• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.2237-2242
• /
• 2005

The original RRT is iteratively expanded by applying control inputs that drive the system slightly toward randomly-selected states, as opposed to requiring point-to-point convergence, as in the probabilistic roadmap approach. It is generally known that the performance of RRTs can be improved depending on the selection of the metrics in choosing the nearest vertex and bias techniques in choosing random states. We designed a path planning algorithm based on the RRT method for a remote-controlled mobile robot. First, we considered a bias technique that is goal-biased Gaussian random distribution along the command directions. Secondly, we selected the metric based on a weighted Euclidean distance of random states and a weighted distance from the goal region. It can save the effort to explore the unnecessary regions and help the mobile robot to find a feasible trajectory as fast as possible. Finally, the constraints of the actuator should be considered to apply the algorithm to physical mobile robots, so we select control inputs distributed with commanded inputs and constrained by the maximum rate of input change instead of random inputs. Simulation results demonstrate that the proposed algorithm is significantly more efficient for planning than a basic RRT planner. It reduces the computational time needed to find a feasible trajectory and can be practically implemented in a remote-controlled mobile robot.

• Nuclear Engineering and Technology
• /
• 제54권4호
• /
• pp.1363-1373
• /
• 2022

The recent seismic events that occurred in South Korea have increased the interest in the re-evaluation of the seismic capacity of nuclear power plant (NPP) equipment, which is often conservatively estimated. To date, various approaches-including the Bayesian method proposed by the United States (US) Electric Power Research Institute -have been developed to quantify the seismic capacity of NPP equipment. Among these, the Bayesian approach has advantages in accounting for both prior knowledge and new information to update the probabilistic distribution of seismic capacity. However, data availability and region-specific issues exist in applying this Bayesian approach to Korean NPP equipment. Therefore, this paper proposes to construct an earthquake experience database by combining available earthquake records at Korean NPP sites and the general location of equipment within NPPs. Also, for the better representation of the seismic demand of Korean earthquake datasets, which have distinct seismic characteristics from those of the US at a high-frequency range, a broadband frequency range optimization is suggested. The proposed data construction and seismic demand optimization method for seismic capacity re-evaluation are demonstrated and tested on a 480 V motor control center of a South Korea NPP.

• 대한의용생체공학회:의공학회지
• /
• 제29권1호
• /
• pp.17-24
• /
• 2008

The aim of this paper is to report our preliminary results of investigating the spatial focalization of Zen-meditation EEG (electroencephalograph) in alpha band (8-13 Hz). For comparison, the study involved two groups of subjects, practitioners (experimental group) and non-practitioners (control group). To extract EEG alpha rhythm, wavelet analysis was applied to multi-channel EEG signals. Normalized alpha-power vectors were then constructed from spatial distribution of alpha powers, that were classified by Fuzzy C-means based algorithm to explore various brain spatial characteristics during meditation (or, at rest). Optimal number of clusters was determined by correlation coefficients of the membership-value vectors of each cluster center. Our results show that, in the experimental group, the incidence of frontal alpha activity varied in accordance with the meditation stage. The results demonstrated three different spatiotemporal modules consisting with three distinctive meditation stages normally recognized by meditation practitioners. The frontal alpha activity in two groups decreased in different ways. Particularly, monotonic decline was observed in the control group, and the experimental group showed increasing results. The phenomenon might imply various mechanisms employed by meditation and relaxation in modulating parietal alpha.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2004년도 춘계학술대회
• /
• pp.1352-1357
• /
• 2004

Thermal error compensation has been developed for CNC (Computer Numerical Control) machining center with moving heat sources. The thermal error in CNC machining center has an effect on machining accuracy more than the geometric error does. Thus, temperature distributions of a spindle unit have been analyzed numerically by a Finite Differential Method and experimentally by an infrared (IR) camera in this study. A multiple variable method has been derived to estimate the thermal deformation of the machine origin stably and effectively after measuring deformation and temperature data. The experimental results for a vertical machining center have shown that the thermal errors of the machine origins were reduced more than 30% by the developed method.

• 한국가축번식학회지
• /
• 제26권4호
• /
• pp.311-320
• /
• 2002

The objective of this study was to assess the developmental potential in vitro produced embryos frozen-thawed with the various containers, and also examined expression and localization of heat shock protein 70 at these embryos. For the vitrification, 2-cell, 8-cell and blastocyst stage embryos produced by in vitro fertilization (IVF) and nuclear transfer (NT) were exposed the ethylene glycol 5.5 M freezing solution (EC 5.5) for 30 sec, loaded on each containers such EM grid, straw and cryo-loop, and then immediately plunged into liquid nitrogen. Thawed embryos were serially diluted in sucrose solution, each for 1 min. and cultured in CRI-aa medium. Survival rates of the vitrification production were assessed by re-expanded, hatched blastocysts. There were no differences in the survival rates of IVF using EM grid and cryo-loop. However, survival rates by straw were relatively lower than other containers. The use of cryo-loop resulted in only survival of nuclear transferred embryos (43.7%). Also, there embryos after IVF or NT were analysed by semi-quantitive reverse transcription-polymerase chain reaction (RT- PCR) methods for hsp 70 mRNA expression. Results revealed the expression of hsp 70 mRNh were higher thawed embryos than control embryos. Immunocytochemistry used to localize the hsp 70 protein in embryos. Two and 8-cell embryos derived under control condition was evenly distributed in the cytoplasm but appeared as aggregates in some frozen-thawed embryos. However, in the control, blastocysts displayed aggregate signal while Hsp70 in frozen-thawed blastocysts appeared to be more uniform In distribution. Therefore, this result suggests that the exploiting Hsp 70 in the early embryos may be role for protection of stress condition for increase viability of embryos within IVF, NT and there frozen-thawed embryos.

