• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.10
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• pp.3873-3879
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• 2010

Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

• Journal of the Korean Institute of Landscape Architecture
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• v.36 no.4
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• pp.15-26
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• 2008

The purpose of this study is to attempt to interpret golf courses as event-generating spaces with consideration given to the time factor. Through a golf game, a variety of events such as the tee shot, second shot, putt, and hole out are generated. These events have been connected to a series of events after hole out such as birdie, par, bogey and so on. The series of events do not always occur in the same way. They reveal unexpected changes over time. These unexpected changes cause changes in the spatial characteristics and offer unforgettable memories for golfers. Gilles Deleuze mentioned the spatial characteristics as striated space and smooth space. Striated space can be defined as sedentary space. It is distant vision-optical space that has dimensional, metric and centered characteristics, whereas smooth space is defined as nomadic, close vision-haptic space that has directional and acentered characteristics. This study focused on the analysis of spatial characteristics according to striated space and smooth space. Golf courses generally show the characteristics of striated space before beginning the game. As soon as the game begins, however, the golf courses are converted into an event-generating space. The characteristics of striated space are transformed into smooth space, a nomadic space that amplifies the dynamic, changeable, de-scaled and non-metric system. Through the whole game, this transformation is dramatically repeated. On the other hand, the golfer, the subject of the game, senses the phenomenological experience in the process of orientation, center, definition, and domestication.

• Journal of KIISE:Information Networking
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• v.35 no.3
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• pp.215-226
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• 2008

As sensor networks are used in various and dynamic applications, the function of sink-to-sensors reliable multicasting such as for task reprogramming is newly required. NAK-based error recovery schemes have been proposed for energy efficient reliable multicasting. However, these schemes have incompleteness problems such as the last packet loss. This paper introduces an ACK-based error recovery scheme, RM2I(Reliable Multicast with Implicit ACK and Indirect Recovery). It utilizes wireless multicast advantage in which a packet may be delivered to all of its omni-directional neighbor nodes. When a sender overhears a packet which its receiver forwards to the next nodes, it may interpret it as an ACK from the receiver. We call it an Implicit ACK. In Indirect Recovery, when a node receives a packet from neighbor nodes which are not its direct upstream node, it saves and utilizes it for error recovery. Using NS-2 simulator, we have analyzed their effects. We have also compared RM2I with the NAK-based error recovery scheme. In results, RM2I shows comparable performances to the ideal NAK-based scheme, except where Implicit ACK and Indirect Recovery do not occur at the edges of the networks.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.11
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• pp.554-560
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• 2020

In the manufacturing process of flat panel displays, a high-precision planar motion stage is used to position a specimen. Stages of this type typically use frictionless linear motors and air bearings, and laser interferometers. Real-time dynamic correction of the yaw motion error is very important because the inevitable yaw motion error of the stage means a change in the specimen orientation. Gantry control is generally used to compensate for yaw motion errors. Flexure units that allow rotational motion are applied to the stage to apply this method to a stage using an air-bearing guide. This paper proposes a method to improve the constant speed motion performance of a H-type XY stage equipped with air bearing and flexure units. When applying the gantry control to the stage, including the flexure units, the cause of the mutual ripple generated from the linear motors is analyzed, and adaptive learning control is proposed to compensate for the mutual ripple. A simulation was performed to verify the proposed method. The speed ripple was reduced to approximately the 22 % level. The ripple reduction was verified by simulating the stage state where yaw motion error occurs.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.8
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• pp.3541-3546
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• 2011

Autophagy is an evolutionarily conserved lysosomal pathway for degrading cytoplasmic proteins, macromolecules, and organelles in addition to recycling protein and ATP synthesis. Although autophagy is very important during embryogenesis, the mechanism underlying the dynamic development during this process remains largely unknown. In order to obtain insights into autophagy in early embryo development, we analyzed gene expression levels of autophagy-related genes (ATGs) in mouse embryos developing in vitro. Using real time RT-PCR technique, ATGs including Atg2a, Atg3, Atg4b, Atg5, Atg6, Atg7, Atg9a, and Wipi3, as maternal transcripts, were only up-regulated in 1-cell embryo stage before zygotic genomic activation (ZGA), and then expression decreased from 2-cell to blastocyst embryo stage. ATGs including Dram and Atg9b were expressed abundantly in 1-cell embryo state and in blastocyst embryo stage, athough Atg8 and Ulk1 were constantly expressed during preimplantation stage. However, Atg4d were only up-expressed from 4-cell to blastocyst stage. These results suggest that autophagy is related in mouse embryo, which possibly gives an important role for early development.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.37 no.5
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• pp.467-472
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• 2013

