교법을 사용하여 각 주제 별로 결과를 정리하였다. 연구결과: 먼저, 의료적 지원을 담당하는 간호사의 장점은 1) 학생 성장에 대한 보람, 2) 사회복귀로 인한 소속감, 3) 전문성 인정에 따른 만족감으로 나타났다. 의료적 지원에 대한 어려움은 간호사에 따라 차이가 있었지만, 공통적으로 인력 부족, 낮은 급여 및 고용 불안, 가이드라인 부재, 학부모와 관계의 어려움, 교직원과 연계 및 협력의 어려움을 공통적으로 느끼고 있었다. 연구 참여자들은 이러한 어려움을 해결하기 위해 1) 인력 충원, 2) 합리적 급여와 고용 안정, 3) 가이드라인과 의료적 지원 기록 시스템 마련, 4) 코디네이터 배치, 5) 의료적 지원 인식 개선과 이해 증진이 개선 과제로 제시되었다. 이 중에서 특히 고용 안정과 가이드라인 마련을 최우선 과제로강조하였다. 결론: 연구 결과를 중심으로 학교 내 의료적 지원 사업의 시사점 및 후속연구를 제언하였다. Purpose: This study aimed to clarify the challenges and improvement tasks regarding in-school medical support from the perspectives of school nurses. Method: A focus group interview was conducted with five school nurses responsible for in-school medical support for children with severe and multiple disabilities. The interview data were analyzed using the constant comparative analysis method. Results: The advantages of school nurses in providing medical support are as follows: a sense of fulfillment from seeing students' growth, a sense of belonging from returning to society, and satisfaction from being recognized for their professional expertise. The challenges faced by school nurses in providing medical support are as follows: a lack of School nurses, low salary and job insecurity, absence of guidelines, difficulties in relationships with parents, and difficulties in coordination and cooperation with teachers. The priority tasks identified by the participants to address these challenges are as follows: reasonable salaries, job security (guaranteed tenure), establishment and dissemination of guidelines, and implementation of a medical support record system. ght to increase the social participation of people with acquired physical disabilities, disability understanding education, and construction of a barrier free environment was discussed. Conclusion: The implications and limitations of this study suggestions for follow-up studies were discussed.

중국인 학습자를 위한 한국어 조사 이/가’, 은는의 교육 - 중국어와의 대응을 중심으로 -

백수진 ( Baek Sujin ) 한국언어문화교육학회 2011 언어와 문화 Vol.7 No.1

Even though, from the viewpoint of typological description, Korean language and Chinese language are different each other in the word order, they are all topic prominence languages. The use rate of the typical topic sentences in using Chinese language is high, and also the use rate of Korean particles '-은/는' presenting topic and old information in using Korean language is high, too. Nevertheless, among the grammatical fallacies of Chinese learners in using Korean language, the fallacy rate of Korean particles '-은/는' and '-이/가' is highest. Thus, the purpose of this paper is to compare and analyse chinese sentence patterns corresponding to the function of Korean particles '-은/는' and '-이/가' in the standpoint of contrastive study. In Chinese language, there are 'about somebody/something', 'Topicalization', double-subject sentence'. 'subject+是+noun', 'when one talks about the first person', 'when one talks about the fact', and 'the structure of old information' corresponding to Korean particles '-은/는' and '-이/가'. As the items corresponding to '-이/가', 'presentative sentence', 'double-subject', 'embedded clauses', '由+subject+verb', '是+{clause+的}', and 'focus-subject' are in Chinese language. Most of the Chinese teachers teaching Korean language are Chinese native speakers or bilinguist( the Korean-Chinese). They can apply the results of comparative analysis into teaching method of Korean language. (Keimyung University)

Protein O-GlcNAcylation regulates developmental growth of Drosophilathrough the insulin signaling pathway

Sujin Park,Si-Hyoung Park,Ju Yuel Baek,Kwan Soo Kim,Jürgen Roth,Jin Won Cho,Kwang-Min Choe 한국당과학회 2010 한국당과학회 학술대회 Vol.2010 No.1

Modification of nuclear and cytosolic proteins by O-linked N-acetylglucosamine (O-GlcNAc) is ubiquitous in cells. The in vivo function of the protein O-GlcNAcylation, however, is not well understood. Here, we genetically manipulated the cellular O-GlcNAcylation level in Drosophila and found that it promotes developmental growth by enhancing insulin signaling. This alteration of growth is due to cell growth and apoptosis and not to cell proliferation, and is mediated, at least in part, through O-GlcNAcylation of Akt. These results indicate that O-GlcNAcylation is one of the crucial mechanisms involved in control of insulin signaling in normal Drosophila development.

Dietary intake of fat and fatty acids by 1-5-year-old children in Korea: a cross-sectional study based on data from the sixth Korea National Health and Nutrition Examination Survey

Baek, YounJoo,Shim, Jae Eun,Song, SuJin The Korean Nutrition Society 2018 Nutrition Research and Practice Vol.12 No.4

BACKGROUND/OBJECTIVES: We examined dietary fat intake and the major food sources by young children in Korea. SUBJECTS/METHODS: A total of 1,041 children aged 1-5 years were identified from the 2013-2015 Korea National Health and Nutrition Examination Survey. Data on total fat and fatty acid intake were obtained by a single 24-h dietary recall. Food sources were identified based on the amounts of total fat and fatty acids consumption according to each food. Fat and fatty acid intakes and their food sources were presented by age group (1-2-y, n = 401; 3-5-y, n = 640). Fat and fatty acid intakes were also evaluated according to socioeconomic characteristics. RESULTS: The mean intake of fat was $27.1{\pm}0.8g$ in the 1-2-y group and $35.5{\pm}0.7g$ in the 3-5-y group, and about 23% of the total energy was obtained from fat in both age groups. The mean intake of saturated fatty acids (SFA) was $10.5{\pm}0.3g$ in the 1-2-y group and $12.7{\pm}0.3g$ in the 3-5-y group, with the 1-2-y group obtaining more energy from SFA than the 3-5-y group (9.2% vs. 8.3%). The mean intake of polyunsaturated fatty acids (PUFA) was $6.3{\pm}0.1g$ in the total subjects, with $0.8{\pm}0.03g$ of n-3 fatty acids and $5.5{\pm}0.1g$ of n-6 fatty acids being consumed. Milk, pork, and eggs were major food sources of total fat, SFA, and monounsaturated fatty acids, and soybean oil was the main contributor to PUFA in both age groups. In the 1-2-y group, children in rural areas had significantly higher intake of PUFA and n-3 fatty acids than did those in urban areas. CONCLUSIONS: Our findings provide current information on dietary fat intake among young Korean children and could be used to establish dietary strategies for improvement of health status.