• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2325-2330
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• 2005

A potential field method for solving the problem of path planning based on global and local information for a mobile robot moving among a set of stationary obstacles is described. The concept of various method used path planning is used design a planning strategy. A real human living area is constructed by many moving and imminence obstacles. Home service mobile robot must avoid many obstacles instantly. A path that safe and attraction towards the goal is chosen. The potential function depends on distance from the goal and heuristic function relies on surrounding environments. Three additional combined methods are proposed to apply to human living area, calibration robots position by measured surrounding environment and adapted home service robots. In this work, we proposed the application of various path planning theory to real area, human living. First, we consider potential field method. Potential field method is attractive method, but that method has great problem called local minimum. So we proposed intermediate point in real area. Intermediate point was set in doorframe and between walls there is connect other room or other area. Intermediate point is very efficiency in computing path. That point is able to smaller area, area divided by intermediate point line. The important idea is intermediate point is permanent point until destruction house or apartment house. Second step is move robot with sensing on front of mobile robot. With sensing, mobile robot recognize obstacle and judge moving obstacle. If mobile robot is reach the intermediate point, robot sensing the surround of point. Mobile robot has data about intermediate point, so mobile robot is able to calibration robots position and direction. Third, we gave uncertainty to robot and obstacles. Because, mobile robot was motion and sensing ability is not enough to control. Robot and obstacle have uncertainty. So, mobile robot planed safe path planning to collision free. Finally, escape local minimum, that has possibility occur robot do not work. Local minimum problem solved by virtual obstacle method. Next is some supposition in real living area.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.2
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• pp.173-181
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• 2015

We developed a wireless gamma-ray probe based on radiation photon counting method to diagnose and detect remaining lesions after surgery, and its effectiveness was evaluated using calibration sources and a phantom. The probe was designed and miniaturized using a semi-conductor-based radiation sensor, and a Bluetooth remote communication module was used to implement the wireless diagnosis and detection system. Moreover, a remote monitoring system was implemented to monitor affected areas during diagnosis and surgery. To assess the effectiveness of the developed probe in this study, calibration sources $^{57}Co$, $^{133}Ba$, $^{22}Na$ and $^{137}Cs$ and a chicken breast phantom were used. Furthermore, the probe's detection response to gamma ray was confirmed through evaluation. Its clinical applicability was verified by assessing the response linearity and detection direction according to gamma-ray intensity, as well as the detection efficiency according to the depth of the gamma source in the phantom.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.11
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• pp.979-983
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• 2013

The three-dimensional measurement method of confocal systems is a spot scanning method which has a high resolution and good illumination efficiency. However, conventional confocal systems had a weak point in that it has to perform XY axis scanning to achieve FOV (Field of View) vision through spot scanning. There are some methods to improve this problem involving the use of a galvano mirror [1], pin-hole array, etc. Therefore, in this paper we propose a method to improve a parallel mode confocal system using a micro-lens and pin-hole array in a dual microscope configuration. We made an area scan possible by using a combination MLA (Micro Lens Array) and pin-hole array, and used an objective lens to improve the light transmittance and signal-to-noise ratio. Additionally, we made it possible to change the objective lens so that it is possible to select a lens considering the reflection characteristic of the measuring object and proper magnification. We did an experiment using 5X, 2.3X objective lens, and did a calibration of height using a VLSI calibration target.

