• Journal of Institute of Control, Robotics and Systems
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• v.17 no.7
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• pp.685-696
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• 2011

An efficient laparoscope manipulator robot was designed to automatically control the position of laparoscope via a passive joint on end-effector position. The end position of the manipulator is controlled to have corresponding velocity defined in the global coordinate space using laparoscopic visual information. Desired spatial position of laparoscope was derived from detected positions of surgical instrument tips, then the clinical viewing plane was moved by visual servoing task. The laparoscope manipulator is advantageous for automatically maintaining clinically important views in the laparoscopic image without any additional operator. A laparoscope is mounted to a holder which is linked to four degree of freedom manipulator via universal joint-type passive rings connection. No change in the design of laparoscope or manipulator is necessary for its application to surgery assistant robot system. Expanded working space and surgical efficiency were accomplished by implementing slant linking structure between laparoscope and manipulator. To ensure reliable positioning accuracy and controllability, the motion of laparoscope in an abdominal space through trocar was inspected using geometrical analysis. A designed laparoscope manipulating robot system can be easily set up and controlled in an operation room since it has a few subsidiary devices such as a laparoscope light source regulator, a control PC, and a power supply.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.3
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• pp.56-62
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• 2022

The tank engine clutch flange constitutes a tank on which the engine and transmission of the tank are mounted. The engine clutch flange is fabricated using a difficult-to-cut material that exhibits high strength and hardness. It is difficult to process and requires considerable processing expertise. In addition, the engine clutch flange for the tank requires high machining precision because it is a system in which the connection is detachable. Because it requires high processing precision, the measurement of products equally important as processing. However, productivity is low owing to the significant amount of time required to measure each product using a three-dimensional coordinate measuring machine. Hence, this study is conducted to improve the productivity of the female tank engine clutch flange. Dedicated hobs and jigs are designed and manufactured to convert the existing end-mill cutting processing into hobbing cutting processing. An engine clutch for the tanks is manufactured using the manufactured dedicated hob and jig, and the shortening time is verified by measuring the processing time. In addition, a jig for inspection is designed and manufactured to measure the precision of the product. To verify the inspected product, the product precision is measured using a contact-type three-dimensional coordinate measuring machine and a surface roughness measuring instrument. The study confirmed that the productivity of the engine clutch flange product for tanks can be improved by simplifying the process, reducing the processing time, and simplifying product inspection.

• Journal of the Korean Society of Earth Science Education
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• v.5 no.2
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• pp.139-147
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• 2012

The purpose of this study was to explain how extraordinary the scientific technology or our ancestor was from the modern perspective by remodeling the most unique astronomical instrument, So-ganui (小簡儀), developed in the Sejong Period (世宗時代) after being examined with contemporary and the principles of the science and observational technology would be properly understood and measured directly. When measuring the altitude of the sun and azimuth using So-ganui, it was adjusted with the horizontal coordinate system and measured using Jipyeonghwan (地平環), Ipeunhwan (立運環) and Guyhyeong (窺衡). Based such measuring principles, the measurement accuracy proposed using So-ganui are as follows. The remodeled So-ganui produced approximately ${\pm}0.29$ degrees error on average at high altitude while in measuring the azimuth degrees, there was difference of ${\pm}0.35$ degrees. Since the theoretically, the measurement error for So-ganui was ${\pm}0.5$ degrees, the remodeled So-ganui could accurately measure at the high altitude compared to So-ganui from the Sejong period. In the study, So-ganui, which has disappeared, has been remodeled in modern perspective to be used as the educational material to accurately understand the principles of science and measurement technology from the Sejong period. The findings could contribute to raising the reputation in the astronomical observations from the documents from the Sejong period. Furthermore, this study has materialized the celestial and sky our ancestors have viewed with the observational principles of their times, on the computer screen via a webcam, bringing out interest in the traditional science for the students.

• Journal of Mechanical Science and Technology
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• v.19 no.2
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• pp.505-519
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• 2005

In this paper, we develop an anti-sway control in proposed techniques for an ATC system. The developed algorithm is to build the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the finial coordinate. Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning parameters of controller using NN with 2 DOF PID controller. The simulation and experimental results show that the proposed control scheme guarantees performances, trolley position, sway angle and settling time in NNP PID controller than other controller. As the results in this paper, the application of NNP PID controller is analyzed to have robustness about disturbance which is wind of fixed pattern in the yard. Accordingly, the proposed algorithm in this study can be readily used for industrial applications.

• Journal of the Korean Association of Geographic Information Studies
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• v.19 no.1
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• pp.53-63
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• 2016

In this paper, we proposed the improvements for performance test and surveying equipment regulations, standards, methods and procedures, depending on the need of improving the legal system for surveying equipment in a diverse and sophisticated surveying industry. This research was performed first investigating the existing legal systems(Act on the establishment and management of spatial data, Framework act on national standards, ISO 17123, JIS B 7912) with respect to the surveying equipment performance testing and the research for IOS and KOLAS suggested the improvements on the application for the surveying equipment performance testing standard. More exactly, first, two years were presented for the surveying equipment performance testing cycle considering the precise accuracy of the instrument stability, purpose and frequency of use, etc. Second, the abolition of the measurement distance by grade and the upward or cross-grade adjustment of the single prism standards about the light wave rangefinder and total station were suggested for the improvement on survey equipment performance criteria. Third, since the main function of total station is focused on a three-dimensional coordinate measurement due to the improvement of surveying equipment performance testing, it was proposed to use the precision(repeatability) of the coordinate measuring method as an evaluation method.

