• Journal of the Korea Institute of Information and Communication Engineering
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• v.6 no.8
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• pp.1365-1373
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• 2002

In this paper, we present two types of vision algorithm that mobile robot has CCD camera. for obstacle avoidance. This is simple algorithm that compare with grey level from input images. Also, The mobile robot depend on image processing and move command from PC host. we has been studied self controlled mobile robot system with CCD camera. This system consists of digital signal processor, step motor, RF module and CCD camera. we used wireless RF module for movable command transmitting between robot and host PC. This robot go straight until recognize obstacle from input image that preprocessed by edge detection, converting, thresholding. And it could avoid the obstacle when recognize obstacle by line histogram intensity. Host PC measurement wave from various line histogram each 20 pixel. This histogram is (x, y) value of pixel. For example, first line histogram intensity wave from (0, 0) to (0, 197) and last wave from (280, 0) to (2n, 197. So we find uniform wave region and nonuniform wave region. The period of uniform wave is obstacle region. we guess that algorithm is very useful about moving robot for obstacle avoidance.

• Journal of Physiology & Pathology in Korean Medicine
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• v.23 no.4
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• pp.805-817
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• 2009

This study was to investigate central localization of neurons projecting to the urinary bladder and urinary bladder-related acupoints(Wijung, $BL_{40}$) and neurons of immunoreactive to hormones and hormone receptors regulating urinary bladder function by using peudorabies virus(PRV). In this experiment, Bartha's strain of pseudorabies virus was used in rats to trace central localization of urinary bladder-related neurons and urinary bladder-related acupoints($BL_{40}$) which can regulate urinary system. PRV was injected into the urinary bladder and acupoints($BL_{40}$) related urinary system. After six days survival of rats, mainly common labeled neurons projecting to the urinary bladder and urinary bladder-related acupoints were identified in spinal cord, medulla, pons and diencephalon by PRV immunohistochemical staining method. First-order PRV labeled neurons projecting to urinary bladder and urinary bladder-related acupoints were found in the cervical, thoracic, lumbar and sacral spinal cord. Commonly labeled preganglionic neurons were labeled in the lumbosacral spinal cord and thoracic spinal cord. They were found in the lateral horn area(sacral parasympathetic nucleus and intermediolateral nucleus), lamina V-X, intermediomedial nucleus and dorsal column area. The area of sensory neurons projecting to urinary bladder and Wijung($BL_{40}$) was L5-S2 spinal ganglia and T12-L1 spinal ganglia, respectively. In the brainstem, the neurons were labeled most evidently and consistently in the nucleus of tractus solitarius, area postrema, dorsal motor nucleus of vagus nerve, reticular nucleus, raphe nuclei(obscurus, magnus and pallidus), C3 adrenalin cells, parapyramidal area(lateral paragigantocellular nucleus), locus coeruleus, subcoeruleus nucleus, A5 cell group, Barrington's nucleus and periaqueductal gray matter. In the diencephalon, PRV labeled neurons were marked mostly in the paraventricular nucleus and a few ones were in the lateral hypothalamic nucleus, posterior hypothalamic nucleus, ventromedial hypothalamic nucleus, arcuate nucleus, median eminence, perifornical nucleus, periventricular nucleus and suprachiasmatic nucleus. In cerebral cortex, PRV labeled neurons were marked mostly in the frontal cortex, 1,2 area, hind limb area, agranular insular cortex. Immunoreactive neurons to Corticotropin releasiing factor(CRF), Corticotropin releasiing factor-receptor(CRF-R), c-fos and serotonin were a part of labeled areas among the virus-labeled neurons of urinary bladder and Wijung($BL_{40}$). The commonly labeled areas were nucleus tractus solitarius, area postrema, reticular nucleus, raphe nuclei(obscurus, magnus and pallidus), locus coeruleus, A5 cell group, Barrington,s nucleus, arcuate nucleus, paraventricular nucleus, frontal cortex 1, 2 area, hind limb, and perirhinal(agranular insular) cortex. These results suggest that overlapped CNS locations are related with autonomic nuclei which regulate the functions of urinary bladder-relate organs and it was revealed by tracing PRV labeled neurons projecting urinary bladder and urinary bladder-related acupoints. These commonly labeled areas often overlap with the neurons connected with hormones and hormone receptors related to urination.

