• Journal of the Institute of Convergence Signal Processing
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• v.15 no.3
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• pp.104-111
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• 2014

In this paper, we deal with robotic automation for assembling car brake modules. A car brake module is comprises of a torque member, two brake pads, and two pad liners. In the assembly process, brake pads and pad liners are needed to be inserted in a torque member. If we use a typical robotic hand for the assembly, task time takes too long. So, we propose two methods. The first method is to use an end effector that has five grippers capable of gripping five assembly parts. In the first method we attached the implemented end effector to a conventional 6 degrees of freedom industrial manipulator and performed the bake module assembly task. Experimental results show that the task time is remarkably reduced. The brake module assembly task needs the robot to change its orientation frequently, so, in the second method, we added one degree of freedom to the end effector that is used in the first method. By attaching it to a conventional 6 degrees of freedom industrial manipulator, we composed a 7 degrees of freedom redundant manipulator. A redundant manipulator has the advantage of flexible manipulation so the robot can change its orientation easily and can perform assembly task very fast. Experimental results show that the second method dramatically reduce whole task time for brake module assembly.

• Genes and Genomics
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• v.40 no.11
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• pp.1181-1197
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• 2018

Tropical plant rubber tree (Hevea brasiliensis) is the sole source of commercial natural rubber and low-temperature stress is the most important limiting factor for its cultivation. To characterize the gene expression profiles of H. brasiliensis under the cold stress and discover the key cold stress-induced genes. Three cDNA libraries, CT (control), LT2 (cold treatment at $4^{\circ}C$ for 2 h) and LT24 (cold treatment at $4^{\circ}C$ for 24 h) were constructed for RNA sequencing (RNA-Seq) and gene expression profiling. Quantitative real time PCR (qRT-PCR) was conducted to validate the RNA-Seq and gene differentially expression results. A total of 1457 and 2328 differentially expressed genes (DEGs) in LT2 and LT24 compared with CT were respectively detected. Most significantly enriched KEGG pathways included flavonoid biosynthesis, phenylpropanoid biosynthesis, plant hormone signal transduction, cutin, suberine and wax biosynthesis, Pentose and glucuronate interconversions, phenylalanine metabolism and starch and sucrose metabolism. A total of 239 transcription factors (TFs) were differentially expressed following 2 h or/and 24 h of cold treatment. Cold-response transcription factor families included ARR-B, B3, BES1, bHLH, C2H, CO-like, Dof, ERF, FAR1, G2-like, GRAS, GRF, HD-ZIP, HSF, LBD, MIKC-MADS, M-type MADS, MYB, MYB-related, NAC, RAV, SRS, TALE, TCP, Trihelix, WOX, WRKY, YABBY and ZF-HD. The genome-wide transcriptional response of rubber tree to the cold treatments were determined and a large number of DEGs were characterized including 239 transcription factors, providing important clues for further elucidation of the mechanisms of cold stress responses in rubber tree.

• Journal of the korean academy of Pediatric Dentistry
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• v.49 no.1
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• pp.14-24
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• 2022

The aim of the present study is to evaluate the validity of orthodontic measurements including tooth width, Bolton ratio, overjet and overbite on the digital dental models. Dental models of the subjects aged 12 to 18 were obtained in 3 different forms, which were conventional stone model, digital model created with Freedom HD model scanner, and digital model produced with CS3600 intraoral scanner. After measurements were made on the models, reliability and reproducibility of the measurements were evaluated by using intraclass correlation coefficient, while validity was assessed with paired t-test. As a result, significant reliability and reproducibility were verified, with intraclass correlation coefficient exceeding 0.750 in all groups. Measurements of the model scanned group showed an adequate validity in overall and anterior Bolton ratio, overjet, and overbite. Intraoral scanned models showed an adequate validity in anterior Bolton ratio, and overjet. Measurement on intraoral scanned digital models can be considered as an alternative for young children who have difficulty in taking impression. Furthermore, careful considerations on measurement error should be made in clinical situations.

• Journal of the Korean Society of Marine Environment & Safety
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• v.30 no.1
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• pp.74-81
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• 2024

In the near future, autonomous ships, ships controlled by shore remote control centers, and ships operated by navigators will coexist and operate the sea together. In the advent of this situation, a method is required to evaluate the safety of the maritime traffic environment. Therefore, in this study, a plan to evaluate the safety of navigation through ship control simulation was proposed in a maritime environment, where ships directly controlled by navigators and autonomous ships coexisted, using autonomous operation technology. Own ship was designed to have autonomous operational functions by learning the MMG model based on the six-DOF motion with the PPO algorithm, an in-depth reinforcement learning technique. The target ship constructed maritime traffic modeling data based on the maritime traffic data of the sea area to be evaluated and designed autonomous operational functions to be implemented in a simulation space. A numerical model was established by collecting date on tide, wave, current, and wind from the maritime meteorological database. A maritime meteorology model was created based on this and designed to reproduce maritime meteorology on the simulator. Finally, the safety evaluation proposed a system that enabled the risk of collision through vessel traffic flow simulation in ship control simulation while maintaining the existing evaluation method.

