• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.731-739
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• 2008

The docking and recharging system for a mobile robot must guarantee the ability to perform its tasks continuously without human intervention. This paper proposes two docking mechanisms with localization error-compensation capability for an auto recharging system. The mechanisms use friction forces or magnetic forces between the docking parts of the robot and those of the docking station. It is a structure to improve the allowance ranges of lateral and directional docking offsets, in which the robot is able to dock into the docking station. In this paper, auto-recharging system and the features of the proposed mechanisms are verified with experimental results using simple homing method.

• Journal of Korean Tunnelling and Underground Space Association
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• v.20 no.6
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• pp.1147-1159
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• 2018

This study focuses on the verification of a rapid protection automation system using an inflatable structure. The inflatable structure is an automatic rapid protection system against human and material damage when the subsea tunnel is flooded. Especially, it is essential for construction and operation of subsea tunnels. In this study, we have experimentally verified the rapid protection automation system using the inflatable structure designed for this problem. In order to verify this, a model tunnel with a 40: 1 reduction ratio was constructed, and air pressure of 0.1 bar and 0.15 bar was injected to divide the tunnel according to the expansion rate at 10 sec and 20 sec. According to the results of the study, the protection efficiency was better at 0.15 bar than 0.1 bar when the expansion structure was expanded, and the protection efficiency and influent control efficiency were different according to the pneumatic injection time of the inflating structure. As a result of this study, it was found that the higher the internal air pressure of the inflated structure and the faster the inflation of rate, the more effectively the inflated structure was inflated. As a result of this study, it is necessary to further study the wedge type structure which is useful for the storage method of expansion structure, shape and expansion derivative, inhibition of expansion structure during protection and control of inflow water.

• Journal of the Korean Society of Radiology
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• v.12 no.6
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• pp.793-799
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• 2018

As interest in artificial intelligence has increased, artificial intelligence has been actively studied in the medical field. In Korea, artificial intelligence has been applied to medical imaging devices such as X-ray imaging, Computer Tomography and Magnetic Resonance Imaging and artificial intelligence capable of acquiring radiation images of patients without radiologists in the future Medical devices are expected to be invented. This study was an initial study on the automation of patient positioning in X - ray imaging. We used x-ray equipment and human phantoms to evaluate the positioning. The program used Visual Studio 2010 MFC and the image was in the size $1450{\times}1814$. The pixel values were converted to contrasts with values of 0 to 255 that can be visually recognized and output to the monitor. We developed a procedure algorithm program that predicts the angle of the output image through three pixel coordinate values and induces the patient to perform correct positioning according to the voice guidance according to the angle. In the next study, we will study the artificial intelligence to grasp the structure itself and calculate the angle, rather than conveying the reference of coordinates to artificial intelligence. In the future, it is expected that it will be helpful in the study of artificial intelligence from shooting to positioning through the automation of positioning.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.9-16
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• 2002

In this paper, we intend to demonstrate a new intuitive force-feedback device for advanced VR applications. Force feed-back for the device is tension based and is characterized by 7 degrees of freedom (DOF); 3 DOF for translation, 3 DOF for rotation, and 1 DOF for grasp). The SPIDAR-G (Space Interface Device for Artificial Reality with Grip) will allow users to interact with virtual objects naturally by manipulating two hemispherical grips located in the center of the device frame. We will show how to connect the strings between each vertex of grip and each extremity of the frame in order to achieve force feedback. In addition, methodologies will be discussed for calculating translation, orientation and grasp using the length of 8 strings connected to the motors and encoders on the frame. The SPIDAR-G exhibits smooth force feedback, minimized inertia, no backlash, scalability and safety. Such features are attributed to strategic string arrangement and control that results in stable haptic rendering. The design and control of the SPIDAR-G will be described in detail and the Space Graphic User Interface system based on the proposed SPIDAR-G system will be demonstrated. Experimental results validate the feasibility of the proposed device and reveal its application to virtual reality.

• International Journal of Control, Automation, and Systems
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• v.1 no.1
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• pp.134-141
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• 2003

A major research issue associated with service robots is the creation of an environment recognition system for mobile robot navigation that is robust and efficient on various environment situations. In recent years, intelligent autonomous mobile robots have received much attention as the types of service robots for serving people and industrial robots for replacing human. To help people, robots must be able to sense and recognize three dimensional space where they live or work. In this paper, we propose a three dimensional environmental modeling method based on an edge enhancement technique using a planar fitting method and a neural network technique called "Growing Neural Gas Network." Input data pre-processing provides probabilistic density to the input data of the neural network, and the neural network generates a graphical structure that reflects the topology of the input space. Using these methods, robot's surroundings are autonomously clustered into isolated objects and modeled as polygon patches with the user-selected resolution. Through a series of simulations and experiments, the proposed method is tested to recognize the environments surrounding the robot. From the experimental results, the usefulness and robustness of the proposed method are investigated and discussed in detail.in detail.

