• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2017.04a
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• pp.37-38
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• 2017

최근 방제 및 예찰과 같은 농작업에 단일 UAV(Unmanned Aerial Vehicle)시스템이 적용되고 있지만, 가반하중과 체공시간 등 기존시스템의 문제가 점차 대두되면서 작업 시간을 보다 단축시키고 작업 효율을 극대화 할 수 있는 농업용 멀티 UAV시스템의 필요성이 증대되고 있다. 본 논문에서는 작업자가 다수의 농업용 UAV를 효과적으로 제어할 수 있는 분산군집제어 알고리즘을 제안하며 알고리즘 검증 및 평가를 위한 시뮬레이터를 소개한다. 분산군집제어는 UAV 제어 계층, VP(Virtual Point) 제어 계층, 원격제어 계층으로 이루어진 3계층 제어구조를 가진다. UAV 제어 계층에서 각 UAV는 point mass로 모델링 되는 VP의 이상적인 경로를 추종하도록 제어한다. VP 제어 계층에서 각 VP는 입력 $p_i(t)=u^c_i+u^o_i+u^{co}_i+u^h_i$-(1)을 받아 제어되는데 여기서, $u^c_i{\in}{\mathbb{R}}^3$는 VP 사이의 충돌방지제어, $u^o_i{\in}{\mathbb{R}}^3$는 장애물과의 충돌방지제어, $u^{co}_i{\in}{\mathbb{R}}^3$는 UAV 상호간의 협조제어, $u^h_i{\in}{\mathbb{R}}^3$는 작업자로부터의 원격제어명령이다. (1)의 제어입력에서 충돌방지제어는 각 $u^i_c:=-{\sum\limits_{j{\in}{\eta}_i}}{\frac {{\partial}{\phi}_{ij}^c({\parallel}p_i-p_j{\parallel})^T}{{\partial}p_i}}$-(2), $u^o_c:=-{\sum\limits_{r{\in}O_i}}{\frac {{\partial}{\phi}_{ir}^o({\parallel}p_i-p^o_r{\parallel})^T}{{\partial}p_i}}$-(3)로 정의되면 ${\phi}^c_{ij}$와 ${\phi}^o_{ir}$는 포텐셜 함수를 나타낸다. 원격제어 계층에서 작업자는 햅틱 인터페이스를 통해 VP의 속도를 제어하게 된다. 이때 스케일변수 ${\lambda}$에 대하여 VP의 원격제어명령은 $u^t_i(t)={\lambda}q(t)$로 정의한다. UAV 시뮬레이터는 리눅스 환경에서 ROS(Robot Operating Systems)를 기반한 3차원 시뮬레이터인 Gazebo상에 구축하였으며, 마스터와 슬레이브 간의 제어 명령은 TCPROS를 통해 서로 주고받는다. UAV는 PX4 기반의 3DR Solo 모델을 사용하였으며 MAVROS를 통해 MAVLink 통신 프로토콜에 접속하여 UAV의 고도, 속도 및 가속도 등의 상태정보를 받을 수 있다. 현재 멀티 드론 시스템을 Gazebo 환경에 구축하였으며, 추후 시뮬레이터 상에 분산군집제어 알고리즘을 구현하여 검증 및 평가를 진행하고자 한다.

• Journal of the Korean Society for Nondestructive Testing
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• v.21 no.6
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• pp.618-629
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• 2001

This paper presents a result of failure analysis and reliability evaluation for high voltage ceramic capacitors. The failure modes and failure mechanisms were studied in two ways in order to estimate component life and failure rate. The causes of failure mechanisms for zero resistance phenomena under withstanding voltage test in high voltage ceramic capacitors molded by epoxy resin were studied by establishing an effective root cause failure analysis. Particular emphasis was placed on breakdown phenomena at the ceramic-epoxy interface. The validity of the results in this study was confirmed by the results of accelerated testing. Thermal cycling test for high voltage ceramic capacitor mounted on a magnetron were implemented. Delamination between ceramic and epoxy, which might cause electrical short in underlying circuitry, can occur during curing or thermal cycle. The results can be conveniently used to quickly identify defective lots, determine $B_{10}$ life estimation each lot at the level of inspection, and detect major changes in the vendors processes. Also, the condition for dielectric breakdown was investigated for the estimation of failure rate with load-strength interference model.

