• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.31-38
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• 2024

A mobile manipulator is capable of handling a wide range of workspaces by overcoming the limitations of mobility inherent in existing fixed-base manipulators. To simulate the mobile manipulator, two contact operations should be considered in the physics engines. One of these operations is the grasp stability between the gripper and the object, while the other involves the contact between the wheels of the mobile robot and the ground during driving. However, it is still difficult to choose an appropriate physics engine for simulating these contact operations of the mobile manipulator. In this paper, the performance of physics engines for simulating the mobile manipulator is evaluated. Firstly, the grasp stability of the physics engine is quantitatively evaluated based on the contact force discontinuity. Secondly, when the mobile robot is controlled by open or closed-loop control methods, differences in the path taken by the mobile robot depending on the physics engine are analyzed. To assess the performance of robot simulation, three dynamic simulators-MuJoCo, CoppeliaSim, and IsaacSim-are used along with five physics engines: MuJoCo, Newton, ODE, Bullet, and PhysX.

• Journal of Electrochemical Science and Technology
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• v.10 no.4
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• pp.394-401
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• 2019

The unique study of TiO₂ sol-gel modified carbon paste electrode (CPE) nanocomposites have been developed for electrochemical sensor detecting fipronil pesticide compound. We develop the easy synthesized TiO₂ via a sol-gel method and modified in CPE which applied electrochemical system as cyclic voltammetry (CV) because the concentration is proportional with current peaks. We discover the TiO₂ optimal mass used of 0.1 g which is compared with 0.7 g carbon and 0.3 mL paraffin. It has high-current anodic (Ip_a) of 1.13×10³ μA and high-current cathodic (Ip_c) -0.96×10³ μA in scan rate of 0.5 V/s. The limit of detection (LOD) of fipronil has been determined of 34.0×10^-5 μM in percent recovery of 0.8%. Its high-stability for lifetime TiO₂-CPE nanocomposites was expressed for 13 days which mean that can be used for detecting fipronil pesticide.

• Journal of the Korean Wood Science and Technology
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• v.46 no.6
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• pp.748-755
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• 2018

Timber from fast-growing tree species is susceptible to by biodeterioration attack, particularly subterranean termites. Impregnation with methyl methacrylate (MMA) potentially increases wood resistance to subterranean termite attack. Four wood species, namely sengon (Falcataria moluccana), jabon (Anthocephalus cadamba), mangium (Acacia mangium), and pine (Pinus merkusii), were impregnated with MMA, and samples of untreated and imidacloprid-preserved wood were prepared for comparison purposes. Small stakes, sized 0.8 cm by 2 cm in cross section by 20 cm in the longitudinal direction, were inserted into the ground for 3 months, and the weight loss of each specimen was determined at the end of the test period. A factorial $4{\times}3$ completely randomized design was used for data analysis; the first factor was wood species, and the second factor was treatment. The results showed that MMA polymer loadings were 27.88%, 24.91%, 14.14%, and 17.81% for sengon, jabon, mangium, and pine, respectively, and amounts of imidacloprid retention were $7.56kg/m^3$, $5.98kg/m^3$, $5.34kg/m^3$, and $9.53kg/m^3$, respectively. According to an analysis of variance, wood species, treatment, and interaction of both factors significantly affected the weight loss of wood specimens. Mangium had the smallest weight loss, followed by pine, sengon, and jabon. MMA impregnation into the wood increased the resistance of wood samples to subterranean termite attack during in-ground testing, but the resistance level was lower than that of imidacloprid-preserved wood. Except for mangium wood, the MMA treatment did not significantly affect resistance.

