• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.973-978
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• 2005

In this paper, we investigate an improved mobile robot localization method using Kalman filter. The highlight of the paper lies in the formulation of combined Kalman filter and its application to mobile robot experiment. The combined Kalman filter is a kind of extended Kalman filter which has an extra degree of freedom in Kalman filtering recursion. It consists of the standard Kalman filter, i.e., the predictor-corrector and the perturbation estimator which reconstructs unknown dynamics in the state transition equation of mobile robot. The combined Kalman filter (CKF) enables to achieve robust localization performance of mobile robot in spite of heavy perturbation such as wheel slip and doorsill crossover which results in large odometric errors. Intrinsically, it has the property of integrating the innovation in Kalman filtering, i.e., the difference between measurement and predicted measurement and thus it is so much advantageous in compensating uncertainties which has not been reflected in the state transition model of mobile robot. After formulation of the CKF recursion equation, we show how the design parameters can be determined and how much beneficial it is through simulation and experiment for a two-wheeled mobile robot under indoor GPS measurement system composed of four ultrasonic satellites. In addition, we discuss what should be considered and what prerequisites are needed to successfully apply the proposed CKF in mobile robot localization.

• Journal of Families and Better Life
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• v.33 no.1
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• pp.1-17
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• 2015

This study investigated how variables of internalizing and externalizing problematic behaviors change according to gender and as time passes by and how the variables influence adolescent problematic behaviors. The variables selected for the analysis are personal variables, parent variables, peer and school variables, and community variables. longitudinal data collected for 4 years from the Korea Youth Panel Survey(KYPS) were utilized for the analysis. Data were collected initially from 2,707 fifth grade elementary students in 2005 and they were traced until 2008. The final respondents were 2,448 students. The findings are as follows. Frist, the statistical significance was found in changes of problematic behavioral variables in terms of the gender difference. Second, variables, such as self-esteem and self-control are negatively correlated to the problematic behaviors and stress level is strongly positively correlated to the behaviors. Third, the study pressure and peer attachment level are correlated to the initial value of internalizing problematic behaviors. In conclusion, given that more statistical significances were found at initial values than the change rates among variables, early intervention is important in addressing adolescent problematic behaviors.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.4
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• pp.487-492
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• 2004

This paper deals with modeling method and application of Fuzzy Discrete Event System(FDES). FDES have characteristics which Crisp Discrete Event System(CDES) can't deals with and is constituted with the events that is determined by vague and uncertain judgement like biomedical or traffic control. In general, the modeling method of CDES has been studied many times, but that of FDES hasn't been nearly studied by qualitative character and scarcity of applicated system. This paper models traffic system with FDES's character in FTTPN and designs a traffic signal controller.

• 유체기계공업학회:학술대회논문집
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• 2006.08a
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• pp.191-194
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• 2006

In this paper, we present a detailed mechanism of drag reduction by dimples and roughness on a sphere by measuring the streamwise velocity above the dimpled and roughened surfaces, respectively. Dimples cause local flow separation and trigger the shear layer instability along the separating shear layer, resulting in generation of large turbulence intensity. With this increased turbulence, the flow reattaches to the sphere surface with high momentum near the wall and overcomes strong adverse pressure gradient formed in the rear sphere surface. As a result, dimples delay main separation and reduce drag significantly. The present study suggests that generation of a separation bubble, i.e. a closed-loop streamline consisting of separation and reattachment, on a body surface is an important flow-control strategy for drag reduction on a bluff body such as the sphere and cylinder. In the case of roughened sphere, the boundary layer flow is directly triggered by roughness and changes to a turbulent flow. Due to this change, the drag significantly decreases. As the Reynolds number further increases, transition to turbulence occurs earlier on the sphere surface. Because of faster growth of turbulent boundary layer by roughness, earlier transition thickens the boundary layer, resulting in earlier separation and drag increase with increasing Reynolds number

• Biomolecules & Therapeutics
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• v.26 no.1
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• pp.29-38
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• 2018

During cancer progression, cancer cells are repeatedly exposed to metabolic stress conditions in a resource-limited environment which they must escape. Increasing evidence indicates the importance of nicotinamide adenine dinucleotide phosphate (NADPH) homeostasis in the survival of cancer cells under metabolic stress conditions, such as metabolic resource limitation and therapeutic intervention. NADPH is essential for scavenging of reactive oxygen species (ROS) mainly derived from oxidative phosphorylation required for ATP generation. Thus, metabolic reprogramming of NADPH homeostasis is an important step in cancer progression as well as in combinational therapeutic approaches. In mammalian, the pentose phosphate pathway (PPP) and one-carbon metabolism are major sources of NADPH production. In this review, we focus on the importance of glucose flux control towards PPP regulated by oncogenic pathways and the potential therein for metabolic targeting as a cancer therapy. We also summarize the role of Snail (Snai1), an important regulator of the epithelial mesenchymal transition (EMT), in controlling glucose flux towards PPP and thus potentiating cancer cell survival under oxidative and metabolic stress.

