• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.5
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• pp.1070-1075
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• 2013

In this research, we describe a security robot system and ongoing research results to control human's wrong direction in order to forbid human to enter security zone. Proposed robot system surveils a security area with equipped laserscanner sensor usually. When it detect walking human who is for the area, robot calculates his velocity vector, plans own path to forestall and interrupts him who want to head restricted area and starts to move along the estimated trajectory. The walking human is assumed to be a point-object and projected onto an scanning plane to form a geometrical constraint equation that provides position data of the human based on the kinematics of the mobile robot. While moving the robot continues these processes for adapting change of situation. After arriving at an opposite position human's walking direction, the robot advises him not to be headed more and change his course. The experimental results of estimating and tracking of the human in the wrong direction with the mobile robot are presented.

• Korean Journal of Applied Biomechanics
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• v.24 no.4
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• pp.425-433
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• 2014

The purpose of the study was to investigate the effect of CAD (Computer Aided Design) based alpine mono-ski bucket design on disabled ski athletes' kinematic characteristics. Two national team ski athletes with LW11 disabilities (Locomotion Winter Classification) category for sit ski participated in both pre and post experiment. Both of the subjects performed 3 trials of carved turn on a ski slope under two conditions. Where, subject "A" performed pre experiment with personal bucket and post experiment with the newly developed CAD based bucket whereas, Subject "B" as control subject performed both pre and post experiment with his personal bucket. For the experiment, 24 Infrared cameras were positioned on the ski slope which covered the path of the ski turn. Also, motion capture suit with reflective markers were worn by both subjects. In the result, decrement in medial/lateral displacement of COM, anterior/posterior displacement of COM, flexion/extension angle of trunk as well as velocity losing rate of COM was observed in subject "A" when using the newly developed CAD based bucket. In contrast, no larger effect on performance was observed when using personal buckets. In conclusion, the findings obtained from the study indicated effectiveness of newly developed CAD based bucket by reducing excessive movement of hip and trunk which is an important factor to perform an effective turn.

• Journal of the korean society of oceanography
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• v.32 no.4
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• pp.181-190
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• 1997

A large subtidal sand ridge (Jungang Satoe) in Asan Bay, on the west coast of Korea, was studied in order to understand the morphology and sediment transport trend in a macrotidal setting, by means of analyzing sediment samples, current data, side-scan sonographs and seismic profiles. The ridge is about 15 km long and 2-5 km wide, with a relief of about 15 m. It is elongated in the flow direction of flood (SE) and ebb (NW) tidal currents, but asymmetrical in cross section. The western and southwestern side of the ridge is characterized by relatively gentle slopes averaging 0.4$^{\circ}$, whereas on the northeastern side, relatively steep slopes were mapped with 1.6$^{\circ}$ slope angles. Tidal currents associated with the ridge are very strong; maximum surface velo-cities range from neap values of 50 cm/s to spring values of 130 cm/s. The shear velocities during flood and ebb are strong enough to erode and transport sands on the ridge. Sand waves and megaripples (dunes) are the most common bedforms produced by the tidal currents, which show regional differences in shape and size on the ridge. The distribution pattern of these bedforms in-dicates that the flood tidal currents are dominant on the offshore (northwest) side of the ridge, whereas the onsho.e (southeast) side of the ridge is ebb-dominated. The sand transport path as inferred from bedform orientations is directed toward the ridge crest on the flanks, whereas on the crest, it is near-longitudinal to the ridge axis. The convergent, upslope movement of sands on the ridge flanks appears to be important in sand ridge building and maintenance. A significant ridge migration toward the northeast can be suspected on the basis of the ridge morphology, which may cause offshore hazards for navigation.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.3
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• pp.311-317
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• 2010

In the paper, we propose an improved mobility method of modular robots by physical docking in the uneven environments. The modular robot system consists of autonomous docking device, 3 DOF robotic arm, motion controller, and main controller. Real-time location and direction of the robot are estimated using inner GPS and they are used to control direction and path of each robot for physical docking between modular robots. We design a navigation algorithm of modular robot using physical docking and cooperative navigation in the environment with broken road and low stair. The proposed method is verified by navigation experiments of three developed modular robots in the uneven environments.

• Animal Bioscience
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• v.34 no.12
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• pp.1912-1920
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• 2021

Objective: This study investigated the effects of 5-aminolevulinic acid (5-ALA) on the motility parameters, mitochondrial membrane depolarization, and ATP levels in chicken sperm. Methods: The pooled semen from Barred Plymouth Rock males was used. In the first experiment, the semen was diluted 4-times with phosphate-buffered saline (PBS (-)) containing various concentrations (0, 0.01, 0.05, and 0.1 mM) of 5-ALA, and then the sperm motility parameters after incubation were evaluated by computer-assisted sperm analysis (CASA). In the second experiment, the semen was diluted 4-times with PBS (-) containing 0.05 mM 5-ALA, and then sperm mitochondrial membrane depolarization and ATP levels after 1.5 h of incubation were analyzed with the MitoPT^® JC-1 Assay and ATP Assay kits, respectively. In the third experiment, the semen was removed from the seminal plasma and resuspended with the mediums of PBS (-), PBS (-) supplemented with CaCl₂ and MgCl₂ (PBS (+)) + 5-ALA, PBS (+) + caffeine, and PBS (+) + caffeine + 5-ALA. Then, the sperm motility parameters after incubation were evaluated by CASA. In the last experiment, the semen was treated with the mediums of PBS (-), PBS (-) + 5-ALA, 5.7% glucose, 5.7% glucose + 5-ALA after removing the seminal plasma, and then the sperm motility parameters were evaluated by CASA. Results: The addition of 0.05 mM 5-ALA significantly increased the chicken sperm motility, progressive motility, linearity, average path velocity, curvilinear velocity, straight-line velocity, and the wobble. The sperm mitochondrial membrane depolarization was also increased by the 5-ALA treatment. The 5-ALA treatment decreased the sperm ATP levels. Both the caffeine treatment and glucose treatment decreased the sperm motility during incubation period. Conclusion: 5-ALA might increase sperm mitochondrial membrane depolarization to utilize the ATP for enhancing sperm movement.