• Journal of Biosystems Engineering
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• v.41 no.3
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• pp.208-220
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• 2016

Purpose: Fusel oil is a potent volatile aroma compound found in many alcoholic beverages. At low concentrations, it makes an essential contribution to the flavor and aroma of fermented alcoholic beverages, while at high concentrations, it induced an off-flavor and is thought to cause undesirable side effects. In this work, we introduce Fourier transform near-infrared (FT-NIR) spectroscopy as a rapid and nondestructive technique for the quantitative determination of fusel oil in the Korean alcoholic beverage "soju". Methods: FT-NIR transmittance spectra in the 1000-2500 nm region were collected for 120 soju samples with fusel oil concentrations ranging from 0 to 1400 ppm. The calibration and validation data sets were designed using data from 75 and 45 samples, respectively. The net analyte signal (NAS) was used as a preprocessing method before the application of the partial least-square regression (PLSR) and principal component regression (PCR) methods for predicting fusel oil concentration. A novel variable selection method was adopted to determine the most informative spectral variables to minimize the effect of nonmodeled interferences. Finally, the efficiency of the developed technique was evaluated with two different validation sets. Results: The results revealed that the NAS-PLSR model with selected variables ($R^2_{\upsilon}=0.95$, RMSEV = 100ppm) did not outperform the NAS-PCR model (($R^2_{\upsilon}=0.97$, RMSEV = 7 8.9ppm). In addition, the NAS-PCR shows a better recovery for validation set 2 and a lower relative error for validation set 3 than the NAS-PLSR model. Conclusion: The experimental results indicate that the proposed technique could be an alternative to conventional methods for the quantitative determination of fusel oil in alcoholic beverages and has the potential for use in in-line process control.

• Journal of Korean Society on Water Environment
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• v.28 no.6
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• pp.866-881
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• 2012

Han River is a complex water system consisting of many lakes. The water quality of Lake Paldang is significantly affected by incoming flows, which are the South and North branches of the Han River, and the Kyungan Stream. In order to manage the water quality of the Lake Paldang, we should consider the entire water body where the incoming flows are included. The objectives of this study are to develop an integrated river and lake modeling system for Han River system using a multidimensional dynamic model and evaluate the model's performance against field measurement data. The integrated model was calibrated and verified using field measurement data obtained in 2007 and 2008. The model showed satisfactory performance in predicting temporal variations of water level, flow rate and temperature. The Root Mean Square Error (RMSE) for water temperature simulation were $0.88{\sim}2.13^{\circ}C$ (calibration period) and $1.05{\sim}2.00^{\circ}C$ (verification period) respectively. And Nash-Sutcliffe Efficiency (NSE) for water temperature simulation were 1089~0.98 (calibration period) and 0.90~0.98 (verification period). Utilizing the validated model, we analyzed the spatial and temporal distributions of temperature within Han River system. The variations of temperature along the river reaches and vertical thermal profiles for each lakes were effectively simulated with developed model. The suggested modeling system can be effectively used for integrated water quality management of water system consisting of many rivers and lakes.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.24 no.1
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• pp.47-54
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• 2013

This paper introduces a W-band millimeter-wave power standard transfer system using the direct comparison method. The transfer system was developed to evaluate the effective efficiency and calibration factor of a W-band waveguide power sensor. The evaluation method and the measured results of the directional coupler that characterizes the calibration system are studied. The uncertainties of the standard transfer system are investigated, and the major uncertainty contributors are discussed as well. The performance of the realized W-band power standard transfer system was verified by comparing results with reference values.

• Journal of Energy Engineering
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• v.16 no.4
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• pp.187-193
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• 2007

Water hammer following the tripping of pumps can lead to overpressures and negative pressures. Reduction in overpressure and negative pressure may be necessary to avoid failure, to improve the efficiency of operation and to avoid fatigue of system components. The field tests on the water hammer have been conducted on the pump rising pipeline system with an air chamber. The hydraulic transient is modeled using the method of characteristics. Minimizing the least squares problem representing the difference between the measured and predicted transient response in the system performs the calibration of the simulation program. Among the input variables used in the water hammer analysis, the effects of the polytropic exponent, the discharge coefficient and the wave speed on the result of the numerical analysis were examined. The computer program developed in this study will be useful in designing the optimum parameters of an air chamber for the real pump pipeline system. The correct selection of air chamber size and the effects of related parameters to minimize water hammer have been investigated by both field measurements and numerical modeling.