• 무역학회지
• /
• 제44권3호
• /
• pp.25-42
• /
• 2019

This research examined the mediation effect of Workforce Agility (WA) on the relationship between environmental uncertainty and operational performance. We manipulated the control variables that are known to be affected by employment flexibility. Employment flexibility is caused by idiosyncratic characteristics of Korean port system. The analysis was tested by Baron & Kenny's method. The result indicates that each path of the proposed model is significant. Furthermore, the mediation effect was checked with the Sobel Test. The research revealed that environment uncertainty poses an indirect effect on operational performance. Both supply/demand uncertainty and technological uncertainty affected operational performance through the mediation effect of WA. Most of the distribution centers located in Busan Newport Distripark are operated in a bimodal labor (human resource) system which includes both permanent employees (workers) and temporary employees (workers). This empirical research provides theoretical and managerial implications by suggesting ways to increase efficiency in distribution center operation through WA enhancement, and to improve the unloading labor system.

• 대한기계학회논문집A
• /
• 제40권1호
• /
• pp.87-95
• /
• 2016

본 연구에서는 오픈센터 시스템과 부하 감지형 시스템의 해석모델을 개발하고 시스템의 특성과 효율을 분석하였다. 오픈 센터 방식의 메인 컨트롤 밸브의 압력과 유량 특성을 분석하기 위해 각각의 포트별로 시험을 수행하였다. 시스템의 특성 분석 전 단계에서 시험 결과와 해석 결과를 비교함으로써 해석모델의 신뢰성을 검토하였다. 신뢰성이 검증된 오픈 센터 방식의 메인컨트롤 밸브에 유량 분배 밸브를 추가하여 부하 감지형 메인 컨트롤 밸브의 해석모델을 개발하였다. 두 가지 시스템의 효율을 분석하기 위해 동일한 부하 조건에서 해석을 수행하였으며 각각의 부하 특성에 따른 효율을 검토하였다. 또한, 서로 다른 부하 조건에서 유량 분배 시스템의 특성을 분석함으로써 복합 동작에 대한 성능도 검토 하였다.

• 환경생물
• /
• 제26권4호
• /
• pp.303-310
• /
• 2008

Heavy metal concentration of Fe, Zn, Cu, Cd and Pb were analysed from seaweeds (Ulva pertusa, Sargassum thunbergii, Caulacanthus okamurae), sediments and seawater at the two experimental sites of Daebul and Sabjin industrial complex in Mokpo coastal area with a control site (Heugsando). Highest values of heavy metals were found at two experimental sites influencing by various pollution sources such as industrial drains, sewage and harbours. In contrast, the lowest concentrations was observed at the control site without any pollution source. The concentration levels of accumulated heavy metals were in the following order: seaweeds > sediments > seawater. Similar spatial distribution patterns were observed at the seaweeds, sediments and seawater for the highest mean values of the different heavy metals. This result show that seaweeds could be used as a biomonitors of heavy metals at coastal region.

• 조명전기설비학회논문지
• /
• 제27권8호
• /
• pp.90-97
• /
• 2013

In recent years, the many electric saving methods are studied because of difficulty of meeting the demand. The electric energy management such as monitoring of branch power consumption, demand control, metering, power quality monitoring, electric safety monitoring can make energy saving. The purpose of this paper is to develop a system which can provide the integrated management of various functions required for energy management by consumers. In this system all functions which were embodied into each devices are integrated into intelligent meter. The developed systems are tested and implemented by installing at consumer electric distribution panel.

• 한국소성가공학회:학술대회논문집
• /
• 한국소성가공학회 2004년도 제5회 압연심포지엄 신 시장 개척을 위한 압연기술
• /
• pp.317-326
• /
• 2004

This study investigated tile local austenite grain size (AGS) distribution In rolling of SCM435 steel which is commonly used for high strength bolt. To investigate AGS distribution, round-oval (R-O) and square-diamond (S-D) rolling experiments were carried out with pilot mill. In round-oval rolling, local AGS has a tendency to increase when it goes to outward. In square-diamond rolling, local AGS has a tendency to increase when it goes to free surface. To investigate relation between AGS and process parameter, three dimensional FE analysis was carried out along with rolling experiment. To validate accuracy of FE analysis, we compared deformed geometry with FE result. The AGS prediction combined AGS model with numerical analysis was also carried out for center node of S-D rolling. Although this study brought experimental observation and its qualitative analysis into focus and quantitative AGS prediction will be done as a further work.