• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.2
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• pp.111-116
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• 2014

Using only laser range finder to detect the obstacles in an environment that contains transparent obstacles can not guarantee autonomous mobile robot from collision problem. To solve this problem, a mobile robot using laser range finder must be used additional sensor device such as sonar sensor that can detect the transparent obstacle. In this paper, a method is addressed to deal with the problem to detect the transparent obstacles within environment only by using laser range finder for mobile robot. In case the recognized transparent obstacle, the proposed algorithm is to localize the transparent obstacle to extract and process the reflected noise. This algorithm ensures autonomous of mobile robot only using laser range finder. The effectiveness of the proposed algorithm is evaluated by the real mobile robot and real laser range finder experiments with three case studies.

• Korean Journal of Pharmacognosy
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• v.49 no.3
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• pp.270-277
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• 2018

Pyungwi-san has been used to treat the digestive system diseases, physconia, nausea, anorexia, and dyspepsia in Korea. In this study, an ultra-performance liquid chromatography-electrospray ionization-mass spectrometry (UPLC-ESI-MS/MS) method was optimized for simultaneous determination of the 14 marker components, spinosin, liquiritirn apioside, liquiritin, narirutin, 6'''-feruloylspinosin, hesperidin, liquiritigenin, glycyrrhizin, 6-gingerol, atractylenolide III, honokiol, atractylenolide II, magnolol, and atractylenolide I in Pyungwi-san extract. All analytes were separated on a Waters Acquity UPLC BEH $C_{18}$ analytical column ($2.1{\times}100mm$, $1.7{\mu}m$) with maintained at $45^{\circ}C$. The mobile phase consisted of 0.1% (v/v) aqueous formic acid and acetonitrile. The MS conditions were as follows: capillary voltage 3.3 kV, extractor voltage 3.0 V, RF lens voltage 0.3 V, source temperature $120^{\circ}C$, desolvation temperature $300^{\circ}C$, desolvation gas 600 L/h, cone gas 50 L/h and collision gas 0.14 mL/min. The coefficient of determination of 14 analytes was 0.9989-1.0000. The limits of detection and quantification values of the all analytes were 0.04-2.56 and 0.13-7.69 ng/mL, respectively. As a result of the analysis using the established LC-ESI-MS/MS method, the 5 components, spinosin, 6'''-feruloylspinosin, atractylenolide III, II, and I derived from Zizyphi Fructus and Atractylodis Rhizoma, were not detected in this extract. On the other hand, the 9 components except for the 5 components were 4.15-498.87 mg/kg in lyophilized Pyungwi-san extract. Among these components, glycyrrhizin, marker compound of Glycyrrhizae Radix et Rhizoma, was detected the most amount as a 498.87 mg/kg.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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• v.1 no.1
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• pp.55-64
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• 2003

In this study, the maintenance process by the servo manipulator has been developed for the parts of the equipment, which we unable to reach out by the Master-Slave Manipulator(MSM) in a hot cell. To do this, a virtual mock-up is implemented using the iか prototyping technology. Using this mock-up, the workspace of the manipulators in the hot cell and the operator's view through the wall-mounted lead glass have been analyzed. In addition, the path planning of the servo manipulator using the collision detection function of the virtual mock-up has been established. From these, the maintenance process for the parts of the equipment, which are located at the outside of the MSM's workspace using the servo manipulator has been proposed and verified through the graphic simulation. It is revealed that the proposed remote maintenance process of the equipment can effectively be used in the real hot cell operation. It is also believed that the implemented virtual mock-up of the hot cell can effectively be applied in analyzing the various hot cell operation and enhancing the reliability and safety in a hot cell remote handling for the spent fuel management.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2003.11a
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• pp.337-344
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• 2003

In this study, the maintenance process by the servo manipulator for the parts of the equipment that cannot be reached by MSM in the hot cell was developed. To do this, the virtual mock up is implemented using virtual prototyping technology. And, Using this mock-up, the workspace of the manipulators In the hot cell and the operator's view through the wall-mounted lead glass are analyzed. And the path planning of the servo manipulator using the collision detection of the virtual mockup is established. Also, the maintenance process for the parts of the equipment that are located out area of the MSM's workspace by the servo manipulator is proposed and verified through the graphic simulation. The proposed remote maintenance process of the equipment can be effectively used in the real hot cell operation. Also, the implemented virtual mock-up of the hot cell can be effectively used in analyzing the various hot cell operation and in enhancing the reliability and safety of the spent fuel management.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2373-2376
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• 1998

This paper describes the development of the SCADA(Supervisory Control and Data Acquisition) system which can be controlled via the Internet. In this paper, the SCADA system is composed of a number of microprocessor-based RTU(Remote Terminal Unit)s, a MMI(Man Machine Interface) host, a SCADA server, and SCADA clients. There are two protocols used in the system. Each RTU and the MMI host are connected by a RS-485 line and CSMA/CD(Carrier Sense Multiple Access / Collision Detection) protocol is used to communicate with each other. TCP/IP(Transmission Control Protocol/Internet Protocol) is used among the MMI host, the SCADA server, and SCADA clients. The equipments installed in the field are controlled by a number of RTUs. The function of the MMI host is to acquire real-time data from RTUs and control them. The SCADA server supports data transfer between the networked MMI host and the SCADA client on the web-server through TCP/lP. Data transfer is possible regardless of the type of network only if there are TCP/lP Winsock-compatible stack driver. The SCADA client is implemented as the shape of web-page by means of JAVA language. Therefore, it runs on a web-browser such as Netscape and Explorer, and allows a number of users to access this SCADA system.

