• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.1
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• pp.99-107
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• 2014

In this paper, a landmark based localization system using a Kinect sensor is proposed and evaluated with the implemented system for precise and autonomous navigation of low cost robots. The proposed localization method finds the positions of landmark on the image plane and the depth value using color and depth images. The coordinates transforms are defined using the depth value. Using coordinate transformation, the position in the image plane is transformed to the position in the body frame. The ranges between the landmarks and the Kinect sensor are the norm of the landmark positions in body frame. The Kinect sensor position is computed using the tri-lateral whose inputs are the ranges and the known landmark positions. In addition, a new matching method using the pin hole model is proposed to reduce the mismatch between depth and color images. Furthermore, a height error compensation method using the relationship between the body frame and real world coordinates is proposed to reduce the effect of wrong leveling. The error analysis are also given to find out the effect of focal length, principal point and depth value to the range. The experiments using 2D bar code with the implemented system show that the position with less than 3cm error is obtained in enclosed space($3,500mm{\times}3,000mm{\times}2,500mm$).

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.8
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• pp.397-400
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• 2006

An optimized iron core structure of stimulating coil are presented in order to control the induced electric field distribution using the Continuum Design Sensitivity Analysis (CDSA) combined with a commercially available generalized finite element code (OPERA). The results show that a Figure-Of-Eight (FOE) coil as well as a circular coil with the proposed iron core structure can increase induced electric field intensity by more than two times and make better field localization, compared with those of existing stimulation coil with a air core. After considering manufacturing constraints, a practical iron core structure based on the proposed optimized one is proposed and its performance is analyzed.

• The Transactions of the Korea Information Processing Society
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• v.3 no.6
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• pp.1407-1417
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• 1996

In recent researches on thread partitioning algorithms break a thread at the long latency operation and merge threads to get the longer threads under the given constraints. Due to this limitation, even a program with little parallelism is partitioned into small-sized threads and context-swithings occur frequently. In the paper, we propose another method array localization about the array name, dependence distance(the difference of accessed element index from loop index), and the element usage that indicates whether element is used or defined. Using this information we can allocate array elements to the node where the corresponding loop activation is executed. By array localization, remote accesses to array elements can be replaced with local accesses to localized array elements. As a resuit,the boundaries of some threads are removed, programs can be partitioned into the larger threads and the number of context switchings reduced.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.9
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• pp.89-95
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• 2015

In this paper, we propose a real-time two-dimensional bar code detection system even at long range using a vision technique. We first perform short-range detection, and then long-range detection if the short-range detection is not successful. First, edge map generation, image binarization, and connect component labeling (CCL) are performed in order to select a region of interest (ROI). After interpolating the selected ROI using bilinear interpolation, a location symbol pattern is detected as the same as for short-range detection. Finally, the symbol pattern is arranged by applying inverse perspective transformation to localize bar codes. Experimental results demonstrate that the proposed system successfully detects bar codes at two or three times longer distance than existing ones even at indoor environment.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.45 no.6
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• pp.42-47
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• 2008

In this article a novel constant amplitude precoding for impulse UWB system is proposed. According to IEEE 802.15.4a, impulse UWB can be used in indoor localization and sensor data transmission. Most USN(ubiquitous sensor networks) needs multiple access. However impulse UWB system has a limited capability to detect superpositioned signal induced by multiple access. To overcome this problem we have adopted the concept of CAMC(Constant Amplitude Multi-Code) deviced by Wada and Kim. The proposed system consists of systematic constant amplitude precoding and LDPC decoding. And this system shows a good BER performance in computer simulation.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.8 no.12
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• pp.4588-4603
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• 2014

In this paper, we present a high-quality image authentication scheme based on absolute moment block truncation coding. In the proposed scheme, we use the parity of the bitmap (BM) to generate the authentication code for each compressed image block. Data hiding is used to authenticate whether the content has been altered or not. For image authentication, we embed the authentication code to quantization levels of each image block compressed by absolute moment block truncation coding (AMBTC) which will be altered when the host image is manipulated. The embedding position is generated by a pseudo-random number generator for security concerned. Besides, to improve the detection ability we use a hierarchical structure to ensure the accuracy of tamper localization. A watermarked image can be precisely inspected whether it has been tampered intentionally or incautiously by checking the extracted watermark. Experimental results demonstrated that the proposed scheme achieved high-quality embedded images and good detection accuracy, with stable performance and high expansibility. Performance comparisons with other block-based data hiding schemes are provided to demonstrate the superiority of the proposed scheme.

