• 한국HCI학회:학술대회논문집
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• 2006.02a
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• pp.355-361
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• 2006

In large scale environments like airport, museum, large warehouse and department store, autonomous mobile robots will play an important role in security and surveillance tasks. Robotic security guards will give the surveyed information of large scale environments and communicate with human operator with that kind of data such as if there is an object or not and a window is open. Both for visualization of information and as human machine interface for remote control, a 3D model can give much more useful information than the typical 2D maps used in many robotic applications today. It is easier to understandable and makes user feel like being in a location of robot so that user could interact with robot more naturally in a remote circumstance and see structures such as windows and doors that cannot be seen in a 2D model. In this paper we present our simple and easy to use method to obtain a 3D textured model. For expression of reality, we need to integrate the 3D models and real scenes. Most of other cases of 3D modeling method consist of two data acquisition devices. One for getting a 3D model and another for obtaining realistic textures. In this case, the former device would be 2D laser range-finder and the latter device would be common camera. Our algorithm consists of building a measurement-based 2D metric map which is acquired by laser range-finder, texture acquisition/stitching and texture-mapping to corresponding 3D model. The algorithm is implemented with laser sensor for obtaining 2D/3D metric map and two cameras for gathering texture. Our geometric 3D model consists of planes that model the floor and walls. The geometry of the planes is extracted from the 2D metric map data. Textures for the floor and walls are generated from the images captured by two 1394 cameras which have wide Field of View angle. Image stitching and image cutting process is used to generate textured images for corresponding with a 3D model. The algorithm is applied to 2 cases which are corridor and space that has the four wall like room of building. The generated 3D map model of indoor environment is shown with VRML format and can be viewed in a web browser with a VRML plug-in. The proposed algorithm can be applied to 3D model-based remote surveillance system through WWW.

• Asian-Australasian Journal of Animal Sciences
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• v.27 no.4
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• pp.457-463
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• 2014

Ultrasound measurements of backfat thickness (UBF), longissimus muscle area (ULMA) and marbling score (UMS) and carcass measurements of carcass weight (CW), backfat thickness (BF), longissimus muscle area (LMA), and marbling score (MS) on 7,044 Hanwoo steers were analyzed to estimate genetic parameters. Data from Hanwoo steers that were raised, finished in Hoengseong-gun, Gangwon-do (province) and shipped to slaughter houses during the period from October 2010 to April 2013 were evaluated. Ultrasound measurements were taken at approximately three months before slaughter by an experienced operator using a B-mode real-time ultrasound device (HS-2000, FHK Co. Ltd., Tokyo, Japan) with a 3.5 MHz linear probe. Ultrasound scanning was on the left side between 13th rib and the first lumbar vertebrae. All slaughtering processes and carcass evaluations were performed in accordance with the guidelines of beef grading system of Korea. To estimate genetic parameters, multiple trait animal models were applied. Fixed effects included in the models were: the effects of farm, contemporary group effects (year-season at the time of ultrasound scanning in the models for UBF, ULMA, and UMS, and year-season at slaughter in the models for CW, BF, LMA, and MS), the effects of ultrasound technicians as class variables and the effects of the age in days at ultrasound scanning or at slaughtering as linear covariates, respectively for ultrasound and carcass measures. Heritability estimates obtained from our analyses were 0.37 for UBF, 0.13 for ULMA, 0.27 for UMS, 0.44 for CW, 0.33 for BF, 0.36 for LMA and 0.54 MS, respectively. Genetic correlations were strongly positive between corresponding traits of ultrasound and carcass measures. Genetic correlation coefficient between UBF and BF estimate was 0.938, between ULMA and LMA was 0.767 and between UMS and MS was 0.925. These results suggest that ultrasound measurement traits are genetically similar to carcass measurement traits.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1354-1358
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• 2003

