• 산업경영시스템학회지
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• 제19권38호
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• pp.51-60
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• 1996

There is a general challenge offered to the field of engineering economics by the introduction of advanced technologies. A survey of the existing literature on evaluation of advanced information and manufacturing system indicate that the traditional approaches are inadequate for economic evaluation techniques used in its appraisal, difficulty in evaluating the potential benefits and criteria used to assess management performance. In this paper, an attempt has been made to overcome the above deficiencies by presenting an approach to account for the justification and selection of the Local Area Network(LAN) architectures. This is based on the Analytic Hierarchy Process(AHP) and is capable of taking into account many intangible factors as well. The usefulness of the proposed approach is demonstrated through a case situation and sensitivity analysis. Finally, some research directions for future work are identified.

• 한국정밀공학회지
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• 제27권7호
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• pp.36-48
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• 2010

This paper is concerned with stereo vision-based approach to detect obstacles and to generate the path of destination from the start. The hexapod robot in the experiment is cable of walking by legs and driving by wheels simultaneously. The hexapod robot operates under the driving mode normally, and it changes driving mode to walking mode to overcome obstacles using its legs. Disparity map, which is the correlation between two images taken by stereo camera, is employed for calculation of the distance between the robot and obstacles. When the obstacles information is extracted from the disparity map, the potential field algorithm is applied to create the obstacle-avoidance path. Simulator, based on OpenGL, is developed to generate the graphical path, and the experimental results are shown for the verification of the proposed algorithm.

• 전기전자학회논문지
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• 제13권2호
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• pp.150-158
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• 2009

로봇의 자율적 이동을 위해서는 현재지점에서부터 목표지점까지를 연결하는 최적 경로의 계획이 필수적이다. 그리고 이동 로봇의 최적 경로는 장애물과의 충돌 없이 목표물까지 최단 이동 거리로 이동 할 수 있도록 하는 경로를 뜻한다. 실제 많은 이동 로봇은 주위 장애물에 대한 정보 없이, 미지의 환경에서도 자율적 이동이 가능해야 한다. 이에, 본 논문에서는 미지 환경에 적합한 새로운 형태의 경로 계획 및 장애물 회피 방법을 제안한다. 이 경로 계획 방법은 매 순간 최적이라 예측되는 지역적 목표를 지정하여 추적하며, 이러한 추적의 연속들의 결과가 로봇의 1차적 이동 경로가 된다. 하지만 이 경로는 장애물과의 충돌이 배제된 경로이다. 이에, 본 논문에서는 Potential Field 방법을 모방한 새로운 방법의 장애물 회피 방법을 제안한다. 그리고 위의 본 논문에서 제안한 경로 계획과 장애물 회피 방법의 성능 및 정확성을 모의실험을 통해 검증한다.

• 한국컴퓨터정보학회논문지
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• 제18권1호
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• pp.11-19
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• 2013

자율적인 다개체 모바일 로봇 시스템에 관해 경로 계획과 충돌회피는 중요한 기능이며 동시에 협력과 협동적으로 주어진 일을 수행하는데 필요한 기능이다. 본 논문에서는 이러한 중요하고도 도전적인 문제를 다룬다. 제안된 방법은 포텐셜 필드 방법과 퍼지로직 시스템에 기반을 두고 있다. 첫째로, 전역경로 계획은 포텐셜 필드를 이용하여 로봇이 목적지까지 가는데 비용을 최소화할 수 있는 경로를 선택한다. 그러고 나서 지역경로 계획은 퍼지로직 시스템을 이용하여 정적이거나 동적인 장애물과의 충돌을 피하기 위해 전역경로에서 경로를 변경시킨다. 본 논문에서는 각각의 로봇은 독립적으로 목적지를 선택하며 동시에 다른 로봇은 동적인 장애물로 고려한다. 또한 장애물의 움직임을 예측할 필요도 없다. 이러한 과정은 각각의 로봇이 해당되는 목적지를 찾을 때 까지 지속된다. 이 방법을 테스트하기 위해 자율 다개체 로봇 시뮬레이터(AMMRS)를 개발했으며 시뮬레이션과 실험기반의 결과물을 제공한다. 본 결과는 다개체 모바일 로봇 시스템에 대하여 경로계획과 충돌회피 전략이 효율적이며 유용하다는 것을 보인다.

• 한국군사과학기술학회지
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• 제14권6호
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• pp.965-973
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• 2011

Small unmanned ground vehicles(SUGVs) are typically operational on unstructured environments such as crashed building, mountain area, caves, and so on. On those terrains, driving control can suffer from the unexpected ground disturbances which occasionally lead turnover situation. In this paper, we have proposed an algorithm which sustains driving stability of a SUGV as preventing from turnover. The algorithm exploits potential field method in order to determine the stability of the robot. Then, the flipper and manipulator posture of the SUGV is optimized from local optimization algorithm known as gradient descent method. The proposed algorithm is verified using 3D dynamic simulation, and results showed that the proposed algorithm contributes to driving stability of SUGV.

