• 제어로봇시스템학회논문지
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• 제13권1호
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• pp.65-71
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• 2007

Adjustable autonomy architecture provides various ways for a human operator to participate as a member of a human-robot team in improving the performance of the team by resolving issues that the robots cannot deal with or performing tasks that the robots alone would unable to do. According to the level of involvement of the human operator, the robots have to adjust their level of autonomy and, in consequence, the operation mode of the overall system shifts. This paper deals with the implementation issues of seamless switching when the level of autonomy of the human-robot team shifts from one level to another. Especially, we focus on developing reliable methods for monitoring the task progress and maximizing the system flexibility by coping with the detailed differences between humans and robots in their characteristics of motions and their choices of positions, paths, and sequences of sub-goals to achieve a given task. To test and motivate the proposed methods, we have assembled three heterogeneous robots which work together to dock both ends of a suspended beam into stanchions.

• 대한전기학회논문지:시스템및제어부문D
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• 제52권2호
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• pp.85-92
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• 2003

In this paper, we propose a method to evaluate performances of mobile personal robots. A set of performance measures is proposed and the corresponding evaluation methods are developed. Different from industrial manipulators, personal robots need to be evaluated with its mobility, navigation, task and intelligent performance in environments where human beings exist. The proposed performance measures are composed of measures for mobility including vibration, repeatability, path accuracy and so on, as well as measures for navigation performance including wall following, overcoming doorsill, obstacle avoidance and localization. But task and intelligent behavior performances such as cleaning capability and high-level decision-making are not considered in this paper. To measure the proposed performances through a series of tests, we designed a test environment and developed measurement systems including a 3D Laser tracking system, a vision monitoring system and a vibration measurement system. We measured the proposed performances with a mobile robot to show the result as an example. The developed systems, which are installed at Korea Agency for Technology and Standards, are going to be used for many robot companies in Korea.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제6권1호
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• pp.229-240
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• 2012

Advances in MEMS and CMOS technologies have motivated the development of low cost/power sensors and wireless multimedia sensor networks (WMSN). The WMSNs were created to ubiquitously harvest multimedia content. Such networks have allowed researchers and engineers to glimpse at new Machine-to-Machine (M2M) Systems, such as remote monitoring of biosignals for telemedicine networks. These systems require the acquisition of a large number of data streams that are simultaneously generated by multiple distributed devices. This paradigm of data generation and transmission is known as event-streaming. In order to be useful to the application, the collected data requires a preprocessing called data fusion, which entails the temporal alignment task of multimedia data. A practical way to perform this task is in a centralized manner, assuming that the network nodes only function as collector entities. However, by following this scheme, a considerable amount of redundant information is transmitted to the central entity. To decrease such redundancy, data fusion must be performed in a collaborative way. In this paper, we propose a collaborative data alignment approach for event-streaming. Our approach identifies temporal relationships by translating temporal dependencies based on a timeline to causal dependencies of the media involved.

• Structural Monitoring and Maintenance
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• 제2권3호
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• pp.181-197
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• 2015

Assessing the condition of paint on civil structures is an important but challenging and costly task, in particular when it comes to large and complex structures. Current practices of visual inspection are labour-intensive and time-consuming to perform. In addition, this task usually relies on the experience and subjective judgment of individual inspectors. In this study, hyperspectral imaging and classification techniques are proposed as a method to objectively assess the state of the paint on a civil or other structure. The ultimate objective of the work is to develop a technology that can provide precise and automatic grading of paint condition and assessment of degradation due to age or environmental factors. Towards this goal, we acquired hyperspectral images of steel surfaces located at long (mid-range) and short distances on the Sydney Harbour Bridge with an Acousto-Optics Tunable filter (AOTF) hyperspectral camera (consisting of 21 bands in the visible spectrum). We trained a multi-class Support Vector Machines (SVM) classifier to automatically assess the grading of the paint from hyperspectral signatures. Our results demonstrate that the classifier generates highly accurate assessment of the paint condition in comparison to the judgement of human experts.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권9호
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• pp.4408-4428
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• 2019

