Wheeled inverted pendulum (WIP) systems provide agile motion and energy-efficient locomotion through the wheels. However, they suffer from undesirable wheel motion for the acceleration and change of friction by the surface conditions. This paper presents a wheeled inverted pendulum with a fan (WIPF) that incorporates a fan thrust for the additional force for the control of traditional WIP systems. The WIPF is fully actuated by the wheel torque and the fan thrust, enabling the system to achieve enhanced balancing. The dynamics of the proposed system are analyzed and modeled for the control of the system with a linear quadratic regulator (LQR). The performance and characteristics of the WIPF are studied by simulations and experiments. WIPF showed enhanced balancing in step response for a desired position and improved impact robustness. Moreover, it achieved simultaneous control of the wheel position and body tilt angle, which is not attainable in traditional WIP systems.

본 연구는 제도적 이중성(institutional duality)의 관점에서 해외 자회사 자율성의 선행 요인 과 그 성과에 대해 연구하였다. 해외 자회사의 자율성은 자회사가 본사의 영향을 받지 않고 전략적 의사결정을 하고 그 성과에 책임을 질 수 있는 역할을 의미한다. 경영상 본사에서 파생되었으나 물 리적으로 해외에 자리하는 해외 자회사의 자율성에 상반된 영향을 주는 본국과 현지국의 제도적 요 소는 본사의 국제화전략 지향성과 지역 이해관계자 요구이다. 해외 자회사가 직면하게 되는 이러한 상반된 제도적 환경의 자율성에의 효과를 살펴보기 위해, 19개 국가에 진출한 177개 한국기업 해 외 자회사를 대상으로 GLS 분석을 실시하였다. 본사의 국제화전략이 범세계적 통합보다 현지국에 서의 지역별 대응을 지향할수록, 또 지역 이해관계자들의 요구가 강할수록 해외 자회사의 자율성이 높아지는 것으로 분석결과는 나타났다. 해외 자회사들의 자율성이 높을수록 자회사는 해당 지역 이 해관계자 들과의 긴밀한 관계를 통해 필요한 자원을 획득하고 본사로부터 제공된 자원과의 적절한 융합을 통해 자회사만의 독특한 경쟁우위를 창출하며 이것이 종국에 기업 성과를 상승시키는 것으 로 분석결과는 보여주고 있다. 또한, 본사의 국제화전략이 현지국에서의 지역별 대응을 지향할수록 자회사 자율성이 자회사 성과에 미치는 긍정적인 영향력을 강화하는 조절 효과가 있는 것으로 나타 나고 있다. 더 나아가, 자회사 자율성은 지역 이해관계자들의 요구가 자회사 성과로 이어지는 데에 부분 매개의 역할을 하는 것으로 확인되었다. 이러한 결과는 다국적 기업의 본사는 해외 자회사의 운영에 있어 지역별 유연성을 발휘할 필요가 있고, 해외 자회사 또한 본사와 현지국 양 편에서 오 는 제도적 압력의 균형점을 찾기 위해 노력할 필요가 있음을 시사한다.

Most scholars argue that the principle of permanent sovereignty over natural resources (PSNR) has been used by developing countries as a legal basis to exploit their natural resources, including forests, for the sake of economic development. Land conversion and forest burning are the primary causes of forest degradation and deforestation in Indonesia. Thus, the biodiversity of Indonesian tropical forests is decreasing tremendously. This article aims to comprehensively analyze the experiences of the Indonesian government to balance the principle of PSNR and sustainable forest management (SFM). The paper argues that the implementation of the PSNR principle in SFM faces many challenges, such as deforestation, forest degradation, and the failures in implementing laws, as well as weak law enforcement. Therefore, to balance the PSNR principle with SFM, the Indonesian government needs to undertake various efforts, such as strengthening law enforcement, carrying out social forest management, and exercising mandatory forest certification. Moreover, all these efforts need to be further improved.

