• 대한기계학회논문집
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• 제18권8호
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• pp.2016-2025
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• 1994

A hierarchical planning strategy for dextrous manipulation of multifingered hands with soft finger contact model is proposed. Dextrous manipulation planning can be divided into a high-level stage which specifies the position/orientation trajectories of the fingertips on the object and a low-level stage which determines the contact forces and joint trajectories for the fingers. In the low-level stage, various nonlinear optimization problems are formulated according to the contact modes and integrated into a manipulation planning algorithm to find contact forces and joint velocities at each time step. Montana's contact equations are used for the high-level planning. Quasi-static simulation results are presented and illustrated by employing a three-fingered hand manipulating a sphere to demonstrate the validity of the proposed low-level planning strategy.

• 시큐리티연구
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• 제5호
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• pp.89-108
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• 2002

The prospect of security services industries is as followings. First, integrated security system will be increased in the security service sphere of collective housing such as apartments. Second, the needs to security services with high-tech electronic security system and systematic security service against crimes will be increased. Third, the needs to crime prevention and disaster prevention service including information security service by means of internet and information and communication technology will be increased. Fourth, perhaps domestic market of security service will be reshaped in relation with localization trend and entrance of foreign security service companies to our country. With these conclusions I think that the departments of universities related to security services will focus on their social roles.

• 전자공학회논문지B
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• 제33B권2호
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• pp.10-19
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• 1996

This paper presents a finger-shaped multisensor system which can measure the tyep and position of a target surface by contactl. The multi-sensor system consists of a sphere-shpaed optical tactile sensor located at the finger tip and a force/torque sensor located at the joint of a finger. The optial tactile sensor determines the type and position of the target surface using the shape and position of the CCD image of the touching area generated by a contact between the sensor and the taget surface. The force/torque sensor also determines the position and surface normal vector by applying the distributionof forces and torques t the contact point to the equations of finger shape. The measurements on the position and surface normal vector at a contact point obtined by two individual sensors are fused using a statistical method. The integrated sensor system has 0.8mm error in position measurement and 1.31$^{\circ}$ error in normal vector measurement. The developed sensor system has many applications, such as autonomous compliance control, automatic grasping and recognition, etc.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2008년도 International Symposium on Remote Sensing
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• pp.243-246
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• 2008

The Compact Airborne Imaging Spectrometer System (CAISS) was jointly designed and developed as the hyperspectral imaging system by Korea Aerospace Research Institute (KARI) and ELOP inc., Israel. The primary mission of the CAISS is to acquire and provide full contiguous spectral information with high quality spectral and high spatial resolution for advanced applications in the field of remote sensing. The CAISS consists of six physical units; the camera system, the gyro-stabilized mount, the jig, the GPS/INS, the power inverter and distributor, and the operating system. These subsystems shall be tested and verified in the laboratory before the flight. Especially the camera system of the CAISS shall be calibrated and validated with the calibration equipments such as the integrated sphere and spectral lamps. To improve data quality and availability, it is the most important to understand the mechanism of hyperspectral imaging system and the radiometric and spectral characteristics. This paper presents the major characteristics of camera system on the CAISS and summarizes the results of radiometric and spectral experiment during preliminary system verification.

• 한국실내디자인학회논문집
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• 제16권5호
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• pp.30-37
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• 2007

According to the passage of an age, a method which communicates each other between the city and space, and space and a human has changed. Recently, as the city is developing related with the public, the sphere and a territory of activity of a public has been wider in an environment of the city. Therefore, development of night scenery and the rise of a medium of a vision are accompanied with a new material and the high-technology. Innovation of abundant techniques tends to being surface and mass media, and breaks from the architectural aspect of space as mutual expansion of relations between interior and exterior, and making a boundary obscurely. Space design represents peculiarity of non-territorial which modern art, an advertisement, a media and a reflection are integrated as getting over above tendency. As we find out methods which the public can communicate with the space in wider territory, the public and the space can extend mutual relations and the design of modern space is been varying a part as the space which has a context of city and synthetic sociality for the public by avoiding independent objects.

• 한국레이저가공학회지
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• 제18권4호
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• pp.6-11
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• 2015

Specially designed and 3D printed samples were prepared and joined by a diode laser source. To increase the strength of joining and reliability of samples, the surface was patterned by using a 3D printer. The joining surface was prepared as hemispherical shape with no-patterns, 0.5mm pitch, 0.75mm pitch and 1mm pitch. The optical properties of samples were measured by using an integrated sphere where classical Kubelka-Munk theory and modified Richard-Mudgetts theory for the analysis applied. Scanning speed was set at 500mm/min and laser power was varied between 9 and 10watts for the preliminary joining characteristic analysis.