• Radiation Oncology Journal
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• v.10 no.1
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• pp.101-105
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• 1992

Authors performed a stereotactic radiosurgery with multiple noncoplanar convergent photon beams of linear accelerator (NELAC-1018 18 MeV, NEC) using a specially designed Yeungnam localization device for two patients with recurrent glioblastoma multiforme. One patient had 2 cm sized and the other 4 cm sized mass on the CT images. After single session of treatment with 15 and 20 Gy, headache was improved in a few days after radiosurgery with no remarkable untoward reactions. Our experience with these two patients were encouraging and we found that our localization device, which is easily adjustable and inexpensive, could be a valuable tool for stereotactic radiosurgery particularly in the treatment of recurrent brain tumor.

• Journal of Korean Society of Transportation
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• v.19 no.3
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• pp.45-58
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• 2001

Subjective mental workload assessment technique becomes a standard human factors and human-machine interface evaluation tool for the evaluation of ITS(Intelligent Transport Systems)-oriented information systems as well as the drivers visual activity analysis, physiological indices(GSR, EEG, ECG, etc.), secondary task performance, reaction time. vehicle control parameters(speed, steering behavior, accelerator control) that are widely applied for transportation and vehicle systems to evaluate the safety, to decide the system or design alternatives, and to establish the design guidelines. This paper reviewed and compared the most globally employed four mental workload assessment techniques that have been designed for the use of various human-machine systems and ITS-oriented in-vehicle information systems. NASA-TLX(National Aeronautics and Space Administration-Task Load Index). SWAT(Subjective Workload Assessment Technique), MCH(Modified Cooper-Harper) scale, and recently developed RNASA-TLX(Revision of NASA-TH) were compared in terms of sensitivity and subjective evaluations to derive the human-machine interface evaluation guidelines for the application of ITS-oriented in-vehicle information systems. Then, experiment results supported that RNASA-TLX is the prospective tool for the mental workload assessment of ITS-oriented in-vehicle information systems.

• Journal of the Korean Society for Railway
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• v.13 no.2
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• pp.186-193
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• 2010

Track system and periodic live load are characteristics of railway bridges. In the design and construction of railway bridge, periodic live load increases the importance of dynamic behavior. And It is well known that behavior of railway bridge may be affected by track system in real bridge. Through experimental study, static and dynamic behaviors were investigated. Deflection and stress due to bending moment were measured, the location of neutral axis of each section, natural frequency, damping ratio were analyzed for each three track systems - girder only, installed ballast track system and installed concrete slab track system. According to measured values for the each type of track system, concrete track system increases the stiffness of bridge by 50%, and ballast system does by 7%, dynamic responses of structure change linearly with the magnitude of load and location of neutral axis of each sections varies with each track system. Damping ratio is almost equal without and with track. Therefore, the effects of track system on the integral behaviors of railway bridge can not be ignored in the design of bridge, especially in the case of concrete slab track system. So study of the quantitative analysis method for effects of track system must be performed.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.39 no.2
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• pp.135-146
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• 2015

This paper is the fourth on the combustion characteristics of the landfill gas in a constant volume combustion chamber for a large displacement volume commercial engine and the second dealing with torch ignition. It discusses the combustion characteristics of torch ignition on the basis of the heat release and visualization. The results show that the jet and/or spout from the torch promote combustion by accelerating the flame front in the main combustion chamber. In addition, a hot gas jet exists when the orifice diameter is 4 mm, whereas the flame passes directly through the orifice if the diameter is 6 mm or greater. In addition, the effect of torch ignition differs according to the combination of the methane fraction, torch volume, and orifice size because various combustion processes occur as a result of the interaction of these parameters. Finally, it was found that the most suitable torch should have an orifice diameter of not less than 6 mm and an area ratio of not more than 0.15 to secure a consistent combustion process in a real engine.