4차 산업혁명의 핵심 원동력은 인공지능이다. 국가 간 AI 기술력 경쟁에서 뒤쳐지지 않기 위해 서는 특허권 확보가 중요하다. 이에 대해 미국은 Alice 판결 이후 컴퓨터구현발명에 대한 특허적 격문턱이 높아지고 이에 대한 판결은 일관성이 없다는 비판이 있었는바, 2019년 개정가이드라 인을 발표하였다. 금번 개정가이드라인은 특허권 자친화적인 입장에서 특허적격성의 문턱을 낮췄 다는 평가가 있다. 우리나라 또한 2019년 4차 산 업혁명 혁신기술 보호를 위해 SW 분야 특실 심사기준을 개정하였다. 그러나 인공지능은 컴퓨터구현발명으로서 종종 그 광범위성이 문제된다. 이는 발명자의 청구항의 권리범위는 기술 진보에 대한 발명자의 기여에 비례해야 한다는 특허법 기본 목적에 반할 수 있다. 따라서 인공지능이 활용되는 미래에 대비하기 위해서 컴퓨터구현발명의 성립성 기준을 낮추면서도 광범위한 특허들을 억제할 방법이 필요하다. 이때, AI 기술분야에서 광범위성 억제 방법으로 청구항 해석단계에서의 명세서 기재요건의 중요성이 강조된다. 또한, 기능식 청구항들의 광범위성을 억제하기 위해 권리범위 전부를 무효로 하는 대신, 기능식 청구항의 권리범위를 상세한 설명에 기재된 구조(알고리즘, 컴퓨터)로 한정하여 제한적으로 해석하는, ‘컴퓨터 구현 기능식 청구항 한정들에 대한 미국의 35 U.S.C. §112(f) 규정의 해석방법’을 우리나라 실정에 맞게 도입할 필요성이 있다.

The global luxury travel market is in a constant state of flux, and traditional players have to adapt to the rising challenges in various areas of their business model. As new players emerge, using technology and the global reach of the Internet and social media to reach out to a discerning group of travelers, they speak to the changing expectations and behavior of international consumers. Our study will shed light on these consumption and travel patterns, on ways new disruptors in the field of luxury hospitality successfully differentiate themselves from their more traditional competitors and on the implications this will have on the business models of five-star hotels in Switzerland. While limited in scope, this study will provide insight relevant to academics and professionals in the field of luxury hospitality.

In South Korea, Jeju Island has a role as a test bed for electric vehicles (EVs). All conventional cars on the island are supposed to be replaced with EVs by 2030. Accordingly, how to effectively set up EV charging stations (EVCSs) that can charge EVs is an urgent research issue. In this paper, we present a case study on planning the locations of EVCS for Jeju Island, South Korea. The objective is to determine where EVCSs to be installed so as to balance the load of EVCSs while satisfying demands. For a public service with EVCSs by some government or non-profit organization, load balancing between EVCS locations may be one of major measures to evaluate or publicize the associated service network. Nevertheless, this measure has not been receiving much attention in the related literature. Thus, we consider the measure as a constraint and an objective in a mixed integer programming model. The model also considers the maximum allowed distance that drivers would detour to recharge their EV instead of using the shortest path to their destination. To solve the problem effectively, we develop a heuristic algorithm. With the proposed heuristic algorithm, a variety of numerical analysis is conducted to identify effects of the maximum allowed detour distance and the tightness of budget for installing EVCSs. From the analysis, we discuss the effects and draw practical implications.

In this study, we consider the assembly line balancing (ALB) problem which is known as an very important decision dealing with the optimal design of assembly lines. We consider ALB problems with soft constraints which are expected to be fulfilled, however they are not necessarily to be satisfied always and they are difficult to be presented in exact quantitative forms. In previous studies, most researches have dealt with hard constraints which should be satisfied at all time in ALB problems. In this study, we modify the mixed integer programming model of the problem introduced in the existing study where the problem was first considered. Based on the modified model, we propose a new algorithm using the genetic algorithm (GA). In the algorithm, new features like, a mixed initial population selection method composed of the random selection method and the elite solutions of the simple ALB problem, a fitness evaluation method based on achievement ratio are applied. In addition, we select the genetic operators and parameters which are appropriate for the soft assignment constraints through the preliminary tests. From the results of the computational experiments, it is shown that the proposed algorithm generated the solutions with the high achievement ratio of the soft constraints.