• Journal of the Korea Society for Simulation
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• v.16 no.1
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• pp.31-37
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• 2007

The importance of NPC's role in computer games is increasing. An NPC must perform its tasks by perceiving obstacles and other characters and by moving through them. It has been proposed to plan a natural-looking path against fixed obstacles by using a generalized visibility graph. In this paper we develop the execution module for an NPC to move efficiently along the path planned on the generalized visibility graph. The planned path consists of line segments and arc segments, so we define steering behaviors such as linear behaviors, circular behaviors, and an arriving behavior for NPC's movements to be realistic and utilize them during execution. The execution module also includes the collision detection capability to be able to detect dynamic obstacles and uses a decision tree to react differently according to the detected obstacles. The execution module is tested through the simulation based on the example scenario in which an NPC interferes the other moving NPC.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2004.05b
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• pp.545-547
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• 2004

Currently possibility of the change of seal computer it increases geometrical progression and the general individuals the knowledge which is special regarding the ip are using the flow child blood which it Provides without from the isp enterprise. But most of the case peon of the school which uses the fixation child blood or the company because is not the knowledge against a TCP/IP address is not oneself at deliberation or real income and it will use the TCP/IP address of the different user and the network whole it will paralyze, the original user will not be able to use the network and it makes. With information where address information where the network administrator present time after data base anger one uses address information of the civil official objective personal computers and network systems of the watch inside in the dictionary is stored will be same from the dissertation which it sees hereupon and the web which it will yell it leads and packet it detects, the use of the TCP/IP address which goes wrong in the user and it notifies the method which is the possibility of closing the paralysis of the network system which it follows in the IP address fringe land due to a deliberation or a real income to sleep it presents it does.

• Journal of the Korea Institute of Military Science and Technology
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• v.10 no.3
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• pp.139-147
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• 2007

In military transportation, the use of wide trailer for transporting the large and heavy weight equipments such as tank, armoured vehicle, and mobile gunnery is quite common. So, the vulnerability of causing traffic accidents for these wide military trailer to bump or collide with another car in adjacent lane is very high due to its broad width in excess of its own lane's width. Also, the possibility of these strayed accidents can be increased especially by the careless driver. In this paper, the recognition system of lane and vehicle headway direction is developed to detect the possible collision and warn the driver to prevent the fatal accident. In the system development, Kalman filtering is used first to extract the border of driving lane from the video images supplied by the CCD camera attached to the vehicle and the driving lane detection is completed with regression analysis. Next, the vehicle headway direction is recognized by using neural network scheme with the extracted parameters of the detected driving lane feature. The practical experiments for the developed system are also carried out in the real traffic road of Seoul city area and the results show us the more than 90% accuracy in recognizing the driving lane and vehicle headway direction.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.2
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• pp.1426-1433
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• 2015

CCTV-applied monitoring is an effective measure to suppress potential crimes and record objective relationship; however, there is no methodology that can quantitatively compare and assess the afore-mentioned effects. Thus, this study intended to construct the methodology and analysis application that can measure the changes in the space-corresponding performance of CCTVs depending on installation measures by using 3-dimenstional virtual simulation technology. For analysis, the raster-based Isovist theory was 3-dimensionally expanded and the amount of incident sight line to each point was accumulated. At the same time, the amount of overlapped monitoring in the CCTV cameras that were connected to each measurement node was accumulated for cross-analysis. By applying the examples and analyzing the results, it was possible to construct an analysis application in use of collision detection model and quantify the changes of monitoring performance depending on positioning alternative of the cameras. Moreover, it enabled intuitive review and supplementation by reproducing visible shadow areas in a graph.

• Journal of KIISE:Computer Systems and Theory
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• v.31 no.12
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• pp.682-691
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• 2004

We present a novel haptic sculpting system where the user intuitively adds to and carves out material from a volumetric model using new sculpting tools in the similar way to handling real clay Haptic rendering and model deformation are implemented based on volumetric implicit surface. We enhance previous volume-based haptic sculpting systems by presenting fast and stable force computation on 3D models to be deformed. In order to bridge the gap between fast haptic process (1 KHz) and much slower visual update frequency(~30Hz), the system generates intermediate implicit surfaces between two consecutive physical models being deformed. It performs collision detection and force computation on the intermediate surface in haptic process. The volumetric model being sculpted is visualized as a geometric model which is adaptively polygonized according to the surface complexity. We also introduce various visual effects for the real-time sculpting system including mesh-based solid texturing, painting, and embossing/engraving techniques.