• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.314-319
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• 2005

When a robot navigates in the real environment, it frequently meets various environments that can be expressed by simple geometrical shapes such as fiat floor, uneven floor, floor with obstacles, slopes, concave or convex corners, etc. Among them, the convex corner composed of two plain surfaces is the most difficult one for the robot to negotiate. In this paper, we propose a gait planning algorithm to help the robot overcome the convex environment. The trajectory of the body is derived from the maximum distance between the edge boundary of the corner and the bottom of the robot when it travels in the convex environment. Additionally, we find the relation between kinematical structure of the robot and its ability of avoiding collision. The relation is realized by considering the workspace and the best posture of the robot in the convex structure. To provide necessary information for the algorithm, we use an IR sensor attached in the leg of the robot to perceive the convex environment. The validity of the gait planning algorithm is verified through simulations and the performance is demonstrated using a quadruped walking robot, called "MRWALLSPECT III"( Multifunctional Robot for WALL inSPECTion version 3).

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1054-1059
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• 2005

The artificial potential method uses a potential field to guide a robot from a start to a goal configuration respectively. The potential field consists of attractive potential used to pull a robot toward a goal and repulsive potential to keep it away from obstacles. However, there are two problems concerning local minimum and computational cost to be resolved in conventional artificial potential methods. This study proposes a method utilizing a spline surface that interpolates arbitrary boundaries and a domain reduction method that reduces the unnecessary area. The proposed spline surface interpolates arbitrary shaped boundaries and is used as an artificial potential to guide a robot for global motion planning of a mobile robot. A reduced domain process reduces the unnecessary domain. We apply a distance-weighted function as such a function, which blends distances from each boundary with a reduction in computational time compared with other analytical methods. As a result, this paper shows that an arbitrary boundary spline surface provides global planning and a domain reduction method reduces local minimum with quick operation.

• THE INTERNATIONAL COMMERCE & LAW REVIEW
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• v.75
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• pp.71-94
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• 2017

The Rotterdam Rules is the first international maritime carriage of goods Convention that acknowledge electronic records of contracts of carriage. The Rules have developed separate chapter in relation to electronic transport records' issuing, transfer, etc. This paper aims to evaluate Rotterdam Rules' contribution to the use of electronic transport records. To achieve the aims firstly this paper have examined the related articles of Rotterdam Rules, Secondly in practical aspects, this paper explores the opportunities and obstacles which could be happened in practical procedures, applicable to transport industry, shipper and holder of electronic transport records. Findings could be summarized as follows, first the Rules shows high acceptability to whom it may involved in transport industry by simplify the contents of the Rules to avoid conflict with each countries' national laws. The Rules acknowledge the functional equivalence between paper and electronic transport records in specific provisions. This could be important development to facilitate the use of electronic transport records. But the Rules have not mentioned liability limit of transport industry when the problems arise from issuing, tele-transmission, transfer of the records. And the secure of the functional equivalence between paper and electronic transport records also could be remained in uncertain regime due to different stance of each national laws.

• Journal of Advanced Navigation Technology
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• v.10 no.4
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• pp.377-384
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• 2006

In this paper the detection time of the distress signal for the satellite-based search and rescue (SAR) system is evaluated. Present LEOSAR system in operation employs a few Low-altitude Earth Orbit (LEO) satellites and hence provides poor and local coverage availability. This results in a considerably long waiting time for a distress beacon to be detected by a rescue mission control center. One can expect that the detection time of the distress signal will be significantly reduced if the proposed MEOSAR system, which is based on the Medium-altitude Earth Orbit (MEO) satellites, is implemented. Taking into account the influence of the obstacles on the beacon signal, simulations are carried out to evaluate the detection time of distress signals for the LEOSAR and MEOSAR systems and the corresponding results are analyzed.

• Journal of Distribution Science
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• v.13 no.8
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• pp.27-40
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• 2015

Purpose - Total Quality Management (TQM) has received significant attention and interest from a large number of organizations around the world in various industries. These organizations have tried to embody TQM concepts in areas such as engineering and product design, marketing, R&D, procurement, production, personnel, and product inspection. Research design, data, and methodology - This study presents an overview of the fundamentals of TQM and an in depth review of the obstacles to the successful implementation of TQM. Results - In order to control the cost of manufacturing, the tracking of the cost of quality (COQ) allows companies to capture the actual overall cost incurred in producing a unit of product or service. The study explores the reasons why companies track the COQ and ways to address it. Conclusions - Based on the results, COQ is one of the key performance indicators for making more accurate strategic decisions as well as a critical aspect of TQM. The study also presents a few popular quality improvement tools that have been widely used in organizations successfully implementing TQM.