• Journal of Korean Society of Transportation
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• v.17 no.3
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• pp.47-60
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• 1999

In this study, the dynamic route choice behavior of driver is assumed to be affected by the current conditions of traffic environments as well as the Past traffic environments and activities. The repeated survey of multi-timed to owner drove in Chon-ju city by the virtual traffic information system was performed by the stated preference method. And the LISREL(An analysis of linear structural relationship) model was used. As the results. the variable Parameter and t-value of travel time information on applied model was high and their results have an effect greatly to the route choice. After all, the route choice was negative from Kirin-ro, which Penetrates the downtown, and positive from Chunbyun-ro which was a roundabout way was confirmed. Estimated result of the reasonability, the highest suitable model was ode which applied the concept of serial correlation and stated dependence and was shown applying rightfulness to dynamic model. As the serial correlation and stated dependence parameter value, when time interval was large, parameter value was small and the serial correlation and stated dependence was in inverse proportion ratio to the time interval.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.05a
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• pp.741-743
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• 2015

오늘날 BI(Business Intelligence)시스템 다차원 데이터를 다루는 많은 방법들이 제안되어 TB 이상의 데이터를 다룰 수 있다. 하지만 IT 전문가 및 IT에 대한 투자여력이 충분하지 않은 중소 제조 기업들은 발 맞춰가기 힘들다. 또한 생산관리시스템(MES)을 미 도입한 기업이 대다수이고, 존재하는 현장데이터의 대부분도 수기데이터 또는 Excel 데이터로 보관 되어 있어, 수작업에 의한 데이터 분석과 의사결정을 수행한다. 이로 인해, 불량 요인 파악이나 이상 현상 파악이 불분명하기 때문에 데이터 분석에 어려움을 겪는다. 이에 본 연구에서는 중소제조기업의 경쟁력 강화를 위하여 제조 기업현장에서 사용되는 데이터를 자동으로 수집하여 정제 및 처리하여 저장이 가능하도록 하는 빅 데이터 분석 시스템 모델을 개발하였다. 이 분석 시스템 모델은 ERP, MIS 등에 존재하는 데이터들이 각 시스템의 DB 기능을 활용하여 데이터를 추출하고 정제하여 수집하는 ETL(Extract Transform Loading)과정을 통한다. 현장에서 비정형으로 기록되고 있는 정보들(ex. Excel)은 ODE(Office Data Excavation)모듈을 통해 문서의 패턴을 자동으로 인식하고 정형화된 정보로서 추출, 정제되어 수집된다. 저장된 데이터는 오픈소스 데이터 시각화 라이브러리인 D3.js를 이용하여 다양한 chart들을 통한 강력한 시각효과를 제공함으로써, 정보간의 연관 관계 및 다차원 분석의 기반을 마련하여 의사결정체계를 효과적으로 지원한다. 또한, 높은 가격에 형성되어 있는 빅데이터 솔루션을 대신해 오픈소스 Spago BI를 이용하여 경제적인 빅 데이터 솔루션을 제공한다. 본 연구의 기대효과로는 첫째, 현장 데이터 중심의 효과적인 의사결정 기반을 마련할 수 있다. 둘째, 통합 데이터 기반의 연관/다차원 분석으로 경영 효율성이 향상된다. 마지막으로, 중소 제조기업 환경에 적합한 분석 시스템을 구축함으로써 경쟁력과 생산력을 강화한다.

• Spatial Information Research
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• v.18 no.4
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• pp.75-88
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• 2010

Recent development in wireless communication and mobile positioning technologies make geosensor networks widely used in the various fields of real world. As a result, much research has been done on the middleware that uses limited energy resources efficiently. However, because traditional middleware does not consider the characteristics of sensor node, such as computing power and specification, the existing middleware call not support the sensor nodes with only the restricted system resource. Therefore, in this paper, we design and implement a new Bytecode based Data Service Middleware supporting energy efficiency in geosensor networks. At first, the proposed middleware provides the optimized functions for sensor nodes by using minimum by tee ode instruction set and data manager supporting hardware abstraction. Secondly, the proposed middleware increases the energy efficiency of sensor node through both data aggregation query processing and data filtering that minimize data transmission by eliminating unnecessary data. Finally, we show from our performance analysis that the proposed middleware is more energy efficient than the existing SwissQM.