The purpose of this study was to investigate the effect of fall injuries on the balancing abilities and ankle flexibility. Fifteen of the voluntary participants had no experience of falling in the last two years (none falling group, NFG) and 15 others experienced at least one (falling group, FG). Static balance (sway length, sway area), dynamic balance (timed up and go (TUG), and functional to reach test (FRT) were measured in each group. In comparison of static balance, sway length was not significantly different between NFG and FG in both eyes open and eyes close, however the sway area of the FG was significantly wider than that of the NFG (p<.05). In dynamic balance comparisons, TUG of FG was significantly longer than that of NFG (p <.05), however FRT and STS were no significant difference between groups. Ankle flexibility was significantly higher in NFG than in FG. This study suggests that the fall prevention program should include methods for improving ankle stability and lower extremity function.

Background: Many studies have reported positive results of the various mirror training and virtual reality games in improving dynamic standing balance and posture adjustment in chronic stroke patients. However, no systematic study has been conducted to compare the effects of virtual reality games and the mirror balance training. Objects: The purpose of this study was to compare the effectiveness of Wii balance games and Mirror Self- Balancing Exercises in improving proprioception of knee joint and standing balance of people with chronic stroke. Methods: Twenty patients with chronic stroke volunteered for this study. The subjects were randomly divided into a Wii balance games group and a Mirror Self-Balancing Exercises group with 10 patients in each group. Each training was performed for 30 mins a day for 4 days. In addition to the balance training, 30 mins neuro-developmental-treatment based routine physical therapy was given to both groups. Proprioception was measured using two continuous passive motion devices, and static balance was measured using a Wii balance board. Dynamic balance assessment tools included the Berg Balance Scale, Dynamic Gait Index, and Timed Up-and-Go test. Results: All measured variables before and after the experimental results showed a significant improvement in both groups (p<.05). Only the improvement of the affected knee proprioception appeared to be significantly greater in the Wii balance game group (p<.05). However, other variables did not differ between the groups (p>.05). Conclusion: The findings suggest that both Wii balance games and Mirror Self-Balancing Exercises may be helpful for improving the proprioception of knee joint and the balance of patients with chronic stroke.

In most RPG games, gameplay tends to be monotonous due to fixed character skills. This paper proposes a RPG game implementation technique which allows players' skill customization for their own gameplay. Players are allowed to customize their preferred game skills at the beginning of gameplay. We also propose a technique to guarantee game balancing by prohibiting certain skills from dominating gameplay. We implemented the proposed skill customization method together with a simple RPG game testbed. We tested a variety of player-defined skills and confirmed the method provides good game balancing during gameplay. Due to the voluntary and impromptu skill customization, a wide variety of strategy is possible even at the single game stage, which reduces boredom at the repetitive gameplay.

The purpose of the present study is to provide exercises, together with music, that are helpful for elderly people’s balancing ability, and to determine their effects in order to provide data for the promotion of elderly persons’health. Thirty elderly persons were randomly assigned to a balance training group(BTG) of 15 subjects, or a music and balance training group (music therapy + balance training [MTBTG]) of 15 subjects; intervention was implemented three times per week for six weeks. To measure the changes in their balancing ability before and after the experiment, the limit of stability, the“Timed Up and Go”(TUG) test, and the Berg Balance Scale (BBS) were measured. Changes in the limit of stability before and after the experiment were shown to be significant in both the BTG and the MTBTG. Changes in the limit of stability of the right side before and after the experiment showed statistically significant differences between the BTG and the MTBTG. Changes in the TUG test and the BBS before and after the experiment were shown to be statistically significant in both the BTG and the MTBTG. The application of music during balance training thus is considered to have a positive effect on elderly persons’balancing ability.