• Journal of Radiopharmaceuticals and Molecular Probes
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• v.3 no.2
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• pp.91-97
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• 2017

$^{18}F-THK-5351$ is a PET radiotracer to image the hyperphosphorylated tau fibrillar aggregates in human brain. This protocol describes the optimized radiosynthesis of $^{18}F-THK-5351$ using a commercial GE $TRACERlab^{TM}$ $FX_{FN}$ radiosynthesis module. $^{18}F-THK-5351$ was prepared by nucleophilic [$^{18}F$]fluorination from its protected tosylate precursors, (S)-(2-(2-methylaminopyrid-5-yl)-6-[[2-(tetrahydro-2H-pyran-2-yloxy)-3-tosyloxy]propoxy] quinolone(THK-5352), at $110^{\circ}C$ for 10 min in dimethyl sulfoxide, followed by deprotection with 1 N HCl. The average radiochemical yield of $^{18}F-THK-5351$ was $31.9{\pm}6.7%$(decay-corrected, n = 10), with molar activity of $198.1{\pm}33.9GBq/{\mu}mol$($5.4{\pm}0.9Ci/{\mu}mol$, n = 10). The radiochemical purity was determined to be above 98%. The overall production time including HPLC purification is approximately 70 min. This fully-automated protocol is validated for clinical use.

• The Journal of the Korea Contents Association
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• v.18 no.5
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• pp.464-471
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• 2018

The business card is regarded as the simplest means as well as a tool the most likely to use as a means of sales. Every day, we are exchanging business cards with many customers, but the paper based business card is easy to discard and difficult for searching information on the business card. As a solution, if we take a photographed business card with a smart phone and make it into a database, we can easily obtain customer information we wanted for sales at any time. In this study, we develop an application solution based on electronic business card database that supports sales management. The system operates in a cloud environment and has various decision support functions such as customer's human network management, customer classification, and finding prospective customers.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.229-235
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• 2001

Recently, service area has been emerging field f robotic applications. Even though assistant robots play an important role for the disabled and the elderly, they still suffer from operating the robots using conventional interface devices such as joysticks or keyboards. In this paper we propose an efficient computer interface using real-time eye-gaze tracking system. The inputs to the proposed system are images taken by a camera and data from a magnetic sensor. The measured data is sufficient to describe the eye and head movement because the camera and the receiver of a magnetic sensor are stationary with respect to the head. So the proposed system can obtain the eye-gaze direction in spite of head movement as long as the distance between the system and the transmitter of a magnetic position sensor is within 2m. Experimental results show the validity of the proposed system in practical aspect and also verify the feasibility of the system as a new computer interface for the disabled.

• Proceedings of the Korea Society for Energy Engineering kosee Conference
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• 1996.04a
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• pp.73-87
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• 1996

The outer-most electrons of metal atoms and the remining valence electrons of any molecular atoms make three dimensional crystallizing $\pi$-bondings. The electrons on the $\pi$-bonding orbital rotate clockwise or counter-clockwise and they then make electro-magnetic waves between atoms on the orbital because electron move between plus charged ions. The three dimensional crystallizing $\pi$-bonding orbitals are quantum-mechanically modeled by a cyclic Kronig-Penny Model and energy band structures are analyzed with their potential barrier thickness. The waves generated between plus charged ions are the particular $\pi$-far infrared rays, which have dual properties between material and electro-magnetic waves and can be measured not by modern electro-magnetic tester but biosensor such as finger's force tester. Because the $\pi$-rays can be modulated with electro-magnetic waves it can be applied for harmful electro-magnetic wave killers. Because the $\pi$-rays make new three dimensional crystallizing $\pi$-bonding orbitals in the material the food and drink can be transformed into a helpful physical constitutional property for human health. Distinction between crystalline and amorphous metals is possible because very strong crystalline $\pi$-bonding orbitals can not easily be transformed into another. The $\pi$-rays can also be applied for biofunctional diagnostics and therapy. Gravitational field is one of the electro-magnetic fields. And also magnetic field and gravitational force field make charge's movement. ($\times$ = q, : magnetic field, : force field, q: plus charge, : velocity field)

• Journal of the Korea Safety Management & Science
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• v.10 no.4
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• pp.47-56
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• 2008

This study suggest a way to improve duty process of KTX(Korea Train Express) high-speed train driver. A new operating system which based on safety was introduced to operate high-speed train which travel above 300km/h on the high-speed railroad but below 200km/h on the general railroad. There were some studies on the operation of high-speed train which travel on the high-speed railroad and on the general railroad with safety. However they overlooked the elements of human errors. The duty-load of KTX train driver's 14 basic operation processes was measured using NASA-TLX and found four processes with high duty-load. In this paper, critical tasks of the high duty-load processes are determined using a questionnaire. Some suggestions which include the improvement of facilities, operating system and operating skill are proposed to lighten duty-load of the critical tasks. The validity of the proposed new task processes is demonstrated by making question to KTX train driver. To use this results cost-benefit analysis, hazards analysis etc. should be performed additionally.