A raw-water source heat pump equipped with a thermal storage tank was dynamically simulated by TRNSYS, and the results were verified by using the data from a heat pump installed in the Seongnam water treatment facility. The average coefficient of performance (COP) of the raw-water source heat pump based on simulation was 4.97 and 3.17 in the cooling and heating season, respectively. When the volume of the thermal storage tank was changed from 5 to $20m^3$, the highest COP was found at a size of $10m^3$. Considering the regional locations of raw-water source heat pumps at Seoul, Incheon, Gangneung, and Gwangju, Seoul showed the lowest electric power consumption in the cooling season and the highest in the heating season. When a comparison of the performance between the present system and that of a water-air heat pump was conducted, the present system showed lower electric power consumption by 25% than that of a water-air heat pump.

• 한국방재학회:학술대회논문집
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• 2011.02a
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• pp.159-159
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• 2011

수자원 공급의 시 공간적 편차가 큰 우리나라에서는 수자원을 이용하기 위해서 다수의 댐을 건설하고 있다. 특히, 생활수준의 향상으로 용수 수요가 급증하였기 때문에 용수가 부족한 곳에는 광역상수도 사업 등을 통하여 용수를 공급하고 있다. 댐에서 용수가 공급되기까지의 과정은 일종의 관수로 흐름으로 생각할 수 있다. 관수로 내를 흐르는 유체가 갑자기 정지하게 되면, 유체 운동 에너지의 변화가 유발되고, 그로 인해 관내에 급격한 압력의 상승이 일어나게 된다. 반대로 정지하고 있던 유체가 빠른 속도로 흐르게 되면 압력 감소가 급격하게 발생한다. 이와 같이 유체 운동 상태의 급변에 의한 압력변화와 그에 따른 압력파가 음속의 속도로 상 하류로 전파되는 현상을 수격작용(waterhammer)이라 한다. 통상적으로 수격작용은 밸브 개폐 정도가 갑자기 바뀔 때, 펌프의 급격한 기동이나 정지 시, 터빈 내 전력소요가 갑자기 바뀔 때, 댐 수위의 갑작스런 변화, 펌프 임펠러의 진동, 물 수요의 급격한 변화 등에 의해 발생하며, 수격작용은 유체의 질량과 운동량 때문에 관 벽에 큰 힘을 가하게 되어 정상적인 동수압 보다 몇 배나 큰 압력을 발생시킴으로 관 자체는 물론 펌프, 밸브, 터빈 등 관 시설물을 파손시키거나 진동, 소음 등을 야기시킴으로 대규모 건물, 공장, 발전소 등을 설계할 경우 그에 대한 적절한 대책을 강구하여야 한다. 특히 댐에 연결된 저수지 또는 조정지로부터의 도수로가 압력수로이며 그 길이가 상당히 크면 수차가 급정지했을 경우 수격작용에 의해서 압력터널 내에 과도한 압력상승이 일어난다. 이 압력상승을 방지함과 함께 발전소 부하의 증감에 따라서 수량을 공급하거나, 흡수할 목적으로 압력도수로와 수압관과의 접합부에 자유수면이 있는 수조를 설치한다. 이것을 조압수조(surge tank)라 한다(최영박, 1979). 조압수조에서 부하의 급속한 차단에 의해서 수차로 유입될 수량이 차단되면 도수로 내로 흘러 들어온 물은 관성 때문에 수조 내의 수위를 상승시키고, 수조 수위가 어느 정도 이상으로 되어 저수지 수위 보다 상승하면 수조로의 유입이 정지하고 반대로 수조에서 저수지로 역류하여 수조수위는 하강한다. 즉, 조압수조는 도수로 내에 발생한 과도한 압력을 수조 내 수면의 승강운동을 이용하여 감소시키고 원래의 안정적인 수위로 회복시킨다. 본 연구에서는 수격작용에 대한 댐 안정성을 확보하는 수단 중의 하나인 조압수조에 대해 살펴보았다. 연구대상으로 용담댐을 선정하였다. 용담댐에 대한 기존의 검토결과 수직 갱의 지름이 5m 이상이면 조압수조의 동적안정조건을 만족 시키는 것으로 조사되었다. 댐의 설계홍수위인 EL. 265.5m를 기준으로 조압수조의 안정성을 감소시키지 않는 범위 내에서 조압수조 내 격벽 설치 유 무에 따른 수조의 최적 크기를 산정하였다. 산정결과를 분석한 결과 동일 조건에서 격벽을 설치한 경우가 격벽을 설치하지 않은 경우에 비해서 조압수조의 면적이 약 21% 감소하는 것으로 나타났다.