Fall is one of the most intimidating health conditions in elders. Comprehensive assessment is necessary to understand the individual and environmental aspects of the falls such as balancing abilities, depression, and quality of life. The purpose of this study was to compare the balancing ability, depression, and quality of life between elderly fallers and elderly non-fallers. Thirty-two community-dwelling elders (fifteen males and seventeen females between 65 and 83 years old), who have experienced fall on walking during last twelve months, were involved in the elderly fallers group. And twenty-four males and twenty-two females between 65 and 83 years old of community-dwelling elders, who have no experienced fall on walking during last twelve months, were involved in the elderly non-fallers group. Berg balance scale (BBS), timed up and go test (TUG), and functional reach test (FRT), were used to evaluate the ability of the physical balance. ‘Beck depression scale in Korean’ questionnaire was used to assess the depression. ‘Korean version of World Health Organization Quality of Life Assessment Instrument-Bref’ questionnaire was used to assess the quality of life. The results were as follows: 1) Balancing abilities measured by the BBS, TUG in the elderly fallers group were meaningfully lower than that of the elderly non-fallers group (p<.05), whereas no significant difference in the FRT was found (p>.05). 2) Depression level in the elderly fallers group was significantly higher than that of the elderly non-fallers group (p<.05). 3) Quality of life in the elderly fallers group was significantly lower than that of the elderly non-fallers group, excluding environment domain (p<.05). Therefore, in order for clinical evaluation of the community-dwelling elders those with reduced balancing ability, it is necessary to evaluate and understand the fall experience, depression, and quality of life.

Although cross-functional conflicts occur between marketing and research and development departments, empirical research on the inherent mechanism remains scant. This study examines the hierarchical relationship among various cross-functional conflict types. Trust moderates conflict resolution in a sample of 135 Chinese high-tech companies. Results show an inverted U-shaped relationship for cross-functional task conflict and a negative relationship for cross-functional relationships on team effectiveness and innovation performance. Trust moderates the relationship between cross-functional task conflict and team effectiveness; however, the results do not show trust’s link to the relationship between relationship conflict and team effectiveness. When trust is high, the U-shaped relationship between cross-functional task conflict and team effectiveness becomes positive. This study offers executives new guidelines for managing conflict and trust to improve high-tech firm’s innovation climate.

In this thesis, we surveyed the current status of production operations management to find how to improve the operations efficiency. From the survey research, we have found that practical software tools should be developed to increase the efficiency of production operations management, especially for small and mediumsized enterprises. Although there exist a lot of excellent line balancing researches, the results of our survey represent that trial and error methods on the basis of experiences have been used mainly used in the domestic manufacturing industry. It seems that more practical researches should be carried out to develop user-oriented line balancing tools. As a part of the development of those tools, this thesis proposed a design of the line balancing tool which can support the line balancing tasks of nonspecialists. The proposed design is composed of three major phases: redundancy check of the precedence diagram, line balancing, and modification of the line balancing results. The first phase is to check the precedence diagram of work elements and remove the redundancy. The redundancy may affect the quality of solutions and computational time. Although it is important to prepare a neat and proper precedence data, it is not easy to develop a tidy precedence diagram for laymen. The first phase automatically removes the overlapped data. The next phase is the line balancing algorithm. The proposed algorithm is based on COMSOAL and can solve minimization of the number of work stations given the target production cycle time and minimization of the production cycle time given the number of work stations. Additionally, our suggested method can accommodate the predetermined location constraints. The third phase is to modify the solution suggested by the second phase. Frequently, users may want to change the result to reflect some constraints which were not easy to be included into the line balancing algorithm. So, a practical line balancing tool should provide mechanisms to modify the solution and they should check the precedence violation while a user tries to change the work station of an element. This research suggested a simple mechanism to check the precedence violation. We applied the proposed design to some test problems and test results showed that it performed successfully. Therefore, our method may contribute to enhance the efficiency of production operations management.