The process equipment for handling high level radioactive materials like spent fuels is operated in a hot cell, due to high radioactivity. Thus, this equipment should be maintained and repaired optimally by a remotely operated manipulator. The master-slave manipulators(MSM) are widely used as a remote handling device in the hot cell. The equipment in the hot cell should be optimally placed within the workspace of the wall-mounted slave manipulator for the maintenance operation. But, because of the complexity in the hot cell, there would be some parts of the equipment that are not reached by the MSM. In this study, the maintenance process for these parts of the equipment is developed using virtual prototyping technology. To analyze the workspace of the maintenance device in the hot cell and to develop the maintenance processes for the process equipment, the virtual mock-up of the hot cell for the spent fuel handling process is implemented using IGRIP. For the implementation of the virtual mock-up, the parts of the equipment and maintenance devices such as the MSM and servo manipulator are modeled and assembled in 3-D graphics, and the appropriate kinematics are assigned. Also, the virtual workcell of the spent fuel management process is implemented in the graphical environment, which is the same as the real environment. Using this mock-up, the workspace of the manipulators in the hot cell and the operator's view through the wall-mounted lead glass are analyzed. Also, for the dedicated maintenance operation, the analyses for the detailed area of the end effectors in accordance with the slave manipulator's position and orientation are carried out. The parts of the equipment that are located outside of the MSM's workspace are specified and the maintenance process of the parts using the servo manipulator that is mounted in the hot cell is proposed. To monitor the process in the hot cell remotely, the virtual display system by a virtual camera in the virtual work cell is also proposed. And the graphic simulation using a virtual mock-up is performed to verify the proposed maintenance process. The maintenance process proposed in this study can be effectively used in the real hot cell operation and the implemented virtual mock-up can be used for analyzing the various hot cell operations and enhancing the reliability and safety of the spent fuel management.

• Journal of Digital Convergence
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• v.13 no.8
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• pp.281-288
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• 2015

The container terminals use convergence technology that exchange information for cargo work, using wireless communication between the TOS(Terminal Operations System) and the handling equipments(CC, TC, YT). But if the container cargoes pile up high in the container yard, delayed cargo work and cargo working list information error happen because of communication dead spots(the worker can not receive the information) which wireless communication is disconnected. At this time the driver of the yard tractor(YT) must be able to recognize the communication state. If then, delayed cargo work and cargo working list information errors that occur in the shaded communication area can be avoided, and can process the delayed work due to wireless communication break. In this project, we have built wireless communication environment to increase the efficiency of the loading and unloading operations which the operator can respond actively, when the work is delayed and work orders result in errors. That is, the flow of the wireless communication module has been changed.

• Applied Microscopy
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• v.45 no.1
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• pp.1-8
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• 2015

We have developed a new HD-2700 (Hitachi High-Technologies Corp., Japan) scanning transmission electron microscope (STEM) that includes an automatic aberration correction function, and a large-solid-angle energy-dispersive X-ray spectroscopy detector that enables high-resolution and sensitive analysis. For observation with atomic resolution, using spherical-aberration-corrected STEM, in order that satisfactory performance of the device can be achieved readily, and within a short time, irrespective of the operator's skill level, a spherical-aberration-correction device with an automatic aberration-correction function was developed. This automatic aberration-correction function carries out the entire correction-related process (aberration measurement, selection and correction) automatically, with automatic selection of the aberrations that require correction, and automatic measurement of the appropriate corrections.

• Restorative Dentistry and Endodontics
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• v.29 no.5
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• pp.446-453
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• 2004

The aim of this study was to evaluate the shaping abilities of four different rotary nickel-titanium instruments with anticurvature motion to prepare root canal at danger zone by measuring the change of dentin thickness in order to have techniques of safe preparation of canals with nickel-titanium files. Mesiobuccal and mesiolingual canals of forty mesial roots of extracted human lower molars were instrumented using the crown-down technique with ProFile, $GT^{TM}$ Rotary file, Quantec file and $ProTaper^{TM}$. In each root, one canal was prepared with a straight up-and-down motion and the other canal was with an anticurvature motion. Canals were instrumented until apical foramens were up to size of 30 by one operator. The muffle system was used to evaluate the root canal preparation. After superimposing the pre- and post-instrumentation canal. change in root dentin thickness was measured at the inner and outer sides of the canal at 1. 3, and 5 mm levels from the furcation. Data were analyzed using two-way ANOVA. Root dentin thickness at danger zone was significantly thinner than that at safe zone at all levels (p < 0.05). There was no significant difference in the change of root dentin thickness between the straight up-and-down and the anticurvature motions at both danger and safe zones in all groups (p > 0.05). ProTaper removed significantly more dentin than other files especially at furcal 3 mm level of danger and safe zones (p < 0.05) Therefore, it was concluded that anticurvature motion with nickel-titanium rotary instruments does not seem to be effective in danger zone of lower molars.