• 한국입자에어로졸학회지
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• 제11권1호
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• pp.9-19
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• 2015

This study investigated the effects of ball mill operation condition on the morphology of raw powders in the dry-type milling process using three types of ball mills traditional ball mill, stirred ball mill and planetary ball mill. Furthermore, since spherical powders offer the best combination of high hardness and high density, the optimum milling condition to produce sphere-shaped powders was studied. The applied rotation speed ranged from 200rpm (low rotation speed) to 700rpm (high rotation speed). The used ball size ranged from 1mm to 5mm. The metal powder morphology was studied using SEM, XRD and PSA. The aimed spherical powders could be obtained under the optimum experimental conditions: traditional ball mill(200rpm, 1mm ball), planetary ball mill (500rpm, 1mm ball) and also planetary ball mill (700rpm, 1 and 3 mm ball). The results show to the development of new material using spherical type copper powder/CNT composites for air-craft and automotive applications.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집E
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• pp.386-391
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• 2001

A finite element code based on P2P1 tetra element has been developed for the large eddy simulation (LES) of turbulent flows around a complex geometry. Fractional 4-step algorithm is employed to obtain time accurate solution since it is less expensive than the integrated formulation, in which the velocity and pressure fields are solved at the same time. Crank-Nicolson method is used for second order temporal discretization and Galerkin method is adopted for spatial discretization. For very high Reynolds number flows, which would require a formidable number of nodes to resolve the flow field, SUPG (Streamline Upwind Petrov-Galerkin) method is applied to the quadratic interpolation function for velocity variables, Noting that the calculation of intrinsic time scale is very complicated when using SUPG for quadratic tetra element of velocity variables, the present study uses a unique intrinsic time scale proposed by Codina et al. since it makes the present three-dimensional unstructured code much simpler in terms of implementing SUPG. In order to see the effect of numerical diffusion caused by using an upwind scheme (SUPG), those obtained from P2P1 Galerkin method and P2P1 Petrov-Galerkin approach are compared for the flow around a sphere at some Reynolds number. Smagorinsky model is adopted as subgrid scale models in the context of P2P1 finite element method. As a benchmark problem for code validation, turbulent flows around a sphere and a MIRA model have been studied at various Reynolds numbers.

• International Journal of Computer Science & Network Security
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• 제21권6호
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• pp.213-221
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• 2021

The modernization approach to monitoring regional processes of providing social services is proposed. The methodological approach is developed in the context of the modern public policy, which includes the following stages: the formation of a system of indicators that characterize the level of the social services modernization; the determination of the levels of regions development by such components as the modernization level of the economic sphere, the modernization level of the demographic component and the modernization level of employment; the determination of weights for each group of indicators and calculation of integrated indicators, ranking of regions; the allocation of criteria for classification and grouping of regions according to the modernization level of the social services sphere; highlighting the most important problems of each region. The proposed method is tested on the example of the Ukraine's regions. According to the results of calculations of the modernization level of the processes of providing social services, the ranking and grouping of the regions was carried out. The rating allowed to distinguish four groups of regions: regions with a high modernization level of social services, regions with above-average levels, as well as regions with medium and low levels. The author's modernization approach to monitoring the processes of providing social services allows to investigate the real state of the main indicators influencing these processes and to identify problem regions in order to develop mechanisms to stimulate their development.

• 한국군사과학기술학회지
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• 제17권6호
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• pp.793-799
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• 2014

EO GRD(Ground Resolved Distance) resolution of airborne EO/IR(Electro-Optical/Infrared) sensor is a critical factor in test and evaluation for EO sensor performance. We propose the laboratory measurement set-up for EO GRD by constructing optical collimator which includes integrated sphere, blackbody, equivalent 3-bar target and 6 DOF motion simulator. GRD is measured in the photographic imagery of bar targets by 3 different distances for 3 EO/IR sensors and the measured results were analyzed statistically. We found that at least 7 sheets of imagery are needed in order to obtain meaningful EO GRD. The result of statistical analysis shows that the distribution of the measured GRD is nearly symmetric about the average GRD, and the better imagery ratio above the average GRD is about 40~70%. Also from the best GRD analysis, it is estimated that the design goal for EO GRD should be 30% superior to the required GRD.