• Journal of Biomedical Engineering Research
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• v.37 no.3
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• pp.105-111
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• 2016

Introduction: Surgical robot is the alternative instrument that substitutes the difficult and precise surgical operation; should have intuitiveness operationally to transfer natural motions. There are limitations of hand motion derived from contacting mechanical handle in the surgical robot master interface such as mechanical singularity, isotropy, coupling problems. In this paper, we will confirm and verify the feasibility of intuitive Non-restraint master interface which tracking the hand motion using infra-red camera and only 3 reflective markers without the hardware handle for the surgical robot master interface. Materials & methods: We configured S/W and H/W system; arranged 6 infra-red cameras and attached 3 reflective markers on hands for measuring 3 dimensional coordinate then we find the 7 motions of grasp, yaw, pitch, roll, px, py, pz. And we connected Virtual-Master to the slave surgical robot(Laparobot) and observed the feasibility. To verify the result of motion, we compare the result of Non-restraint master and that of clinometer (and protractor) through measuring 0~180 degree, 10degree interval, 1000 samples and recorded standard deviation stands for error rate of the value. Results: We confirmed that the average angle values of Non-restraint master interface is accurately corresponds to the result of clinometer (and protractor) and have low error rates during motion. Investigation & Conclusion: In this paper, we confirmed the feasibility and accuracy of 3D Non-restraint master interface that can offer the intuitive motion of non-contact hardware handle. As a result, we can expect the high intuitiveness, dexterousness of surgical robot.

• Journal of Korea Water Resources Association
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• v.41 no.8
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• pp.855-862
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• 2008

Surface Image Velocimetry (SIV) is an instrument to measure water surface velocity by using image processing techniques. To improve its measuring accuracy, it is essential to get high quality images with low skewness. A truck-mounted SIV system would be a good way to get images, since its crane gives high altitude to the images. However, the images taken with a truck-mounted SIV would be swayed due to the movement of crane and the camera by winds. In that case, to analyze the images, it is necessary to compensate the side sway in the images. The present study is to develop an algorithm to analyze the swayed images by combining common image processing techniques and coordinate transform techniques. The system follows the traces of some selected fixed points and calculates the displacements of the video camera. By subtracting the average velocity of the fixed points from that of grid points, the velocity fields of the flow can be corrected. To evaluate the system's performance, two image sets were used, one image set without side sway and another set with side sway. The comparison of their results showed very close with the error of around 6 %.

• Journal of the Korean earth science society
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• v.32 no.7
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• pp.902-912
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• 2011

The purpose of this study was to investigate the effects of teaching based on analysis of a hierarchy of the concepts associated with astronomical observation as well as each learner's status of knowledge through analytical methods of the knowledge state. A test instrument was developed to measure high school students' concepts associated with astronomical observation before instruction. The learners' psychological hierarchy associated with astronomical observation that the participants possessed showed the order of 'motion of the earth${\rightarrow}$coordinate system${\rightarrow}$astronomical observation (mechanism of the telescope${\rightarrow}$installation of the telescope${\rightarrow}$observation through the telescope)', and so was the hierarchy of teaching (70.6%). The learners' knowledge state that is supposed to be similar each other in the ability of observing celestial bodies was different even through they scored the same on the concept test. There were cases with the knowledge state well-structured and not well-structured, which suggests that differentiated instruction with appropriate teaching-learning prescriptions be prepared. An analysis of the knowledge state can play the role of both preparing individualized learning prescriptions and formative evaluation. In the unit dealing with astronomical observation of Earth ScienceI, teaching according to the psychological hierarchy of learners rather than the order in which the textbook syllabi were presented scored significantly higher (p<0.05) on the level of concept achievements. This result suggests that the teacher can help students achieve more efficient in learning by analyzing the learner's knowledge state and reordering the syllabi of the textbook in teaching the concepts associated with astronomical observation.

• Magazine of the Korean Society of Agricultural Engineers
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• v.8 no.1
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• pp.1011-1034
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• 1966

This thesis is the final report which has long been studied by the author to obtain the design basis for various hydrological constructions with the specific system suitable to the natural environmental conditions in Korea. This report is divided into two parts: one is to estimate runoff volume from watersheds and the other to estimate the peak discharge for a single storm. According to the result of observed runoff record from watersheds, it is known that Kajiyama formula is useful instrument in estimating runoff volume from watersheds in this country. But it has been found that this formula shows us 20-30% less than the actual flow. Therefore, when wihed to bring a better result, the watershed characteristics coefficient in this formula, that is, f-value, should be corrected to 0.5-0.8. As for the method to estimate peak discharge from drainage basin, the author proposes to classify it in two ways; one is small size watershed and the other large size watershed. The maximum -flood discharge rate $Q_p$ and time to peak Pt obtained from the observed record on the small size watershed are compared by various methods and formulas which are based upon the modern hydrological knowledge. But it was fou.d that it. was not a satisfied result. Therefore, the author proposes. tocomputate $Q_p$, to present 4.0-5.0% for the total runoff volume ${\Sigma}Q$.${\Sigma}Q$ is computed under the assumption of 30mm 103s in watershed per day and to change the theoritical total flow volume to one hour dura tion total flow rate when design daily storm is given. Time to peak Pt is derived from three parameters which are u,w,k. These are computed by relationship between total runoff volume (ha-m unit)and $Q_p$. (C.M.S. unit). Finally, the author checked out these results obtained from 51 hydrographs and got a satisfied result. Therefore the author suggested the model of design dimensionless unit-hydrograph. And the author believes that this model will be much available at none runoff record river site. In the large size watersheds in Korea when the maximum discharge occurs, the effective rainfall is two consequtive stormy days. So the loss in watershed was assutned as 6Omm/2days,and the author proposed 3-hour-daration hydrograph flow distribution percentage. This distribution percentage will be sure to form the hydrograph coordinate.