• Smart Structures and Systems
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• 제1권3호
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• pp.309-324
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• 2005

This paper presents an efficient and accurate coupled beam model for piezoelectric bimorphs based on improved first-order shear deformation theory (FSDT). The model combines the equivalent single layer approach for the mechanical displacements and a layerwise modeling for the electric potential. General electric field function is proposed to reasonably approximate the through-the-thickness distribution of the applied and induced electric potentials. Layerwise defined shear correction factor (k) accounting for nonlinear shear strain distribution is introduced into both the shear stress resultant and the electric displacement integration. Analytical solutions for free vibrations and forced response under electromechanical loads are obtained for the simply supported piezoelectric bimorphs with series or parallel arrangement, and the numerical results for various length-to-thickness ratios are compared with the exact two-dimensional piezoelasticity solution. Excellent predictions with low error estimates of local and global responses as well as the modal frequencies are observed.

• Asian Pacific Journal of Cancer Prevention
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• 제13권1호
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• pp.319-323
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• 2012

Objective: To explore the feasibility of shrinking field technique after 40 Gy radiation through 18F-FDG PET/CT during treatment for patients with stage III non-small cell lung cancer (NSCLC). Methods: In 66 consecutive patients with local-advanced NSCLC, 18F-FDG PET/CT scanning was performed prior to treatment and repeated after 40 Gy. Conventionally fractionated IMRT or CRT plans to a median total dose of 66Gy (range, 60-78Gy) were generated. The target volumes were delineated in composite images of CT and PET. Plan 1 was designed for 40 Gy to the initial planning target volume (PTV) with a subsequent 20-28 Gy-boost to the shrunken PTV. Plan 2 was delivering the same dose to the initial PTV without shrinking field. Accumulated doses of normal tissues were calculated using deformable image registration during the treatment course. Results: The median GTV and PTV reduction were 35% and 30% after 40 Gy treatment. Target volume reduction was correlated with chemotherapy and sex. In plan 2, delivering the same dose to the initial PTV could have only been achieved in 10 (15.2%) patients. Significant differences (p<0.05) were observed regarding doses to the lung, spinal cord, esophagus and heart. Conclusions: Radiotherapy adaptive to tumor shrinkage determined by repeated 18F-FDG PET/CT after 40 Gy during treatment course might be feasible to spare more normal tissues, and has the potential to allow dose escalation and increased local control.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2004년도 Proceedings of ISRS 2004
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• pp.166-169
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• 2004

NDVI has been used to estimate several ecological variables including leaf area index (LAI). Global MODIS LAI data are partially produced by empirical model that is based on the assumption of high correlation between NDVI and LAI. This study attempts to evaluate the MODIS empirical model by comparing with the result obtained from field LAI measurement and Landsat ETM+ reflectance. MODIS LAI product and ancillary data were analyzed over a small forest watershed near the Seoul metropolitan area. The relationship between NDVI of ETM+ and field measured LAI did not correspond to MODIS LAI estimation. Since the study area is mostly covered by very dense and fully closed forest, the correlation between NDVI and LAI might not be high. Although MODIS LAI product has great potential for global environment studies, it needs to be cautious to use them in regional and local area in particular for the forest of dense canopy situation.

• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2005년도 학술발표회 논문집
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• pp.1138-1142
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• 2005

The tidal river is a river affected by tide, which causes the water level to rise and fall two times everyday periodically. The local velocity across the river could be very fast because of the cross-sectional characteristics of the river even though it's not a rainy season. Therefore extreme local scour could take place around hydraulic structures such as piers and caissons due to backward flow velocity. For the construction of pier foundation of Ilsan-bridge In the Han River, the field observations were performed to get the velocity and water level. The numerical analysis was performed by HEC-RAS(UNET). The relationship between measured maximum velocity and calculated mean velocity is achieved, which is used to estimate the velocity and water level as the construction is proceeding. Countermeasures for scour were designed with the results of the hydraulic analysis to avoid potential damage during construction work. According to the results of monitoring, the velocity increase after temporary road embankment was negligible, from which it is considered that the degradation of main channel compensated for the constriction of cross-section by embankment.

• Corrosion Science and Technology
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• 제14권6호
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• pp.261-266
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• 2015

The capacity of passive metal to repassivate after film damage determines the development of local corrosion and the resistance to corrosion failures. In this work, the repassivation kinetics of 316L stainless steel (316L SS) was investigated in borate buffer solution (pH 9.1) using a novel abrading electrode technique. The repassivation kinetics was analyzed in terms of the current density flowing from freshly bare 316L SS surface as measured by a potentiostatic method. During the early phase of decay (t < 2 s), according to the Avrami kinetics-based film growth model, the transient current was separated into anodic dissolution ($i_{diss}$) and film formation ($i_{film}$) components and analyzed individually. The film reformation rate and thickness were compared according to applied potential. Anodic dissolution initially dominated the repassivation for a short time, and the amount of dissolution increased with increasing applied potential in the passive region. Film growth at higher potentials occurred more rapidly compared to at lower potentials. Increasing the applied potential from 0 $V_{SCE}$ to 0.8 $V_{SCE}$ resulted in a thicker passive film (0.12 to 0.52 nm). If the oxide monolayer covered the entire bare surface (${\theta}=1$), the electric field strength through the thin passive film reached $1.6{\times}10^7V/cm$.