• International Journal of Fuzzy Logic and Intelligent Systems
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• v.4 no.1
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• pp.101-110
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• 2004

The robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, humans and robots need to be in close proximity to each other as much as possible. Moreover, it is necessary for their interactions to occur naturally. It is desirable for a robot to carry out human following, as one of the human-affinitive movements. The human-following robot requires several techniques: the recognition of the moving objects, the feature extraction and visual tracking, and the trajectory generation for following a human stably. In this research, a predictable intelligent space is used in order to achieve these goals. An intelligent space is a 3-D environment in which many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents providing humans with services. A mobile robot is controlled to follow a walking human using distributed intelligent sensors as stably and precisely as possible. The moving objects is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to follow the walking human, the linear and angular velocities are estimated and utilized. The computer simulation and experimental results of estimating and following of the walking human with the mobile robot are presented.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.21 no.6
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• pp.642-650
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• 2010

In this paper, we study a TT&C link to obtain a required specifications of TT&C(Telemetry Tracking and Command system) antenna for an LEO(Low Earth Orbit) satellite. The premised mission orbit is the sun-synchronized and circular orbit and it performs earth-space observations. We design minimum TT&C link-budget to obtain required antenna beamwidth and gain. The proposed turnstile antenna provides wide beamwidth and circular polarization. We suggested the attaching position that shows the most effective results by confirming the variation of antenna performance when the proposed antenna is adapted to satellite's various positions. Also we proved the proposed antenna's ability while it is performing the mission through the orbit simulation based on the electrical performance of the proposed turnstile antenna.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.6
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• pp.3-8
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• 2013

Bit patterned media (BPM) storage is one of the promising technologies to overcome the limitations of the conventional magnetic recording. However, there are some problems in a high areal density BPM storage, inter-track interference, inter-symbol interference and noise which are severely degrading performance of the system with reducing the bit error rate. In this paper, we present a simple iterative two-dimensional equalizer based on the contraction mapping theorem to mitigate these adverse effects. Furthermore, we examine that the channel characteristics of the proposed two-dimensional equalizer satisfies the convergence conditions. In the simulation we demonstrate the bit separation characteristics of the one-dimensional equalizer and the two-dimensional equalizer and evaluate the BER performance of the proposed equalizer comparing with the conventional equalizers. According to the results of experiments, the proposed equalizer is an promising equalizer with maintaining proper complexity for a high areal density BPM storage.

• Journal of Sensor Science and Technology
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• v.18 no.1
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• pp.77-85
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• 2009

We propose a new image pixel architecture which has OFD(Over Flow Device) node by improving conventional 3TR pixel structure. Newly designed pixel consists of photo diode which is verified with HSPICE simulation, PMOS reset transistor, several NMOS and several PMOS transistors. Photodiode signals from each PMOS and NMOS are detected by Reset PMOS. These output signals give enough chances to detect wide operation coverage because OFD node has overflow photocurrent. According to various light intensity, we analyzed characteristic of the output voltage with a SPICE tool. Proposed pixel output has specific value which can detect possible from $0.1{\mu}W/cm^2$ to $10W/cm^2$ light intensity. It has wide-dynamic range of 160 dB.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.7 no.11
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• pp.2577-2596
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• 2013

In this paper, we present an Energy-Aware Self-Stabilizing Distributed Clustering protocol based on message-passing model for Ad Hoc networks. The latter does not require any initialization. Starting from an arbitrary configuration, the network converges to a stable state in a finite time. Our contribution is twofold. We firstly give the formal proof that the stabilization is reached after at most n+2 transitions and requires at most $n{\times}log(2n+{\kappa}+3)$ memory space, where n is the number of network nodes and ${\kappa}$ represents the maximum hops number in the clusters. Furthermore, using the OMNeT++ simulator, we perform an evaluation of our approach. Secondly, we propose an adaptation of our solution in the context of Wireless Sensor Networks (WSNs) with energy constraint. We notably show that our protocol can be easily used for constructing clusters according to multiple criteria in the election of cluster-heads, such as nodes' identity, residual energy or degree. We give a comparison under the different election metrics by evaluating their communication cost and energy consumption. Simulation results show that in terms of number of exchanged messages and energy consumption, it is better to use the Highest-ID metric for electing CHs.

• Transactions of the Korean Society of Automotive Engineers
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• v.18 no.5
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• pp.108-114
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• 2010

The injection nozzle of an electro-hydraulic injector is being opened and closed by movement of a injector's needle which is balanced by pressure at the nozzle seat and at the needle control chamber, at the opposite end of the needle. In this study, the effects of needle movement in a piezo-driven injector on unsteady cavitating flows behavior inside nozzle were investigated by cavitation numerical model based on the Eulerian-Lagrangian approach. Aimed at simulating the 3-D two-phase flow behavior, the three dimensional geometry model along the central cross-section regarding of one injection hole with real design data of a piezo-driven diesel injector has been used to simulate the cavitating flows for injection time by at fully transient simulation with cavitation model. The cavitation model incorporates many of the fundamental physical processes assumed to take place in cavitating flows. The simulations performed were both fully transient and 'pseudo' steady state, even if under steady state boundary conditions. As this research results, we found that it could analyze the effect the pressure drop to the sudden acceleration of fuel, which is due to the fastest response of needle, on the degree of cavitation existed in piezo-driven injector nozzle.