• The KSFM Journal of Fluid Machinery
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• v.8 no.3 s.30
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• pp.16-25
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• 2005

The purpose of this study is localization of safety relief valves for Nuclear Service. The safety relief valve is the important equipment used to protect the pressure vessel, the steam generator and the other pressure facility from overpressure by discharging the operating medium when the pressure of system is reaching the design pressure of the system. We developed design technology used FEM ' CFM about safety relief valve for Nuclear Service according to ASME (or KEPIC) Code and KHNP's Technical Specification. To prove validity of a design technology, actually, we manufactured and inspected and tested the sample products designed according to a developed technology. The capacity qualification test was achieved according to requirement of ASME(or KEPIC) Code by NBBI and the functional qualification test was achieved according to ASME QME-1 for operating condition in technical specification of KHNP by NLI. Therefore we have to achieve the development of safety relief valves for Nuclear Service with our own technologies.

• Nuclear Engineering and Technology
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• v.49 no.3
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• pp.632-637
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• 2017

Even though the potential for an accident in nuclear power plants is very low, multiple emergency plans are necessary because the impact of such an accident to the public is enormous. One of these emergency plans involves a robotic system for investigating accidents under conditions of high radiation and contaminated air. To develop a robot suitable for operation in a nuclear power plant, we focused on eliminating the three major obstacles that challenge robots in such conditions: the disconnection of radio communication, falling on uneven floors, and loss of localization. To solve the radio problem, a Wi-Fi extender was used in radio shadow areas. To reinforce the walking, we developed two- and four-leg convertible walking, a floor adaptive foot, a roly-poly defensive falling design, and automatic standing recovery after falling methods were developed. To allow the robot to determine its location in the containment building, a bar code landmark reading method was chosen. When a severe accident occurs, this robot will be useful for accident condition monitoring. We also anticipate the robot can serve as a workman aid in a high radiation area during normal operations.

• Journal of Astronomy and Space Sciences
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• v.32 no.4
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• pp.289-295
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• 2015

By adopting a 2D time-dependent wave code, we investigate how mode-converted waves at the Ion-Ion Hybrid (IIH) resonance and compressional waves propagate in 2D density structures with a wide range of field-aligned wavenumbers to background magnetic fields. The simulation results show that the mode-converted waves have continuous bands across the field line consistent with previous numerical studies. These waves also have harmonic structures in frequency domain and are localized in the field-aligned heavy ion density well. Our results thus emphasize the importance of a field-aligned heavy ion density structure for ultra-low frequency wave propagation, and suggest that IIH waves can be localized in different locations along the field line.

• BMB Reports
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• v.43 no.5
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• pp.344-348
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• 2010

Messenger ribonucleoprotein particles (mRNPs) are used to transport mRNAs along neuronal dendrites to their site of translation. Staufen2 is an mRNA-binding protein expressed in the cell bodies and cellular processes of different brain cells. It is notably involved in the transport of dendritic mRNAs along microtubules. Its knockdown expression was shown to change spine morphology and impair synaptic functions. However, the identity of Staufen2-bound mRNAs in brain cells is still completely unknown. As a mean to identify these mRNAs, we immunoprecipitated Staufen2-containing mRNPs from embryonic rat brains and used a genome wide approach to identify Staufen2-associated mRNAs. The genome wide approach identified 1780 mRNAs in Staufen2-containing mRNPs that code for proteins involved in cellular processes such as post-translational protein modifications, RNA metabolism, intracellular transport and translation. These results represent an additional and important step in the characterization of Staufen2- mediated neuronal functions in rat brains.