Due to the rapid advancement in smart phones, numerous new specifications are developed for variety of applications ranging from health monitoring to navigations and tracking. The word indoor navigation means location identification, however, where GPS signals are not available, accurate indoor localization is a challenging task due to variation in the received signals which directly affect distance estimation process. This paper proposes a hybrid approach which integrates fingerprinting based K-Nearest Neighbors (K-NN) and lateration based MinMax position estimation technique. The novel idea behind this hybrid approach is to use Euclidian distance formulation for distance estimates instead of indoor radio channel modeling which is used to convert the received signal to distance estimates. Due to unpredictable behavior of the received signal, modeling indoor environment for distance estimates is a challenging task which ultimately results in distance estimation error and hence affects position estimation process. Our proposed idea is indoor position estimation technique using Bluetooth enabled smart phones which is independent of the radio channels. Experimental results conclude that, our proposed hybrid approach performs better in terms of mean error compared to Trilateration, MinMax, K-NN, and existing Hybrid approach.

• 한국가스학회지
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• 제7권3호
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• pp.24-31
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• 2003

화학공장은 수많은 장치들로 구성되어 있고 매우 복잡한 구조를 가지고 있다. 특히 분산 제어 시스템(Distributed Control System, DCS)이나 공정 정보 시스템(Process Information System, PIS) 등을 설치하여 매분 또는 매초 단위로 공정 데이터를 얻고 있다. 화학공장의 경우, 데이터들의 방대한 양 뿐 만 아니라 데이터들간의 상호 연관성이 크고 재순환이나 화학 반응 등으로 인하여 막대한 계산량 및 비선형성을 지니기 때문에 효과적 분석에 곤란한 점이 있다. 따라서 본 연구에서는 함수연결연상 신경망을 이용하여 입력변수들을 확장함으로써 신경망의 비선형성 표현능력과 학습능력이 뛰어난 프로그램의 개발에 주안점을 두고 있다. REFA (Real Time Fault Analyzer)는 실시간으로 공정정보를 입력받은 후 입력값을 PC로 매핑하고, 이를 다시 역으로 매핑하여 입력값을 예측하여 공정을 감시하는 시스템으로 개발되었으며, Tennessee Eastman 공정에 적용해 우수성을 입증하였다.

• 한국지구물리탐사학회:학술대회논문집
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• 한국지구물리탐사학회 2003년도 Proceedings of the international symposium on the fusion technology
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• pp.255-261
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• 2003

Tunnelling in poor and heterogeneous ground is a difficult task. Even with a good geological investigation, uncertainties with respect to the local rock mass structure will remain. Especially for such conditions, a reliable short-term prediction of the conditions ahead and outside the tunnel profile are of paramount importance for the choice of appropriate excavation and support methods. The information contained in the absolute displacement monitoring data allows a comprehensive evaluation of the displacements and the determination of the behaviour and influence of an anisotropic rock mass. Case histories and with numerical simulations show, that changes in the displacement vector orientation can indicate changing rock mass conditions ahead of the tunnel face (Schubert & Budil 1995, Steindorfer & Schubert 1997). Further research has been conducted to quantify the influence of weak zones on stresses and displacements (Grossauer 2001). Sellner (2000) developed software, which allows predicting displacements (GeoFit$\circledR$). The function parameters describe the time and advance dependent deformation of a tunnel. Routinely applying this method at each measuring section allows determining trends of those parameters. It shows, that the trends of parameter sets indicate changes in the stiffness of the rock mass outside the tunnel in a similar way, as the displacement vector orientation does. Three-dimensional Finite Element simulations of different weakness zone properties, thicknesses, and orientations relative to the tunnel axis were carried out and the function parameters evaluated from the results. The results are compared to monitoring results from alpine tunnels in heterogeneous rock. The good qualitative correlation between trends observed on site and numerical results gives hope that by a routine determination of the function parameters during excavation the prediction of rock mass conditions ahead of the tunnel face can be improved. Implementing the rules developed from experience and simulations into the monitoring data evaluation program allows to automatically issuing information on the expected rock mass quality ahead of the tunnel.