• International Journal of Vascular Biomedical Engineering
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• v.2 no.2
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• pp.27-32
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• 2004

The objective of the present study is to visualize the steady and pulsatile flow fields in a branching model by using a high-resolution PIV system. A bifurcated flow system was built for the experiments in the steady and pulsatile flows. Harvard pulsatile pump was used to generate the pulsatile velocity waveforms. Conifer powder as the tracing particles was added to water to visualize the flow fields. CCD cameras($1K{\times}1K$(high resolution camera) and $640{\times}480$(low resolution camera)) captured two consecutive particle images at once for the image processing of several cross sections on the flow system. The range validation method and the area interpolation method were used to obtain the final velocity vectors with high accuracy. The results of the image processing clearly showed the recirculation zones and the formation of the paired secondary flows from the distal to the apex of the branch flow in the bifurcated model. The results also indicated that the particle velocities at the inner wall moved faster than the velocities at the outer wall due to the inertial force effects and the helical motions generated in the branch flows as the flow proceeded toward the outer wall. Even though the PIV images from the high resolution camera were closer to the simulation results than the images from the low resolution camera at some locations, both results of the PIV experiments from the two cameras generally agreed quite well with the results from the computer simulations. Therefore, instead of using the expensive stereoscopic PIV or 3D PIV system, the three-dimensional flow fields in a bifurcated model could be easily and exactly investigated by this study.

• Proceedings of the Korea Society of Information Technology Applications Conference
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• 2005.11a
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• pp.229-232
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• 2005

In this paper, an image-based "approach-align -grasp" visual servo control design is proposed for the problem of object grasping, which is based on the binocular stand-alone system. The basic idea consists of considering a vision system as a specific sensor dedicated a task and included in a control servo loop, and we perform automatic grasping follows the classical approach of splitting the task into preparation and execution stages. During the execution stage, once the image-based control modeling is established, the control task can be performed automatically. The proposed visual servoing control scheme ensures the convergence of the image-features to desired trajectories by using the Jacobian matrix, which is proved by the Lyapunov stability theory. And we also stress the importance of projective invariant object/gripper alignment. The alignment between two solids in 3-D projective space can be represented with view-invariant, more precisely; it can be easily mapped into an image set-point without any knowledge about the camera parameters. The main feature of this method is that the accuracy associated with the task to be performed is not affected by discrepancies between the Euclidean setups at preparation and at task execution stages. Then according to the projective alignment, the set point can be computed. The robot gripper will move to the desired position with the image-based control law. In this paper we adopt a constant Jacobian online. Such method describe herein integrate vision system, robotics and automatic control to achieve its goal, it overcomes disadvantages of discrepancies between the different Euclidean setups and proposes control law in binocular-stand vision case. The experimental simulation shows that such image-based approach is effective in performing the precise alignment between the robot end-effector and the object.

• Nuclear Engineering and Technology
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• v.29 no.2
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• pp.127-137
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• 1997

Equilibrium concentrations of major elements in an underground repository with a capacity of 100,000 drums have been simulated using the geochemical computer code (EQMOD). The simulation has been carried out at the conditions of pH 12 to 13.5, and Eh 520 and -520 mV. Solubilities of magnesium and calcium decrease with the increase of pH. The solubility of iron increases with pH at Eh -520 mV of reducing environment while it almost entirely exists as the precipitate of Fe(OH)$_3$(s) at Eh 520 mV of oxidizing environment. All of cobalt and nickel are predicted to be dissolved in the liquid phase regardless of pH since the solubility limit is greater than the total concentration. In the case of cesium and strontium, all forms of both ions are present in the liquid phase because they have negligible sorption capacity on cement and large solubility under disposal atmosphere. And thus the total concentration determines the equilibrium concentration. Adsorbed amount of iodide and carbonate are dependent on adsorption capacity and adsorption equilibrium constant. Especially, the calcite turns out to be a solubility-limiting phase on the carbonate system. In order to validate the model, the equilibrium concentrations measured for a number of systems which consist of iron, cement, synthetic groundwater and radionuclides are compared with those predicted by the model. The concentrations between the model and the experiment of nonadsorptive elements cesium, strontium, cobalt nickel and iron, are well agreed. It indicates that the assumptions and the thermodynamic data in this work are valid. Using the adsorption equilibrium constant as a free parameter, the experimental data of iodide and carbonate have been fitted to the model. The model is in a good agreement with the experimental data of the iodide system.

• Journal of Korea Multimedia Society
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• v.12 no.5
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• pp.699-707
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• 2009

Recently, while 3D sports game increases, the research that it recognizes the operation of the real user actively progresses. Most of all, the research about the golf is active. In this paper, the camera acquiring in a high-speed multi-exposure image measures the flight data of the golf ball through the image processing. While photographing, the high-speed camera, using this system, exposes an image at regular intervals. And line scan camera checks whether the golf ball passed or not. After the location information of the calculated golf ball calculates a speed and a direction by using the physical formula, it applies the golf simulation. After, this system is possible the measurement of the physical element of the spherical object.