• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2004.03a
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• pp.306-313
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• 2004

The microwave discharge ion engine generates plasmas of both the main ion source and the neutralizer using 4㎓ microwave without discharge electrodes and hollow cathodes, so that long life and durability against oxygen and air are expected. The MUSES-C “HAYABUSA” asteroid explorer installing four microwave discharge ion engines “$\mu$10s” was launched into deep space by M-V rocket No.5 on May 9, 2003. After vacuum exposure and several runs of baking for reduction of residual gas the ion engine system established the continuous acceleration of the spacecraft toward the asteroid “ITOKAWA”. The Doppler shift measurement of the communication microwave revealed the performance of ion engines, which is 8mN thrust force for a single unit with 3,200sec specific impulse at 23mN/㎾ thrust power ratio. At the end of 2003 the accumulated operational time exceeded 8,000 hour and unit. HAYABUSA will execute the Earth swing-by on June 2004 and arrive at the asteroid in 2005 and return to Earth in 2007.

• Proceedings of the KSEEG Conference
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• 2003.04a
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• pp.25-26
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• 2003

Since the 1960’s, the most attractive geological exploration for gold-silver deposits have been targeted on the sedimentary-host disseminated deposit, originating hydrothermal processes, low-grade (Au 2-8 g/t) but large reserves (5-20 M tons) and led to discovery of the Carlin deposit, following Battle Mountain, Round Mountain, Getchell and etc. in northeastern to central Nevada, USA. (omitted)

• The Journal of Korea Robotics Society
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• v.5 no.3
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• pp.251-261
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• 2010

In this paper, we introduce an internal pipeline exploration of an in-pipe robot, based on the landmark recognition system. The fittings of pipelines such as elbows and branches are used as the landmarks. The robot recognizes the landmarks with a vision system by using the shadows of the elements, which are generated by the specially designed illuminator on the robot. By using a simple image-processing, the robot can easily detect and distinguish these landmarks while recognizing the direction of the pipeline path. Simultaneously, all information for exploration is continuously recorded and used to reconstruct the map of the pipelines. The effectiveness of the proposed method is verified by real experiments using the in-pipe robot MRINSPECT V for moving inside of the miniature urban 8-inch gas pipeline structure.

• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.40-47
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• 2022

A reward function suitable for a task is required to manipulate objects through reinforcement learning. However, it is difficult to design the reward function if the ample information of the objects cannot be obtained. In this study, a demonstration-based object manipulation algorithm called stochastic exploration guided by demonstration (SEGD) is proposed to solve the design problem of the reward function. SEGD is a reinforcement learning algorithm in which a sparse reward explorer (SRE) and an interpolated policy using demonstration (IPD) are added to soft actor-critic (SAC). SRE ensures the training of the critic of SAC by collecting prior data and IPD limits the exploration space by making SEGD's action similar to the expert's action. Through these two algorithms, the SEGD can learn only with the sparse reward of the task without designing the reward function. In order to verify the SEGD, experiments were conducted for three tasks. SEGD showed its effectiveness by showing success rates of more than 96.5% in these experiments.

• Publications of The Korean Astronomical Society
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• v.27 no.4
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• pp.271-274
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• 2012

We present the result of systematic AKARI IRC infrared $2.5-5{\mu}m$ spectroscopy of >100 nearby luminous infrared galaxies, to investigate the energetic roles of starbursts and optically-elusive buried AGNs. Based on (1) the equivalent widths of the $3.3{\mu}m$ PAH emission features, (2) the optical depths of absorption features, and (3) continuum slopes, we can disentangle emission from starbursts and AGNs. We find that the energetic importance of buried AGNs increases with increasing galaxy infrared luminosities, suggesting that the AGN-starburst connections (and thereby possible AGN feedback to host galaxies) are luminosity dependent.

• International Journal of Control, Automation, and Systems
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• v.5 no.5
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• pp.539-546
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• 2007

The important field of research in ship operation is related to the high efficiency of transportation, the convenience of maneuvering ships and the safety of navigation. For these purposes, many intelligent technologies for ship automation have been required and studied. In this paper, we propose an intelligent voice instruction-based learning (VIBL) method and discuss the building of a ship's steering control system based on this method. The VIBL system concretely consists of two functions: a text conversion function where an instructor's inputted voice is recognized and converted to text, and a linguistic instruction based learning function where the text instruction is understood through a searching process of given meaning elements. As a study method, the fuzzy theory is adopted to build maneuvering models of steersmen and then the existing LIBL is improved and combined with the voice recognition technology to propose the VIBL. The ship steering control system combined with VIBL is tested in a ship maneuvering simulator and its validity is shown.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.5
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• pp.891-898
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• 2001

This paper develops a master manipulator which can reflect a force from a slave manipulator effectively. It many have a big workspace, can represent a human operators manipulation perfectly, and is composed of a position control part, an orientation control part and an end effector control part. This paper also develops a graphic simulator using the Visual C++ and OpenGL in the Window operating system. It can be used to make a virtual slave manipulator and set a virtual working environment, and provide a visual information from a desired view point. A virtual teleoperation system is developed by connecting the developed master manipulator to the graphic simulator using an interfacing hardware bilaterally. It is used for performing a virtual object exploration experiment. In the experiment, two virtual objects are used. They are virtual wall and virtual hexahedron which have 0.7N/mm and 2.2 N/mm stiffness respectively. The experiments are performed under six different working conditions. The experiment results will show the effectiveness of the reflected force from the slave manipulator for improving the efficiency and stability of the teleoperation task.

• Geomechanics and Engineering
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• v.18 no.5
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• pp.527-534
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• 2019

Although ground investigation had carried out prior to the construction, many problems have arisen during the civil-engineering works because of the presence of the unexpected underground utility lines or anomalies. In this study, a new geophysical exploration method was developed to solve those problems by improving and supplementing the existing methods. This new method was based on the difference of electrical resistance values between anomalies and surrounding ground medium. A theoretical expression was suggested to define the characteristics of the anomalies such as location, size and direction, by applying the electric field analysis. An inverse analysis algorithm was also developed to solve the theoretical expression using the measured electrical resistance values which were generated by the voltage flowing the subsurface medium. To verify the developed method, field applications were conducted at the sites under construction or planned. From the results of the field tests, it was found that not only the new method was more predictive than the existing methods, but its results were good agreed with the measured ones. Therefore, it is expected that application of the new exploration method reduces the unexpected accidents caused by the underground uncertainties during the underground construction works.

• Journal of Radiation Protection and Research
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• v.5 no.1
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• pp.48-51
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• 1980

• Economic and Environmental Geology
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• v.40 no.5
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• pp.691-698
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• 2007