• Journal of Microbiology and Biotechnology
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• v.25 no.1
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• pp.119-126
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• 2015

Among the various human growth factors, epidermal growth factor (hEGF, consisting of 53 amino acids) has various effects on cell regeneration, stimulation of proliferation, migration of keratinocytes, formation of granulation tissues, and stimulation of fibroblast motility, which are important for wound healing. Owing to their multiple activities, EGFs are used as pharmaceutical and cosmetic agents. However, their low productivity, limited target specificity, and short half-life inhibit their application as therapeutic agents. To overcome these obstacles, we fused the collagen-binding domain (CBD) of Vibrio mimicus metalloprotease to EGF protein. About 18 or 12 amino acids (aa) (of the 33 total amino acids), which were essential for collagen-binding activity, were combined with the N- and C-termini of EGF. We constructed, expressed, and purified EGF (53 aa)-CBD (18 aa), EGF (53 aa)-CBD (12 aa), CBD (18 aa)-EGF (53 aa), and CBD (12 aa)-EGF (53 aa). These purified recombinant proteins increased the numbers of cells in treated specimens compared with non-treated specimens and control hEGF samples. The collagen-binding activities were also evaluated. Furthermore, CBD-hybridized hEGF induced phosphorylation of the EGF receptor. These results suggested that these fusion proteins could be applicable as small therapeutic agents in wound tissue healing.

• Environmental Engineering Research
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• v.20 no.2
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• pp.155-161
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• 2015

Experimental research shows that the nitric oxides ($NO_X$) concentration track at the outlet of selective catalytic reduction (SCR) catalyst with a transient variation of Adblue dosage has a time delay and it features a characteristic of resistance-capacitance (RC). The phenomenon brings obstacles to get the simultaneously $NO_X$ expected to be reduced and equi-molar ammonia available to SCR reaction, which finally inhibits $NO_X$ conversion efficiency. Generally, engine loads change frequently, which triggers a rapid changing of Adblue dosage, and it aggravates the air quality that are caused by $NO_X$ emission and ammonia slip. In order to increase the conversion efficiency of $NO_X$ and avoid secondary pollution, the paper gives a comprehensive analysis of the SCR system and tells readers the key factors that affect time delay and RC characteristics. Accordingly, a map of time delay is established and a solution method for time constant and proportional constant is carried out. Finally, the paper accurately describes the input-output state relation of SCR system by using "variable RC model with time delay". The model can be used for a real-time correction of Adblue dosage, which can increase the conversion efficiency of $NO_X$ in SCR system and avoid secondary pollution forming. Obviously, the results of the work discover an avenue for the SCR control strategy.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11b
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• pp.333-343
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• 2000

An automatic guidance system for combine was designed to harvest paddy rice by following a predetermined path. The automatic guidance system consisted of DGPS to locate position of combine, a gyro sensor system to measure heading angle, ultrasonic sensors to detect obstacles, a hydraulic system, microcomputer as a controller, and I/O interface system. Hydraulic cylinders and valves were installed to control movement of the combine. The heading angle and the position of the combine, and ultrasonic measurements from edge were used as the inputs of the controller. The operating position of hydraulic cylinder was determined as output of the controller. The automatic guidance system was evaluated at the 45-m straight path by changing the posture of the combine. The average RMS errors were 14.0 cm without offset and 15.0 cm with 1-m offset. The DGPS provided accurate position information within the limited error to guide the combine in the field. The results showed that the automatic guidance system could guide the combine autonomously in the paddy field when the posture of the combine was changed.

• Journal of Biosystems Engineering
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• v.25 no.2
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• pp.131-140
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• 2000

Spraying operation is one of the most essential in an orchard management and it is also hazardous to human body. for automatic and unmanned spraying , an autonomous travelling vehicle is demanded. In this study, a telemeter was developed using infrared beam which could detect trunks and obstacles measure distance and direction from the vehicle travelling in the orchard. The telemeter system was composed of two infrared LED transmitters and receivers, a beam scanning device for continuous object detection , two rotary encoders for angle detector, and a beam level controller for uneven soil surface. The detected distance and direction signal s were sent to personal computer which made for the system display the angular and distance measurements through I/O board. According to a field test in an apple farm, the system detected up to 10m distance under 12 V of transmitted beam intensity, however, it was recommended that the proper beam transmit intensity be 7 v at the 10 m distance, because of the negative effect to human body at 12 V. The error rate of this system was 0.92 % when the actual distance was compared to measured one. The system was feasible at the small error rate. The developed telemeter system was an important part for autonomous travelling vehicle provided the real time object recognition . A direction control system could be constructed suing the system. It is expected that the system could greatly contribute to the development of autonomous farm vehicle.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.2
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• pp.60-69
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• 2010

Lookup-Table (LUT) based fuzzy controller for obstacle avoidance enhances operations faster in multiple obstacles environment. An LUT based fuzzy controller with Positive/Negative (P/N) fuzzy rule base consisting of 18 rules was introduced in our paper$^1$ and this paper shows a 50-rule P/N fuzzy controller for enhancing performance in obstacle avoidance. As a rule, the more rules are necessary, the more buffers are required. This paper suggests LUT sharing method in order to reduce LUT buffer size without significant degradation of performance. The LUT sharing method makes buffer size independent of the whole fuzzy system's complexity. Simulation using MSRDS(MicroSoft Robotics Developer Studio) evaluates the proposed method, and in order to investigate its performance, experiments are carried out to Pioneer P3-DX in the LabVIEW environment. The simulation and experiments show little difference between the fully valued LUT-based method and the LUT sharing method in operation times. On the other hand, LUT sharing method reduced its buffer size by about 95% of full valued LUT-based design.