• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.12
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• pp.271-279
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• 2019

In extreme environment regions, unmanned rovers equipped with various sensors and devices are being developed for long-term exploration on behalf of humans. On the other hand, due to the harsh weather conditions and rough terrain, the rover camera has limited visible distance and field of view. Therefore, the rover cameras should be located for safe navigation and efficient terrain mapping. In this regard, to minimize the cost and time to manufacture the camera system on a rover, the simulation method using the rover design is presented to optimize the camera locations on the rover efficiently. In the simulation, a simulated terrain was taken from cameras with different locations and angles. The visible distance and overlapped extent of camera images, and terrain data accuracy calculated from the simulation were compared to determine the optimal locations of the rover's cameras. The simulated results will be used to manufacture a rover and camera system. In addition, self and system calibrations will be conducted to calculate the accurate position of the camera system on the rover.

• Progress in Medical Physics
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• v.25 no.1
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• pp.31-36
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• 2014

We aimed to evaluate the dosimetric characteristics of reproducibility, linearity and dose dependence of optical stimulated luminance dosimeter (OSLD) in the Co-60 Gamma-rays and to analyze with a precedent study in field of the diagnostic radiography and radiotherapy. The reproducibility was 0.76% of the coefficient of variation, the homogeneity was within 1.5% of the coefficient of variation and OSLD had supra-linear response more than 3 Gy. So the correlation between dose and count was fitted by quadratic function. The count depletion by repeated reading was 0.04% per reading regardless of the irradiated dose. And the half time of decay curve according to the irradiated dose was 0.68 min. with 1 Gy, 1.04 min. with 5 Gy, and 1.10 min. with 10 Gy, respectively. In case of annealing for 30 min, the removal rate was 88% with 1 Gy, 90% with 5 Gy, and 92% with 10 Gy, respectively and 99% in case of annealing time for 4 hour. It is feasible to use OSLDs for dose evaluation in Co-60 Gamma-rays when considering the uncertainty on the procedure according to the irradiated dose.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.2
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• pp.608-616
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• 2018

If a general nonlinear system is linearized by the successive multiplication of the 1st and 2nd order systems, then there are four types of poles in this linearized system: the pole of the 1st order system and the equal poles, two distinct real poles, and complex conjugate pair of poles of the 2nd order system. Linear Quadratic (LQ) control is a method of designing a control law that minimizes the quadratic performance index. It has the advantage of ensuring the stability of the system and the pole placement of the root of the system by weighted matrix adjustment. LQ control by the weighted matrix can move the position of the pole of the system arbitrarily, but it is difficult to set the weighting matrix by the trial and error method. This problem can be solved using the characteristic equations of the Hamiltonian system, and if the control weighting matrix is a symmetric matrix of constants, it is possible to move several poles of the system to the desired closed loop poles by applying the control law repeatedly. The paper presents a method of calculating the state weighting matrix and the control law for moving the equal poles with Jordan blocks to two real poles using the characteristic equation of the Hamiltonian system. We express this characteristic equation with a state weighting matrix by means of a trigonometric function, and we derive the relation function (${\rho},\;{\theta}$) between the equal poles and the state weighting matrix under the condition that the two real poles are the roots of the characteristic equation. Then, we obtain the moving-range of the two real poles under the condition that the state weighting matrix becomes a positive semi-finite matrix. We calculate the state weighting matrix and the control law by substituting the two real roots selected in the moving-range into the relational function. As an example, we apply the proposed method to a simple example 3rd order system.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.12 no.4
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• pp.59-70
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• 1992

Inelastic nonlinear behavior of a hyperbolic cooling tower under wind loading is studied using a finite element program developed on a Cray Y-MP. Convergence studies for the elastic and inelastic analyses are performed using three mesh models. It is shown that the mesh convergence plays an important role in accurately predicting the inelastic behavior of a cooling tower. Even though the cooling tower resists the applied forces through membrane stresses, it is found that the bending stresses play an important role in the failure and behavior of the cooling tower. The present analysis gives a shape factor of 1.48, which indicates a significant redistribution of meridional stresses. It is further evidenced by the distribution of meridional reinforcement yielding which reaches up to $30^{\circ}$ from the windward meridian. The present practice of using elastic analysis for calculating the design stresses appears to be at least safe and conservative. A more comprehensive study should lead to conclusions that would allow use of a higher-than-one shape factor, thus requiring less meridional reinforcement than the present design method does.