• 산경연구논집
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• 제9권8호
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• pp.35-40
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• 2018

Purpose - The purpose of this study is to conduct a monitoring study on the learning process of e-learning contents. This study has two research objectives. First, by conducting monitoring research on the learning process, we aim to explore the implications for content development that reflects future student needs. Second, we want to collect empirical basic data on the estimation of appropriate amount of learning. Research design, data, and methodology - This study is a case study of learner's learning process in e-learning. After completion of the study, an in-depth interview was made after conducting a test to measure the total amount of cognitive load and the level of engagement that occurred during the learning process. The tool used to measure cognitive load is NASA-TLX, a subjective cognitive load measurement method. In the monitoring process, we observe external phenomena such as page movement and mouse movement path, and identify cognitive activities such as Think-Aloud technique. Results - In the total of three research subjects, the two courses showed excess learning time compared to the learning time, and one course showed less learning time than the learning time. This gives the following implications for content development. First, it is necessary to consider the importance of selecting the target and contents level according to the level of the subject. Second, it is necessary to design the learner participation activity that meets the learning goal level and to calculate the appropriate time accordingly. Third, it is necessary to design appropriate learning support strategy according to the learning task. This should be considered in designing lessons. Fourth, it is necessary to revitalize contents design centered on learning activities such as simulation. Conclusions - The implications of the examination system are as follows. First, it can be confirmed that there is difficulty in calculating the amount of learning centered on learning time and securing objective objectivity. Second, it can be seen that there are various variables affecting the actual learning time in addition to the content amount. Third, there is a need for reviewing the system of examination of learning amount centered on 'learning time'.

• Journal of Radiation Protection and Research
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• 제30권3호
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• pp.131-148
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• 2005

원자력 사고로 인한 비상시에는 적기에 주민 보호조치를 취해야 한다. 주민 보호조치에 대한 결정기준은 국제적으로 비용-이득 분석에 의해 산정된 일반개입준위와 일반조치준위를 사용토록 제안되어 있다. 운영개입준위는 이러한 일반준위를 직접 또는 쉽게 측정할 수 있는 물리량으로 나타낸 것이다. 비상시 보호조치의 필요성을 판단하기 위해서는 운영개입준위를 적용하고 수정하는 데 요구되는 환경감시 자료를 신속히 생산하는 것이 중요하다. 비상대응의 일환으로서 이를 위해 무슨 일들이 어떻게 수행되어야 하는지 고찰하였다. 비상시 환경감시를 효과적으로 수행하기 위해서는 평상시에 조직과 설비의 유지 관리, 각종 절차 수립, 지원용 전산체제 개발, 주기적인 교육과 훈련 등 철저한 준비가 필요하다. 일반개입준위와 운영개입준위에 관한 우리나라의 규정이 보완 또는 신설될 필요가 있음이 지적되었다.

• Smart Structures and Systems
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• 제6권8호
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• pp.939-951
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• 2010

A low-cost wireless sensor network (WSN) solution with highly expandable super and simple nodes was developed. The super node was designed as a sensing unit as well as a receiving terminal with low energy consumption. The simple node was designed to serve as a cheaper alternative for large-scale deployment. A 12-bit ADC inputs and DAC outputs were reserved for sensor boards to ease the sensing integration. Vibration and thermal field tests of the Chi-Lu Bridge were conducted to evaluate the WSN's performance. Integral acceleration, temperature and tilt sensing modules were constructed to simplify the task of long-term environmental monitoring on this bridge, while a star topology was used to avoid collisions and reduce power consumption. We showed that, given sufficient power and additional power amplifier, the WSN can successfully be active for more than 7 days and satisfy the half bridge 120-meter transmission requirement. The time and frequency responses of cables shocked by external force and temperature variations around cables in one day were recorded and analyzed. Finally, guidelines on power characterization of the WSN platform and selection of acceleration sensors for structural health monitoring applications were given.