• Journal of environmental and Sanitary engineering
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• v.7 no.2
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• pp.1-10
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• 1992

Since 1960's along with industrialization and urbanization, economic growth has been . achieved, however, at the same time, environmental condition has been seriously deteriorated. . Currently, volume of wastewater has been increasing at annual rate of 7% in sewage and 20% in industrial wastewater. However, the nation's sewage treatment serves only 33% of the municipal wastewater as of 1991. Major portion of air pollutants comes from combustion of oil and coal which comprise 81% of total energy use and emission gases from motor vehicles increasing at an accelerated rate. It is known that Korea generates the highest amount of waste per capta. Nevertheless, it is not sufficient to reduce the volume of waste by means of resources recovery and recycling. Recognizing the importance of global environmental problems such as ozone layer depletion, global warming and acid rain, international society has been making various efforts since the 1972 Stockholm conference. In particular, it is expected that the Rio conference which has adopted the Rio declaration and Agenda 21 will form a crucial turning point of the emerging new world order after the Cold War confrontation. To cope with such issues as domestic pollution and global environmental problems, the fundamental national policy aims at harmonizing "environmental protection and sustainable development". The Ministry of Environment has recently set up a mid-term comprehensive plan which includes annual targets for environmental protection. According to the government plan, gradual improvement of various environmental conditions and specific measures to achieve them is planned in time frame. Additional sewage treatment plants will be constructed in urban areas with the target to treat 65% of the nation's municipal sewage by 1996. Supply of clean fuels such as LNG will also be expanded starting from large cities as a cleaner substitute energy for coal and oil. In parallel with expansion of LNG, emphasis will be placed on installation of stack monitoring system. Due to the relatively limited land, government's basic policy for solid waste treatment is to develop large scale landfill facilities rather than small sized ones. Thirty three regional areas have been designated for the purpose of waste management. For each of these regions, big scale landfill site is going to be developed. To increase the rate of waste recycling the government is planning to reinforce separate collection system and to provide industries with economic incentives. As a part of meeting the changing situation on global environmental problems after UNCED, and accommodation regulatory measures stipulated in the global environmental conventions and protocols, national policy will try to alter industrial and economic structure so as to mitigate the increasing trends of energy consumption, by encouraging energy conservation and efficiency. In this regard, more attention will be given to the policy on the development of the cleaner technology. Ultimately, these policies and programs will contribute greatly to improving the current state of national public health.

• Journal of KIISE:Computer Systems and Theory
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• v.32 no.11_12
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• pp.682-691
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• 2005

We present a two-step evolution system that produces controllable virtual creatures in physically simulated 3D environment. Previous evolutionary methods for virtual creatures did not allow any user intervention during evolution process, because they generated a creature's shape, locomotion, and high-level behaviors such as target-following and obstacle avoidance simultaneously by one-time evolution process. In this work, we divide a single system into manageable two sub-systems, and this more likely allowsuser interaction. In the first stage, a body structure and low-level motor controllers of a creature for straight movement are generated by an evolutionary algorithm. Next, a high-level control to follow a given path is achieved by a neural network. The connection weights of the neural network are optimized by a genetic algorithm. The evolved controller could follow any given path fairly well. Moreover, users can choose or abort creatures according to their taste before the entire evolution process is finished. This paper also presents a new sinusoidal controller and a simplified hydrodynamics model for a capped-cylinder, which is the basic body primitive of a creature.

