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Woojin Chung,Hoyeon Kim,Yoonkyu Yoo,Chang-Bae Moon,Jooyoung Park IEEE 2012 IEEE transactions on industrial electronics Vol.59 No.8
<P>The human-friendly navigation of mobile robots is a significant social and technological issue. There are many potential applications of human-following technology. Good examples are human-following shopping carts, porter robots at airports, and museum guide robots. In this paper, we propose detection and tracking schemes for human legs by the use of a single laser range finder. The leg detection algorithm takes an inductive approach by the application of a support vector data description scheme and simple attributes. We establish an efficient leg-tracking scheme by exploiting a human walking model to achieve robust tracking under occlusions. The proposed schemes are successfully verified through experiments.</P>
Safe Navigation of a Mobile Robot Considering Visibility of Environment
Woojin Chung,Seokgyu Kim,Minki Choi,Jaesik Choi,Hoyeon Kim,Chang-bae Moon,Jae-Bok Song IEEE 2009 IEEE transactions on industrial electronics Vol.56 No.10
<P>We present one approach to achieve safe navigation in an indoor dynamic environment. So far, there have been various useful collision avoidance algorithms and path planning schemes. However, those algorithms possess fundamental limitations in that the robot can avoid only ldquovisiblerdquo ones among surrounded obstacles. In a real environment, it is not possible to detect all the dynamic obstacles around the robot. There are many occluded regions due to the limited field of view. In order to avoid collisions, it is desirable to exploit visibility information. This paper proposes a safe navigation scheme to reduce collision risk considering occluded dynamic obstacles. The robot's motion is controlled by the hybrid control scheme. The possibility of collision is dually reflected to path planning and speed control. The proposed scheme clearly indicates the structural procedure on how to model and to exploit the risk of navigation. The proposed scheme is experimentally tested in a real office building. The experimental results show that the robot moves along the safe path to obtain sufficient field of view. In addition, safe speed constraints are applied in motion control. It is experimentally verified that a robot safely navigates in dynamic indoor environment by adopting the proposed scheme.</P>
Personal Influence IN THE Diffusion OF Fertility Control: THE Role Played BY Ideas VS. Behavior
Woojin Chung(정우진) 한국인구학회 2002 한국인구학 Vol.25 No.1
여성은 여러 원천에서 제공되는 다양한 정보를 참고하여 출산조절결정을한다. 본 연구는 사회조직(social network) 자료를 2단계 계량경제모형에 적용함으로써 여성의 출산조절에 미치는 다른 여성들의 견해와 행동의 효과를 분석한다. 동시에 (1) 출산조절결정에 미치는 사회적 지도력의 영향, (2) 여러 종류의 사회조직간 영향도 비교, (3) 출산조절 현장요원 및 여성사회조직의 역할 등을 고려함으로써 저개발국의 출산조절정책수립을 위한 정책점 시사점 을 제공한다. A woman faced with choices regarding contraception has several sources of information which may influence her decision. Among these are other women's ideas as well as their reported behavior. Applying a two-stage econometric model to data on married women taken from a study of Korean social networks, this paper assesses the relative impacts of the two information sources above. In addition, this paper (1) considers the role of social and opinion leadership in the impact of a family planning program by postulating two different social influence factors, (2) explores which types of social network contacts most significantly amplify the impact of the family planning program, and (3) discusses the effects of two types of family planning program efforts: the inputs of family planning field workers, and the use of indigenous women's groups.
Personal Influence IN THE Diffusion OF Fertility Control : THE Role Played BY Ideas VS. Behavior
Chung, Woojin The Population Association of Korea 2002 한국인구학 Vol.25 No.1
여성은 여러 원천에서 제공되는 다양한 정보를 참고하여 출산조절결정을한다 본 연구는 사회조직(social network) 자료를 2단계 계량경제모형에 적용함으로써 여성의 출산조절에 미치는 다른 여성들의 견해와 행동의 효과를 분석한다. 동시에 (1) 출산조절결정에 미치는 사회적 지도력의 영향, (2) 여러 종류의 사회조직간 영향도 비교. (3) 출산조절 현장요원 및 여성사회조직의 역할 등을 고려함으로써 저개발국의 출산조절정책수립을 위한 정책점 시사점을 제공한다 A woman faced with choices regarding contraception has several sources of information which may influence her decision Among these are other women's ideas as well as their reported behavior. Applying a two-stage econometric model to data on married women taken from a study of Korean social networks. this Paper assesses the relative impacts of the two information sources above. In addition, this Paper (1 ) considers the role of social and opinion leadership in the impact of a family Planning Program by Postulating two different social influence factors, (2) explores which types of social network contacts most significantly amplify the impact of the family Planning program, and (3) discusses the effects of two types of family Planning Program efforts: the inputs of family planning field workers, and the use of indigenous women's groups.
Chung, Woojin,Kim, Sungsu,Chang, Soonwoong American Scientific Publishers 2016 Journal of Nanoscience and Nanotechnology Vol.16 No.10
<P>TiO2 photocatalysts were prepared by the sol-gel method using different sintering temperatures and hydrolysis pH conditions, and were characterized using scanning electron microscopy, X-ray diffraction, and surface area analysis. The photocatalytic efficiencies of the prepared TiO2 samples were evaluated by their ability to promote the achromatization of the dye reactive orange 16 in a batch test reactor under UV irradiation. In addition, the correlation between the rate constant of the achromatization and the particle size and surface area of the catalysts was investigated. The efficiency appeared to be highest for particles with a size of 10-14 nm and a specific surface area of 70-80 m(2)g(-1). From these results, it was concluded that the photocatalytic efficiency is dependent on the particle size, crystallinity, and specific surface area of the catalyst.</P>
Door-Opening Control of a Service Robot Using the Multifingered Robot Hand
Woojin Chung,Changju Rhee,Youngbo Shim,Hyungjin Lee,Shinsuk Park IEEE 2009 IEEE transactions on industrial electronics Vol.56 No.10
<P>Service robots are spreading their application areas to human coexisting real environments. However, it is still difficult to find an autonomous robot that is capable of manipulation services in a real environment. The three major difficulties of manipulation service can be summarized as follows: 1) unstructured human-centered environment; 2) limited resources in a robot; and 3) uncertainties in real environments. This paper deals with the autonomous manipulation task by a service robot in human coexisting environment. We focus on a door-opening problem. In this paper, we concentrate on three issues from the viewpoint of service-robot applications. The first issue is to estimate kinematic parameters by using an active-sensing strategy to overcome uncertainties in a real environment. The second issue is to provide an integrated strategy of motion coordination for door-opening control. This paper discusses the role assignment of each subsystem that depends on the physical characteristics. The third issue is to use the fingertip-contact forces to estimate the external force from a doorknob, instead of using an additional high-cost force sensor at the wrist. The proposed scheme is shown to be useful through experimental results.</P>