• Proceedings of the Korea Water Resources Association Conference
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• 2021.06a
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• pp.137-137
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• 2021

In this study we aimed to enhance streamflow prediction skill of a land-surface hydrological model, WRF-Hydro, over one of the snow dominated catchments lies in Himalayan mountainous range, Astore. To assess the response of the Himalayan river flows to climate change is complex due to multiple contributors: precipitation, snow, and glacier melt. WRF-Hydro model with default glacier module lacks generating streamflow in summer period but recently developed WRF-Hydro-CROCUS model overcomes this issue by melting snow/ice from the glaciers. We showed that by implementing WRF-Hydro-CROCUS model over Astore the results were significantly improved in comparison to WRF-Hydro with default glacier module. To constraint the model with the observed streamflow we chose 17 sensitive parameters of WRF-Hydro, which include groundwater parameters, surface runoff parameters, channel parameters, soil parameters, vegetation parameters and snowmelt parameters. We used Dynamically Dimensioned Search (DDS) method to calibrate the daily streamflow with the Nash-Sutcliffe efficiency (NSE) being greater than 0.7 both in calibration (2009-2010) and validation (2011-2013) period. Based on the number of iterations per parameter, we found that the parameters related to channel and runoff process are most sensitive to streamflow. The attempts to address the responses of the streamflows to climate change are still very weak and vague especially northwest Himalayan Part of Pakistan and this study is one of a few successful applications of process-based land-surface hydrologic model over this mountainous region of UIB that can be utilized to have an in-depth understanding of hydrological responses of climate change.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.26 no.3
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• pp.292-299
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• 2015

An envelope elimination and restoration transmitter that uses a tri-level envelope encoding scheme is presented for improving the efficiency and linearity of the system. The proposed structure amplifies the same magnitude signal regardless of the input peak-to-average power ratio and reduces the quantization noise by spreading out the noise to the out-of-band frequency, resulting in the enhancement of power efficiency. An improved linearity is also obtained by providing a new timing mismatch calibration technique between the envelope and phase signal. Implementation in a 130 nm CMOS process, transmitter measurements on a 20-MHz long-term evolution input signal show an error vector magnitude of 3.7 % and an adjacent channel leakage ratio of 37.5 dBc at 2.13 GHz carrier frequency.

• Journal of Radiation Protection and Research
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• v.42 no.1
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• pp.48-55
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• 2017

Background: Simultaneous detection of neutrons and gamma rays have become much more practicable, by taking advantage of good gamma-ray discrimination properties using pulse shape discrimination (PSD) technique. Recently, we introduced a commercial CLYC system in Korea, and performed an initial characterization and simulation studies for the CLYC detector system to provide references for the future implementation of the dual-mode scintillator system in various studies and applications. Materials and Methods: We evaluated a CLYC detector with 95% $^6Li$ enrichment using various gamma-ray sources and a $^{252}Cf$ neutron source, with validation of our Monte Carlo simulation results via measurement experiments. Absolute full-energy peak efficiency values were calculated for gamma-ray sources and neutron source using MCNP6 and compared with measurement experiments of the calibration sources. In addition, behavioral characteristics of neutrons were validated by comparing simulations and experiments on neutron moderation with various polyethylene (PE) moderator thicknesses. Results and Discussion: Both results showed good agreements in overall characteristics of the gamma and neutron detection efficiencies, with consistent ~20% discrepancy. Furthermore, moderation of neutrons emitted from $^{252}Cf$ showed similarities between the simulation and the experiment, in terms of their relative ratios depending on the thickness of the PE moderator. Conclusion: A CLYC detector system was characterized for its energy resolution and detection efficiency, and Monte Carlo simulations on the detector system was validated experimentally. Validation of the simulation results in overall trend of the CLYC detector behavior will provide the fundamental basis and validity of follow-up Monte Carlo simulation studies for the development of our dual-particle imager using a rotational modulation collimator.