• Journal of the Korean Institute of Landscape Architecture
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• v.33 no.5 s.112
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• pp.43-56
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• 2005

This study was conducted to examine the inhabitation of wild birds at the World Cup Park and to offer the Park ecological management data. Land use md actual vegetation were examined to analyze the inhabitation of wild birds. Characteristics of bird communities were analyzed by dominance, density, diversity index and guild concept. You compare inhabitation before and after the Park was built. We classified the land use and actual vegetation into twenty-six types. Robinia pseudoacacia dominated the study area. Pyeonghwa Park and Nanji-cheon Park were simple-layer structures composed of alien woody species. The observed birds after the World Cup Park included 33 families 77 species, and 9,751 individuals. Among Wild Life types, the shrub and bush type was dominant. There were 26 species of resident birds, 20 species of summer visitors, 18 species of winter visitors, and 12 species of passage migrants. The following numbers of species and individuals were observed: in Hanul park, 38 species, 3,151 individuals; in Noul park, 45 species, 2,061 individuals; in Nanji-cheon park, 42 species, 2,742 individuals; in Pyeonghwa park, 29 species, 875 individuals; and in Maebongsan(Mt.) area, 35 species, 922 individuals. Species diversities for each area were as follows: Noul park, 2.613; Hanul park, 2,301; Nanji-cheon, 2.228; and Pyeonghwa park, 2,019; and each season: summer, 2.652; spring, 2.650: winter, 2.561; and autumn 2.176. The diversity of species increased from 1.135 in 1994 to 2.324 in 2001. We recommended that the park be differented into different ecological areas in order to encourage the appearance of wild birds at the World Cup Park. The management area was divided into three districts(conservation area, preservation and restoration area, use area). The conservation area was established to the west of a waste landfill and in the downstream area of NanJi-cheon, the preservation and restoration area was established in the midstream area of Nanji-cheon, and the use area was established in the buffer zone of Pyeonghwa Park and the Nanji pond greenspace.

• Nuclear Engineering and Technology
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• v.46 no.3
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• pp.439-446
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• 2014

An amphibious inspection robot system (hereafter AIROS) is being developed to visually inspect the in-containment refueling storage water tank (hereafter IRWST) strainer in APR1400 instead of a human diver. Four IRWST strainers are located in the IRWST, which is filled with boric acid water. Each strainer has 108 sub-assembly strainer fin modules that should be inspected with the VT-3 method according to Reg. guide 1.82 and the operation manual. AIROS has 6 thrusters for submarine voyage and 4 legs for walking on the top of the strainer. An inverse kinematic algorithm was implemented in the robot controller for exact walking on the top of the IRWST strainer. The IRWST strainer has several top cross braces that are extruded on the top of the strainer, which can be obstacles of walking on the strainer, to maintain the frame of the strainer. Therefore, a robot leg should arrive at the position beside the top cross brace. For this reason, we used an image processing technique to find the top cross brace in the sole camera image. The sole camera image is processed to find the existence of the top cross brace using the cross edge detection algorithm in real time. A 5-DOF robot arm that has multiple camera modules for simultaneous inspection of both sides can penetrate narrow gaps. For intuitive presentation of inspection results and for management of inspection data, inspection images are stored in the control PC with camera angles and positions to synthesize and merge the images. The synthesized images are then mapped in a 3D CAD model of the IRWST strainer with the location information. An IRWST strainer mock-up was fabricated to teach the robot arm scanning and gaiting. It is important to arrive at the designated position for inserting the robot arm into all of the gaps. Exact position control without anchor under the water is not easy. Therefore, we designed the multi leg robot for the role of anchoring and positioning. Quadruped robot design of installing sole cameras was a new approach for the exact and stable position control on the IRWST strainer, unlike a traditional robot for underwater facility inspection. The developed robot will be practically used to enhance the efficiency and reliability of the inspection of nuclear power plant components.

• Journal of the Korea Computer Graphics Society
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• v.20 no.2
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• pp.1-11
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• 2014

The quality of 2D-to-3D conversion depends on the accuracy of the assigned depth to scene objects. Manual depth painting for given objects is labor intensive as each frame is painted. Specifically, a human is one of the most challenging objects for a high-quality conversion, as a human body is an articulated figure and has many degrees of freedom (DOF). In addition, various styles of clothes, accessories, and hair create a very complex silhouette around the 2D human object. We propose an efficient method to estimate visually pleasing depths of a human at every frame in a monocular video. First, a 3D template model is matched to a person in a monocular video with a small number of specified user correspondences. Our pose estimation with sequential joint angular constraints reproduces a various range of human motions (i.e., spine bending) by allowing the utilization of a fully skinned 3D model with a large number of joints and DOFs. The initial depth of the 2D object in the video is assigned from the matched results, and then propagated toward areas where the depth is missing to produce a complete depth map. For the effective handling of the complex silhouettes and appearances, we introduce a partial depth propagation method based on color segmentation to ensure the detail of the results. We compared the result and depth maps painted by experienced artists. The comparison shows that our method produces viable depth maps of humans in monocular videos efficiently.