• Journal of the Korean Society of Radiology
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• v.12 no.3
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• pp.351-357
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• 2018

During radiation therapy, the patient is exposed to secondary radiation by scattered and leakage radiation. For the diagnostic radiation, guidelines for reducing the patient's exposure as the diagnostic reference level are provided. However, in the case of therapeutic radiation, even though the radiation dose by the secondary radiation is considerable, the prescription dose is not limited because of the reason of the therapeutic efficiency. The purpose of this study was to evaluate the secondary radiation that the patient could be received at the peripheral tissue during the radiotherapy using the linear accelerator with the radiophotoluminescent glass dosimeter. In addition, we measured the degree of saturation of the luminescent amount according to the build-up characteristic of the radiophotoluminescent glass dosimeter. As a result of carrying out this study, the exposure dose decreased drastically farther away from the treatment field. When the head was irradiated with 1 Gy, the neck could be exposed to 18.45 mGy. When the same dose was irradiated at the neck, 15.55 mGy of the head and irradiated at the chest, 14.26 mGy of the neck and irradiated at the pelvis, 1.14 mGy of the chest were exposed separately. The degree of saturation of the luminescent intensity could be overestimated by 1.8 ~ 4.8% depending on time interval for 3 days.

• Environmental and Resource Economics Review
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• v.22 no.3
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• pp.547-580
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• 2013

As energy conservation can be realized through changes in the composition of goods and services consumed, there is a need to assess indirect and total household energy consumption. The Korean household sector was responsible for more than 55% of Korea's total energy consumption in the 1995 to 2010 period. More than 69% of household energy consumption was indirect. Thus, not only direct but also indirect household energy consumption should be the target of energy conservation. Electricity consumption became in 2009 the main source of household energy consumption in Korea. Households consume more and more electricity intensive goods and services, a sign of increasing living standards. Decrease in energy intensities of products consumed by Korean households contributed greatly to reduce the increase in the total household energy consumption. However, switching took place towards more energy intensive products, thus the structure effect was negative. It is necessary to direct consumption and production towards much less energy intensive goods and services as to reduce energy consumption or its growth rate. The Korean government should readjust low energy and electricity prices to cost-reflective prices levels as these low prices are one of the main reasons for the consumption of more energy intensive products. This study differentiates prices of oil products and electricity between households and industries, as to allow more accurate estimation.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.5
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• pp.611-617
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• 2018

The application of health monitoring, including a fault detection technique, is needed to secure the structural safety of large structures. A 2-step crack identification method for detecting the crack location and size of the beam structure is presented. First, a crack occurrence region was estimated using the modified Laplacian operator for the strain mode shape obtained from the distributed local strain data. The crack location and size were then identified based on the natural frequencies obtained from the acceleration data and the neural network technique for the pre-estimated crack occurrence region. The natural frequencies of a cracked beam were calculated based on an equivalent bending stiffness induced by the energy method, and used to generate the training patterns of the neural network. An experimental study was carried out on an aluminum cantilever beam to verify the present method for crack identification. Cracks were produced on the beam, and free vibration tests were performed. A crack occurrence region was estimated using the modified Laplacian operator for the strain mode shape, and the crack location and size were assessed using the natural frequencies and neural network technique. The identified crack occurrence region agrees well with the exact one, and the accuracy of the estimation results for the crack location and size could be enhanced considerably for 3 damage cases. The presented method could be applied effectively to the structural health monitoring of large structures.

• The Journal of Korean Society for Radiation Therapy
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• v.19 no.1
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• pp.43-49
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• 2007

Purpose: The aim of this study was the clinical implementation of IGRT using KV CBCT for setup correction in radiation therapy. Materials and Methods: We selected 9 patients (3 patient for each region; head, body, pelvis)and acquired 135 CBCT images with CLINAC iX (Varian medical system, USA). During the scan, the required time was measured. We analyzed the result in 3 direction; vertical, longitudinal, lateral. Results: The mean setup errors at the couch position of vertical, lateral, and longitudinal direction were 0.07, 0.12, and 0.1 cm in the head region, 0.3, 0.26, and 0.22 cm in the body region, 0.21, 0.18, and 0.15 cm in the pelvis region respectively. The mean time required for CBCT was $6{\sim}7$ minute. Conclusion: The CBCT on the LINAC provides the capacity for soft tissue imaging in the treatment position and real time monitoring during treatment delivery. With presented workflow, the setup correction within reasonable time for more accurate radiation therapy is possible. And it's image can be very useful for adaptive radiation therapy(ART) in the future with improved image quality.