Foraging is fundamental to animal survival and reproduction, and animals often require more than one nutrient to maximize their evolutionary fitness. Here, we test whether caterpillars of Spodoptera exigua (Hübner) balance the intake of multiple nutrients to meet their nutrient requirement. In the choice test, final-instar larvae were offered a choice of two nutritionally complementary diets [1) p42:c0 vs. p0:c42, 2) p42:c0 vs. p7:c35, 3) p35:c7 vs. p0:c42, 4) p35:c7 vs. p7:c35, 5) p35:c7 vs. p5.6:c28, 6) p28:c5.6 vs. p7:c35 and 7) p28:c5.6 vs. p5.6:c28]. Caterpillars tightly regulated their intake of protein (P) and carbohydrate (C) to defend a specific nutrient composition, which was slightly carbohydrate-biased (P:C=1:1.2). In the no-choice test, larvae were restricted to feed on one of 42 diets that varied both in P:C mixtures (1:0, 5:1, 2:1, 1:1, 1:2 and 1:5) and in total nutrient concentration(P+C=67.2%, 58.8%, 50.4%, 42%, 33.6%, 25.2% and 16.8%). Fitness landscapes fitted for key larval fitness variables (e.g., growth rate) over these range of diets revealed that the larval performance was optimized at the regulated position of nutrient intake in this caterpillar.

아무리 좋은 그래픽과 뛰어난 엔진 성능과, 독창적인 아이디어, 그리고 마케팅 능력을 가진 게임이라 할지라도 게임이 밸런스가 잡히지 않은 게임이라면 아무런 소용이 없다. 이를 알고 있는 게임 개발자들은 밸런스에 많은 노력을 기울이지만 명확한 기준 없이 수많은 테스트를 통해 결과를 얻는다. 본 논문에서는 기존의 테스트를 통한 게임의 밸런스를 수정하는 방법을 개량하여 시간과 자원을 아낄 수 있는 방안에 대해 고찰하였다. 특히 MMORPG 게임에서 유저들이 가장 많이 사용하게 되는 스킬을 가지고 밸런스 방법에 대해 접근 하며 각각의 가지고 있는 특징들을 가치로 부여함으로써 스킬의 파라미터를 조율하고 이를 통해 캐릭터들 간의 밸런스도 좀 더 효과적으로 할 수 있도록 유도하는 방법론에 대해 제안하고자 한다. 본 연구 결과를 활용하면 객관적인 자료를 토대로 효율적이고 체계적인 밸런스가 가능하다.

  In this paper, we consider a line balancing problem in hybrid flowshops where each workstation has identical parallel machines. The number of machines in each workstation is determined in ways of satisfying pre-specified throughput rate of the system. T

다분야통합해석에 기반한 설계문제는 일반적으로 전체 설계과정에서 매우 큰 계산시간을 요구하며, 이러한 계산시간을 단축하기 위해 병렬처리시스템을 도입하는 것이 필수적이다. 그러나 다분야통합해석에 기존의 병렬처리기법을 적용하기 위해서는 해석에 필요한 모든 CAE 소프트웨어들이 병렬처리시스템의 모든 서버에 설치되어 있어야 하며, 이는 매우 큰 CAE 소프트웨어의 비용을 필요로 한다. 본 논문에서는 이러한 문제점을 해결하기 위해 가중치 기반 멀티큐 부하분산 알고리즘을 제안하였다. 제안된 알고리즘은 서버들의 성능과 설치된 CAE 소프트웨어들의 종류가 각기 다른 이종 병렬처리시스템을 고려하였으며 성능검증을 위해 선입선출(First Come First Servre) 알고리즘을 적용한 경우와 비교한 전산실험을 수행하였다.