• Journal of Korean Society of Steel Construction
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• v.22 no.3
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• pp.241-251
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• 2010

This paper presents the development of a new analytical solution to the governing differential equation for isotropic annular sector plates subjected to uniform loading in a three-dimensional polar coordinate system. The 4th order governing partial differential equation (PDE) was converted to an ordinary differential equation (ODE) by assuming the Levy-type series solution form and the subsequent mathematical operations. Finally, a series-type solution was assembled with homogeneous and nonhomogeneous solution parts after operating real values and complex conjugates derived from the characteristic equation. To demonstrate the convergence rate and the accuracy of the featured method, several examples with various sector angles were selected and solved. The deflections and internal moments in the example annular sector plates that were obtained from the proposed solution were compared with those obtained from other analytical studies and numerical analyses using the finite element analysis package program, ABAQUS. Very good agreement with the results of other analytical and numerical methodologies was shown.

• Journal of the Korean Data and Information Science Society
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• v.26 no.2
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• pp.301-312
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• 2015

The purpose of this paper is to establish the epidemic model to explain the process of disease spread. The process of disease spread can be classified into two types: deterministic process and stochastic process. Most studies supposed that the process follows the deterministic process and established the model using the ordinary differential equation. In this article, we try to build the disease spread prediction model based on the SIR (Suspectible - Infectious - Recovered) model. we first estimated the model parameters using least squared method and applied to a deterministic model using ordinary differential equation. we also applied to a stochastic model based on Gillespie algorithm. The methods introduced in this paper are applied to the data on the number of cases of malaria every week from January 2001 to March 2003, released by Korea Centers for Disease Control and Prevention. As a result, we conclude that our model explains well the process of disease spread.

• Bulletin of the Korean Chemical Society
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• v.35 no.2
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• pp.494-500
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• 2014

Indium-doped zinc oxide nanocrystals (IZO NCs), capped with stearic acid (SA) of different sizes, were synthesized using a hot injection method in a noncoordinating solvent 1-octadecene (ODE). The ligand exchange process was employed to modify the surface of IZO NCs by replacing the longer-chain ligand of stearic acid with the shorter-chain ligand of butylamine (BA). It should be noted that the ligand-exchange percentage was observed to be 75%. The change of particle size, morphology, and crystal structures were obtained using a field emission scanning electron microscope (FE-SEM) and X-ray diffraction pattern results. In our study, the 5 nm and 10 nm IZO NCs capped with stearic acid (SA-IZO) were ligand-exchanged with butylamine (BA), and were then spin-coated on a thermal oxide ($SiO_2$) gate insulator to fabricate a thin film transistor (TFT) device. The films were then annealed at various temperatures: $350^{\circ}C$, $400^{\circ}C$, $500^{\circ}C$, and $600^{\circ}C$. All samples showed semiconducting behavior and exhibited n-channel TFT. Curing temperature dependent on mobility was observed. Interestingly, mobility decreases with the increasing size of NCs from 5 to 10 nm. Miller-Abrahams hopping formalism was employed to explain the hopping mechanism insight our IZO NC films. By focusing on the effect of size, different curing temperatures, electron coupling, tunneling rate, and inter-NC separation, we found that the decrease in electron mobility for larger NCs was due to smaller electronic coupling.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.6
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• pp.749-754
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• 2009

Two gait generation methods using GP(genetic programming) and CPG(Central Pattern Generator) are compared to develop a fast locomotion for quadruped robot. GP based technique is an effective way to generate few joint trajectories instead of the locus of paw positions and lots of stance parameters. The CPGs are neural circuits that generate oscillatory output from a input coming from the brain. Optimization for two proposed methods are executed and analysed using Webots simulation for the quadruped robot which is built by Bioloid. Furthermore, simulation results for two proposed methods are experimented in real quadruped robot and performances and motion features of GP and CPG based methods are investigated.