• Journal of Biomedical Engineering Research
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• v.29 no.1
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• pp.32-39
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• 2008

This paper reports on a realtime OS based master-slave configuration robot control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. Surgery robot system requires control system that can process large volume information such as medical image data and video signal from endoscope in real-time manner, as well as precisely control the robot with high reliability. To meet the complex requirements, the use of high-level real-time OS (Operating System) in surgery robot controller is a must, which is as common as in many of modem robot controllers that adopt real-time OS as a base system software on which specific functional modules are implemened for more reliable and stable system. The control system consists of joint controllers, host controllers, and user interface units. The robot features a compact slave robot with 5 DOF (Degree-Of-Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously. Each master, slave and Gill (Graphical User Interface) host runs a dedicated RTOS (Real-time OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) on which functional modules such as motion control, communication, video signal integration and etc, are implemented, and all the hosts are in a gigabit Ethernet network for inter-host communication. Each master and slave controller set has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication with the joint controllers. Total 4 pairs of the master/slave manipulators as current are controlled by one host controller. The system showed satisfactory performance in both position control precision and master-slave motion synchronization in both bench test and animal experiment, and is now under further development for better safety and control fidelity for clinically applicable prototype.

• Journal of the Korean Geographical Society
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• v.28 no.2
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• pp.77-98
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• 1993

The intent of this study is to analyze the characteristics of distribution, patter, and deposits of the exposed debris slope landform by aerial photography interpretation, measure-ment on the topographical maps and field surveys in the southern part Taebaek mountains. It also aims to research the arrangement types of mountain slope and the landform development of debris slopes in this area. In conclusion, main observations can be summed up as follows. 1. The distribution characteristics 1)From the viewpoint of bedrocks, the distribution density of talus is high in case of the bedrock with high density of joints, sheeting structures and hard rocks, but that of the block stream is high in case of intrusive rocks with the talus line. 2)From the viewpoint of bedrocks, the distribution density of talus is high in case of the bedrock with high density of joints, sheeting structures and hard rocks, but that of the block stream is high in case of inrtusive rocks with the talus line. 2) From the viewpoint of distribution altitude, talus is mainly distributed in the 301~500 meters part above the sea level, while the block stream is distributed in the 101~300 meters part. 3) From the viewpoint of slope oriention, the distribution density of talus on the slope facing the south(S, SE, SW) is a little higher than that of talus on the slope facing the north(N, NE, NW). 2. The Pattern Characteristics 1) The tongue-shaped type among the four types is the most in number. 2) The average length of talus slope is 99 meters, especially that of talus composed of hornfels or granodiorite is longer. Foth the former is easy to make free face; the latter is easdy to produce round stones. The average length of block stream slope is 145 meters, the longest of all is one km(granodiorite). 3) The gradient of talus slope is 20~45${^\circ}$, most of them 26-30${^\croc}$; but talus composed of intrusive rocks is gentle. 4) The slope pattern of talus shows concave slope, which means readjustment of constituent debris. Some of the block stream slope patterns show concave slope at the upper slope and the lower slope, but convex slope at the middle slope; others have uneven slope. 3. The deposit characteristics 1) The average length of constituent debris is 48~172 centimeters in diameter, the sorting of debris is not bad without matrix. That of block stream is longer than that of talus; this difference of debris average diameter is funda-mentally caused by joint space of bedrocks. 2) The shape of constituent debris in talus is mainly angular, but that of the debris composed of intrusive rocks is sub-angular. The shape of constituent debris in block stream is mainly sub-roundl. 3) IN case dof talus, debris diameter is generally increasing with downward slope, but some of them are disordered and the debris diameter of the sides are larger than that of the middle part on a landform surface. In block stream, debris diameter variation is perpendicularly disordered, and the debris diameter of the middle part is generally larger than that of the sides on a landform surface. 4)The long axis orientation of debris is a not bad at the lower part of the slope in talus (only 2 of 6 talus). In block stream(2 of 3), one is good in sorting; another is not bad. The researcher thinks that the latter was caused by the collapse of constituent debris. 5) Most debris were weathered and some are secondly weathered in situ, but talus composed of fresh debris is developing. 4. The landform development of debris slopes and the arrangement types of the mountain slope 1) The formation and development period of talus is divided into two periods. The first period is formation period of talus9the last glacial period), the second period is adjustment period(postglacial age). And that of block stream is divided into three periods: the first period is production period of blocks(tertiary, interglacial period), the second formation period of block stream(the last glacial period), and the third adjustment period of block stream(postglacialage). 2) The arrangement types of mountain slope are divided into six types in this research area, which are as follows. Type I; high level convex slope-free face-talus-block stream-alluvial surface Type II: high level convex slope-free face-talus-alluvial surface Type III: free face-talus-block stream-all-uvial surface Type IV: free face-talus-alluval surface Type V: talus-alluval surface Type VI: block stream-alluvial surface Particularly, type IV id\s basic type of all; others are modified ones.