• Archives of Reconstructive Microsurgery
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• v.18 no.2
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• pp.62-66
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• 2009

Purpose: Despite the free tissue transfer using microsurgical technique being the current trend of soft tissue reconstruction of the hand, the pedicled groin flap has the advantage to provide coverage for the mangled hand without necessitating the use of a damaged arterial system and also providing the benefit of saving the arterial system for later free tissue transfer. This report presents the author's experience using pedicled groin flap in four cases of mangled hands with massive bone and soft tissue defects requiring later thumb reconstruction with the free wrap around flap. Materials and methods: The patients' age ranged from 30 to 51 years; three patients were male and one was female. The causes of mangled hand included two machinery crush injuries, one laboratory explosion and one motor vehicle accident. While evaluating the post-operative results, factors like flap survival, complications, stability in opposition, pinch power and 2 point discrimination were taken into account. Results: All massive soft tissue defects of the hands were completely covered with pedicled groin flap successfully. The reconstructed thumb using free wrap around flap did not have any limitation in opposition. There was no occurrence of post-operative infection and all the flaps survived completely. The average pinch power was 70% of the contralateral intact thumb and average 2 point discrimination was 10 mm. Conclusion: The pedicled groin flap for the reconstruction of the massive soft tissue defects of the hand with subsequent reconstruction of the thumb with a wrap around flap is a very useful procedure. The combined use of pedicled groin flap and wrap around flap allows adequate coverage of sizable soft tissue defects and functional thumb opposition in cases of reconstruction of the mangled hands.

• Proceedings of the KSR Conference
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• 2008.06a
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• pp.1781-1788
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• 2008

This report is the result of a basic experiment done on a mock-up tunnel, of what happens to the ventilated flow and fire driven flow inside a railway tunnel as the current inside the tunnel changes when an anti-smoke or a radio frequency invert control is installed. The duct used in this experiment is 10m in length, 0.5m in height and 0.25m in width and made of acrylic. An anti-smoke system with a motor that can produce current of 10m/sec maximum in order to create ventilated flow, has been installed. A honeycomb has been installed at the entrance of the duct to create a current flow that exists in tunnels. In order to create a ventilated flow, a current of 4m/s, 6m/s and 8m/s were generated using the anti-smoke system, as the study of current developed. A Hot-wire(TSI) and Pressure sensor(ENDEVCO) was installed in the duct, 1m apart, as the measurement of current and pressure went on. The current and pressure were automatically measured through the Lap View program and PC; the current flow in the mock-up tunnel generated by the honeycomb has been analyzed the pressure distribution and pressure drop has been analyzed.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.39 no.6
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• pp.42-48
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• 2002

The design, construction and performance test of a convenient multi-purpose irradiator is described. A multi-purpose irradiator using Cesium-137 has been developed for studies of low dose radiation effects in biology and for calibration of Thermo Luminescent dosimeter(TLD). During the operation, three rods of radioactive material which are 10cm in length revolve 180 degrees and irradiate biological samples, or TLD, and return to their shielded position, after the programmed time. A programmable Logic Controller(PLC) controls the sequence of operation, interlock, motor rotation and safety system. The rotation speed of biological samples can vary up to 20 RPM. A real time monitoring system was also incorporated to check and control the operation status of the irradiator. The capacity of the irradiation chamber was 4.5 liters. The isodose distribution at arbitrary vertical planes was measured by using film dosimetry. The dose-rate was 0.13 cGy/min in air and 0.11 cGy/min in water equivalent material in the case of Cesium-137. Range of activity was 2 Ci. The homogeneity of dose distribution in the chamber was ${\pm}$7%. The actual radiation level on the surface was within permissible levels. The irradiator had a maximum 0.35 mR/min radiation leakage on its surface.