• Science of Emotion and Sensibility
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• v.12 no.4
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• pp.433-442
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• 2009

People are tending to buy products through the Internet rather than purchasing them from the store. Some of the consumers give their feedback on line such as reviews, replies, comments, and blogs after they purchased the products. People are also likely to get some information through the Internet. Therefore, companies and public institutes have been facing this situation where they need to collect and analyze reviews or public opinions for them because many consumers are interested in other's opinions when they are about to make a purchase. However, most of the people's reviews on web site are too numerous, short and redundant. Under these circumstances, the emotion scanning system of text documents on the web is rising to the surface. Extracting writer's opinions or subjective ideas from text exists labeled words like GI(General Inquirer) and LKB(Lexical Knowledge base of near synonym difference) in English, however Korean language is not provided yet. In this paper, we labeled positive, negative, and neutral attribute at 4 POS(part of speech) which are noun, adjective, verb, and adverb in Korean dictionary. We extract construction patterns of emotional words and relationships among words in sentences from a large training set, and learned them. Based on this knowledge, comments and reviews regarding products are classified into two classes polarities with positive and negative using SO-PMI, which found the optimal condition from a combination of 4 POS. Lastly, in the design of the system, a flexible user interface is designed to add or edit the emotional words, the construction patterns related to emotions, and relationships among the words.

• Journal of Korean Ophthalmic Optics Society
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• v.15 no.3
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• pp.235-240
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• 2010

Purpose: In this study, we proposed a simple accommodation-dependent crystalline lens with a constant volume and homogeneous refractive index. Methods: We proposed a human crystalline lens with two aspheric surfaces. Two surfaces intersect in two points and straight line between two points was equator(2b). It assumed that the derivative in axial direction was zero at the equator and the radial derivative was zero at the vertex. Proposed human crystalline lens was divided by the equator into the anterior and posterior parts. It was assume that the volume of each part and refractive index of the human crystalline lens were constant during accommodation. Results: For the changes during accommodation, geometrical parameters were determined by different objective distances. Considering the constant volume of each part with the small decrement of the equator, we obtained the paraxial parameters, such as the anterior and posterior vertex radius of curvature and lens thickness. Compared with the experimental data published in the literature, calculated values using simple approximation showed similar change per accommodative stimulus. Conclusions: These results showed that proposed simple approximation using assumption of constant volume and refractive index of the human crystalline lens made it possible to predict changes of geometrical parameters during accommodation.

• Journal of Korean Tunnelling and Underground Space Association
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• v.4 no.4
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• pp.301-317
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• 2002

Recently, a geophysical exploration technology is frequently utilized in the civil engineering field as well as in the resource exploration. It might be important for civil engineers to understand the fundamental theory of seismic survey and limitation of the technique when utilizing these techniques in the civil engineering field. A 3-dimensional migration technique based on the principle of ellipsoid to predict the fractured zone ahead of tunnel face utilizing the tunnel seismic survey was proposed so that the geometry of the fractured zone can be estimated, i.e. the angle between tunnel axis and discontinuity zone, and the dip. Moreover, a numerical analysis technique to simulate the TSP (Tunnel Seismic Prediction) test was proposed in this paper. Based on parametric studies, the best element size, the analysis time step, and the dynamic characteristics of pressure source were suggested to guarantee the stability and accuracy of numerical solution. Example problems on a hypothetical site showed the possibility that the 3-dimensional migration technique proposed in this paper appropriately estimate the 3D-geometry of fractures ahead of tunnel face.