• The Journal of the Korea Contents Association
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• v.13 no.12
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• pp.659-671
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• 2013

Through Korean traditional opera (changgeuk) Medea, composer Hwang Ho-jun showed eclectic music idiom by 1) writing music (jakchang) on manuscript paper and score, 2) introducing the "song-through" format, 3) including various solo melodies, 4) maximizing the effect created by a singing narrator (dochang) with the chorus master and a mixed chorus, 5) seeking an interplay of tension and release by using both discord and chord, 6) achieving the effect of kil-bakkum, the Korean traditional method of modulation, through modulation and borrowed chord of Western music. In Medea, instrumentalists adopted suseong-banju (Korean traditional accompaniment) which does not spoil the voice of singers. Hwang adopted song for the way how singers express various hidden sides of play among song, aniri (narration) and balim (gesture) and introduced the Sung-through format in which the play is comprised entirely of song. In Medea, oral sounds expressing wail, lament, cheer, sneer and scream are often used and various solo melodies appear that fit for personalities of characters, clearly showing what bunchang (singers' singing songs divided according to characters) is all about. And discord and chord are effectively used according to the development and mood of play. Hwang also achieved successfully the effect of kil-bakkum by abandoning the traditional modulation method and boldly introducing modulation and borrowed chord of Western music.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.3
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• pp.2029-2037
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• 2015

The purpose of this study was to investigate the effect the interferential current (IFC) stimulation level according to autonomic nerve system (ANS) of healthy adults. IFC measured with adhesive 2-pole electrodes pad on T1~T4 spinal cord segment level that electrode stimulation of 20 min after. A total of 45 healthy adults participated in the study, who were randomly divided into three groups: 15 of sensory level stimulus group (100 bps, 10~12 mA), 15 of exercise level stimulus group (5 bps, 45~50 mA), 15 of noxious level stimulus group (100 bps, 80~90 mA). Measured items were sympathetic activity and parasympathetic activity. In order to identify the changes in measurement variables before electrode stimulation and after and 30 min stimulation. The comparison of sympathetic and parasympathetic activity in each group revealed that they was changes of after vs 30 min in after electrical stimulation time(p<.05).

• Journal of Biomedical Engineering Research
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• v.22 no.5
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• pp.385-392
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• 2001

This study Proposes a quadrature-typed inside-out receiver coil to obtain magnetic resonance(MR) images of lumen wall. This means that the coil should receive the signals from out-side of receiver coil. This coil has wide and uniform sensitive region to compare with previous coils such as anti-solenoid coil, octal-pole coil and so on. These coils have the disadvantages that sensitive region is narrow and inhomogenous. The proposed coil is consist of two saddle coils of which directions are orthogonal to one another. The sensitivity maps of octal-Pole coil single-saddle coil and quadrature-typed inside-out coil were obtained by computer simulation. And phantom images for each coil were obtained to evaluate the performances of the coil using both 1.5T superconducting and 0.3 Permanent magnet MRI system. The uniformity of quadrature coil's sensitivity map was superior to that of octal-polel coil. Experimentally measured SNR of quadrature coil is also 36% higher than that of single-saddle coil This study shows the possibility of quadrature-typed inside-out receiver coil for the MR lumen wall images.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.11
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• pp.53-67
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• 1998

This paper suggests a method designing the TSK fuzzy controller based on the TSK fuzzy model, which guarantees the stability of the closed loop system and makes the response of the closed loop system to be a desired one. This paper deals with the general type of TSK fuzzy model of which consequents are affine equations having a constant term. The TSK fuzzy controller suggested in this paper is designed by using the pole placement which developed for the linear systems and makes the closed loop system have the same behavior as a desired linear system. A reference input can be introduced to the suggested TSK fuzzy controller and an integral action also can be introduced. Simulation results reveal that the suggested methods are practically feasible. This paper deals with both the continuous systems and the discrete systems.

• Journal of Sensor Science and Technology
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• v.14 no.6
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• pp.409-414
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• 2005

For an intelligent vehicle driving which uses magnetic markers and magnetic sensors, we can get every kind of road information while moving the vehicle if we use the code that is encoded with N, S pole direction of markers. If we make it an only aim to move the vehicle, it becomes easy to control the vehicle the more we put markers close. By the way, to recognize the direction of a marker pole it is much better that the markers have no effect each other. To get road informations and move the vehicle autonomously we propose the methods of arranging magnetic sensors and algorithm of recognizing the position of the vehicle with those sensors. We verified the effectiveness of the methods with computer simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.6
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• pp.713-721
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• 1998

In this paper a new modeling and an optimal pole-placement control for the suspension system of Macpherson type are investigated. The rotational motion of the unsprung mass is emphasized in the new modeling. The two generalized coordinates selected in the new model are the vortical displacement of sprung mass and the angular displacement of control arm. Both variables are measured from their static equilibrium points. It is shown that the conventional model is a special case of the new model since the transfer function of the new model coincides with that of the conventional one if the lower support point of the shock absorber is located at the mass center of the unsprung mass. It is also shown that the resonance frequencies of the new model agree better with experimental results. Therefore, the new model is more general in the sense that it Provides an extra degree of freedom in determining the plant model for control system design. An optimal pole-placement control which combines LQ control and pole-placement technique is applied to the new model. Simulations are provided.