• Korean Journal of Materials Research
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• v.29 no.5
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• pp.282-287
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• 2019

The photovoltaic properties of $TiO_2$ used for the electron transport layer in perovskite solar cells(PSCs) are compared according to the particle size. The PSCs are fabricated and prepared by employing 20 nm and 30 nm $TiO_2$ as well as a 1:1 mixture of these particles. To analyze the microstructure and pores of each $TiO_2$ layer, a field emission scanning electron microscope and the Brunauer-Emmett-Teller(BET) method are used. The absorbance and photovoltaic characteristic of the PSC device are examined over time using ultraviolet-visible-near-infrared spectroscopy and a solar simulator. The microstructural analysis shows that the $TiO_2$ shape and layer thicknesses are all similar, and the BET analysis results demonstrate that the size of $TiO_2$ and in surface pore size is very small. The results of the photovoltaic characterization show that the mean absorbance is similar, in a range of about 400-800 nm. However, the device employing 30 nm $TiO_2$ demonstrates the highest energy conversion efficiency(ECE) of 15.07 %. Furthermore, it is determined that all the ECEs decrease over time for the devices employing the respective types of $TiO_2$. Such differences in ECE based on particle size are due to differences in fill factor, which changes because of changes in interfacial resistance during electron movement owing to differences in the $TiO_2$ particle size, which is explained by a one-dimensional model of the electron path through various $TiO_2$ particles.

• Journal of Aerospace System Engineering
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• v.13 no.2
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• pp.66-72
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• 2019

The observation satellites which uses high heat-dissipating equipment such as synthetic aperture radar (SAR) satellites require a radiator to transmit heat from the equipment into outer space. However, during cold conditions it requires a heater to maintain the temperature of equipment within the allowable minimum limit when it is not in operation. In this study, we proposed a variable conductivity radiator that changes its thermal conductivity value through movement of the liquid metal between two reservoirs based on the temperature condition. This reduces the power consumption of the heater by limiting heat transfer path to the radiator in cold condition, while effectively transferring heat to the radiator during hot condition. The feasibility of the proposed radiator was validated through comparison of the thermal control performance with the conventional fixed conductivity radiator via a thermal analysis.

• Journal of Digital Convergence
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• v.19 no.2
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• pp.489-500
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• 2021

The purpose of this study is to explore the experience and meaning of health domain in physical education practice process for female students, which can be used online. This study would like to provide physical education teachers with implications to revitalize female students' physical education. The research method used case study. Data composition and analysis used group interviews, in-depth interviews and field data. The results of study was first, the changes in classes and school sports after COVID-19 were divided into self-portraits of reality and school sports in COVID-19. Second, the new challenge was categorized into the practice process of the new online class in physical education and the change of movement for oneself. The discussion suggested the need for sympathetic consideration and communication in Corona-19, a path from crisis to opportunity. Follow-up studies should continue to study about girls' various experience participated in physical education classes, collaboration of the teacher learning community that teaches girls' classes and utilizing method of platforms and ICT that can motivate girls' physical education classes.

• Convergence Security Journal
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• v.20 no.5
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• pp.33-39
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• 2020

In MANET consisting of only mobile nodes, all nodes serve as routes. However, the dynamic topology due to frequent movement of nodes degrades routing performance and is also cause of many security vulnerabilities. Therefore, security must be applied to routing techniques that can influence the performance of MANET. In this paper, we propose a technique for efficiently responding to various routing attacks and safe data transmission through application of zone-key based security routing techniques. A zone-based network structure was used, and a management node that manages member nodes in each zone was used in the proposed technique. In addition, the damage from the attacking node was minimized by issuing a key to each node and applying this to a routing technique. The zone management node issues a key for encryption routing information and manages the issuance information. A member node that wants to transmit data encrypts routing in formation using a key issued from the zone management node, and then performs path discovery using this. The improved performance of the proposed technique was confirmed through a comparative experiment with the CBSR and ARNA technique, excellent performance was confirmed through experiments.

• IEMEK Journal of Embedded Systems and Applications
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• v.17 no.1
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• pp.33-40
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• 2022

With the recent increase in the development of military drones, they are adopted and used as the combat system of battalion level or higher. However, it is difficult to use drones that can be used in battles below the platoon level due to the current conditions for the formation of units in the Korean military. In this paper, therefore, we developed a program drones equipped with a thermal imaging camera and LiDAR sensor for reconnaissance and exploration that can be applied in battles below the platoon level. Using these drones, we studied the possibility and feasibility of drones for small-scale combats that can find hidden enemies, search for an appropriate detour through image processing and conduct reconnaissance and search for battlefields, hiding and cover-up through image processing. In addition to the purpose of using the proposed drone to search for an enemies lying in ambush in the battlefield, it can be used as a function to check the optimal movement path when a combat unit is moving, or as a function to check the optimal place for cover-up or hiding. In particular, it is possible to check another route other than the route recommended by the program because the features of the terrain can be checked from various viewpoints through 3D modeling. We verified the possiblity of flying by designing and assembling in a form of adding LiDAR and thermal imaging camera module to a drone assembled based on racing drone parts, which are open source hardware, and developed autonomous flight and search functions which can be used even by non-professional drone operators based on open source software, and then installed them to verify their feasibility.