• Corrosion Science and Technology
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• v.13 no.1
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• pp.28-35
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• 2014

Recently, the fuel oil of diesel engines of marine ships has been increasingly changed to heavy oil of low quality as the oil price is getting higher and higher. Therefore, the spiral gear attached at the motor of the oil purifier which plays an important role to purify the heavy oil is also easy to expose at severe environmental condition due to the purification of the heavy oil in higher temperature. Thus, the material of the spiral gear requires a better mechanical strength, wear and corrosion resistance. In this study, the heat treatment(tempering) with various holding time at temperature of $500^{\circ}C$ was carried out to the alloy of Cu-7Al-2.5Si as centrifugal casting, and the properties of both hardness and corrosion resistance with and without heat treatment were investigated with observation of the microstructure and with electrochemical methods, such as measurement of corrosion potential, cathodic and anodic polarization curves, cyclic voltammogram, and a.c. impedance. in natural seawater solution. The ${\alpha}$, ${\beta}^{\prime}$ and ${\gamma}_2$ phases were observed in the material in spite of no heat treatment due to quenching effect of a spin mold. However, their phases, that is, ${\beta}^{\prime}$ and ${\gamma}_2$ phases decreased gradually with increasing the holding time at a constant temperature of $500^{\circ}C$. The hardness more or less decreased with heat treatment, however its corrosion resistance was improved with the heat treatment. Furthermore, the longer holding time, the better corrosion resistance. In addition, when the holding time was 48hrs, its corrosion current density showed the lowest value. The pattern of corroded surface was nearly similar to that of the pitting corrosion, and this morphology was greatly observed in the case of no heat treatment. It is considered that ${\gamma}_2$ phase at the grain boundary was corroded preferentially as an anode. However, the pattern of general corrosion exhibited increasingly due to decreasing the ${\gamma}_2$ phase with heat treatment. Consequently, it is suggested that the corrosion resistance of Cu-7Al-2.5Si alloy can be improved with the heat treatment as a holding time for 48 hrs at $500^{\circ}C$.

• The Journal of Korean Academy of Sensory Integration
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• v.18 no.2
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• pp.55-68
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• 2020

Objective : The purpose of this study is to summarize the best-available intervention evidence for children's sensory integration therapy, drawn from studies published domestically in Korea over the last 10 years. Methods : The articles evaluated in this study were collected from the RISS and DBpia databases using the search terms "sensory integration," "sensory processing," and "Ayres Sensory Integration (ASI)". A total of 19 papers were analyzed. The selected studies were then assessed using the Population, Intervention, Outcomes, and Comparison method, the International Classification of Functioning, Disability and Health (ICF) method, and the modified Evidence Alert Traffic Light Grading System. Results : Development delay was the most commonly applied diagnosis for children's sensory integration therapy and individual sensory integration therapy was the most frequently used intervention method. The intervention effect was 91 percent in the body structure and function of ICF. The areas concentrated on were sensory modulation, sensory processing, fine and gross motor, body scheme, body-self concept, balance, basic movement, postural control and hand function, attention, and self-esteem. Conclusion : This simple overview of the efficacy of children's sensory integration therapy provides a basis for easy understanding and use by therapists, researchers and families with children.

• Resources Recycling
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• v.25 no.1
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• pp.48-59
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• 2016

The earth has been warming due to $CO_2$ gas emissions from fossil fuel cars and a ship. So the hydrogen fuel cell vehicle(FCV) using hydrogen as a fossil fuel alternative energy is in the spotlight. Hyundai Motor Company of Korea and a car companies of the US, Japan, Germany is developing a FCV a competitive. Obtained hydrogen as a by-product of the coke plant, oil refineries, chemical plants of steel mill, coal is reacted with steam at high temperatures, methane gas, manufacture of high purity hydrogen Methane Steam Reforming and hydrogen detachable reforming method using the Pressure Swing Adsorption or Membrane Reforming technical or decomposition of water to produce electricity. Hydrogen is the electronic industry, metal and chemical industries, which are used as rocket fuel, etc. are used in factories, hospitals, home of the fuel Ene.Farm system or FCV. And a method of storing hydrogen is to store liquid hydrogen and a method for compressing normal hydrogen to the hydrogen container, by storing the latest hydride or Organic chemical hydride method is used to carry the hydrogen station. Korea is currently 13 hydrogen stations in place and in operation, plans to install a further 43 places.