• Journal of Mechanical Science and Technology
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• v.17 no.5
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• pp.718-725
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• 2003

The present study addresses the distortion of the compression wave reflected from an open end of a shock tube. An experiment is carried out using the simple shock tube with an open end Computational work is also performed to represent the experimented flows. The second-order Total Variation Diminishing scheme is employed to numerically solve the unsteady, axisy-mmetric, inviscid, compressible governing equations. Both the experimented and predicted results are in good agreement. The generation and development mechanisms of the compression wave, which Is reflected from the open end of the shock tube, are obtained in detail from the present computations. The effect of size of the baffle plate at the open-end that causes the reflection of the incident expansion wave is found negligible. A good correlation is obtained for transition of the reflected compression wave to a shock wave inside the tube. The present data show that for a given wave length of the incident expansion wave the transition of the reflected compression wave to a shock wave can be predicted with good accuracy.

• The Journal of Korea Robotics Society
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• v.5 no.3
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• pp.270-277
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• 2010

Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for the purpose of surveillance, reconnaissance, search and rescue, and etc. We have considered a terrain adaptive hybrid robot platform which is equipped with rapid navigation on flat floors and good performance on overcoming stairs or obstacles. Since our special consideration is posed to its flexibility for real application, we devised a design of a transformable robot structure which consists of an ordinary wheeled structure to navigate fast on flat floor and a variable tracked structure to climb stairs effectively. Especially, track arms installed in front side, rear side, and mid side are used for navigation mode transition between flatland navigation and stairs climbing. The mode transition is determined and implemented by adaptive driving mode control of mobile robot. The wheel and track hybrid mobile platform apparatus applied off-road driving mechanism for various professional service robots is verified through experiments for navigation performance in real and test-bed environment.

• Textile Coloration and Finishing
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• v.25 no.4
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• pp.241-246
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• 2013

The color properties of a white or nearly colorless fabric are represented by whiteness index (WI) or yellowness index (YI). These two indexes relate to a white fabric's color quality. The purpose of this study was to identify the properties of WI and YI on the CIELAB through the simulations of estimation data for a systemization of color quality control. The results indicated that the relationship between WI and YI was a negative correlation, however the coefficients of correlation function between WI and YI were depended on hue. There were two hue transition points of the rate of changes in WI and YI. These hue transition points were the reference points to divide the hue contribution to WI and YI. These points were not the point of h=0 and h=180 and asymmetric. In addition, where the colors were same distance from the white point on the CIELAB, the rate of changes in WI and YI by ${\Delta}$Ew were depending on hue. Specifically, when WI decreased, YI of reddish and yellowish tinted colors decreased more than bluish tinted colors.

• Journal of Sensor Science and Technology
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• v.16 no.6
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• pp.407-412
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• 2007

For $VO_{2}$ sensors applicable to temperature measurement by using the nature of semiconductor to metal transition, the crystallinity, microstructure, and temperature vs. resistance characteristics were investigated systematically as a function of the annealing condition. The starting materials, vanadium pentoxide ($V_{2}O_{5}$) powders, were mixed with vehicle to form paste. This paste was screen-printed on $Al_{2}O_{3}$ substrates and then $VO_{2}$ thick films were heat-treated at $450^{\circ}C$ to $600^{\circ}C$, respectively, for 1 hr in $N_{2}$ gas atmosphere for the reduction. As results of the temperature vs. resistance property measurements, the electrical resistance of the $V_{2}O_{5}$ sensor in phase transition range was decreased by $10^{3.9}$ order. The presented critical temperature sensor could be used in fire-protection and control systems.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.12 no.1
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• pp.189-194
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• 2012

This paper is about frequency allocation of LTE Base Station(BS) in the spare band which is generated by DTV transition. In the case of frequency allocation of LTE BS in adjacent band with DTV channel 51 among the spare band, the guard bands that requires for no interference between LTE and DTV system were calculated. As a result, 5.5 MHz of guard band for LTE BS and 2 MHz of guard band for DTV receiver were suggested based on interference analysis between LTE BS and DTV BS, respectively.