• Journal of Dental Rehabilitation and Applied Science
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• v.17 no.4
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• pp.257-274
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• 2001

To properly prepare teeth, dentists require a direct view of the working area and are often placed in a difficult position, moreover, a high proportion of dentists suffer from headache and back pain. Dentists who make use of the dental mirror and position their patients carefully to gain a proper view report less headache, pain and discomfort in the shoulders. It is recommended that dentists learn the "Home Position(H.P.)" which among the various "Random Position(R.P.)" methods, enables dentists to approach their patients in a stable posture. The purpose of this study was to compare tooth preparation in the H.P. and the R.P., and evaluate the clinical efficacy of the H.P.. Tooth preparation for a full cast crown was performed on the maxillary left 1st molar using the H.P. and the R.P., and the shapes of the prepared tooth surfaces at the two different operating positions were compared. The amount of occlusal reduction, marginal width, height, and axial taper were measured and analyzed. A T-test was performed separately to compare the results of the H.P. and the R.P. with respect to the accuracy of the corresponding tooth reduction. The results were as follows. ; 1. The amount of occlusal reduction was excessive on the mesiobuccal cusp(P<0.05), and deficient on the lingual cusp in the H.P.(P<0.01). In the R.P., this was excessive on the buccal cusp and deficient on the fossa and distolingual cusp(P<0.01). 2. The amounts of marginal width were excessive in all areas except on the lingual and mesial surfaces in the H.P. and lingual surface in the R.P.(P<0.01). 3. The marginal heights were achieved more accurately in the R.P. than the H.P.(P<0.01). 4. Axial surface taper was excessive in all areas in the H.P.(P<0.01). But the axial taper of measured areas was even, and tooth is more like to retain its original axis after reduction. In the R.P., axial surface taper was excessive on the mesial and buccal area, and deficient on the distolingual area(P<0.01), and therefore, the axis of the prepared teeth was tipped in the distolingual direction. 5. The times needed for preparation were 12 minutes and 49 seconds in the H.P., and 11 minutes and 35 seconds in the R.P., and the R.P. was statistically faster(P<0.01). The tooth preparation in the H.P. achieved its goal, in that it enabled the operator to make even tooth reduction. In conclusion, the H.P. system offers an improved method that can be used in clinic after specific training.

• Journal of the Korea Organic Resources Recycling Association
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• v.25 no.1
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• pp.47-55
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• 2017

The technology for hydrothermal reaction of organic waste is one of the promising process to improve energy efficiency of biomass waste recycling system since moisture contents of treated biomass could be reduced at 40% or less than by dehydration processes. For these reasons, many parts of the world are interested in hydrothermal reaction of organic waste. In this paper, drying performances were evaluated with and without hydrothermal reaction of organic wastes which are sewage sludge and food wastes. For the hydrothermal reaction, organic wastes were treated at $200^{\circ}C$ for 1hr. Drying time of treated organic waste by hydrothermal reaction was reduced. In case of food waste drying at $100^{\circ}C$, drying time of treated wasted was reduced more 52.9% than non-treated. Hence, drying performances of sewage sludge and food wastes should be improved by hydrothermal reaction. Drying rates of treated wastes were considerably increased at preheat period of drying characteristic curve as followings; at $80^{\circ}C$ sludge as 148%, $100^{\circ}C$ sewage sludge as 151%, $80^{\circ}C$ food waste as 209%, $100^{\circ}C$ food waste as 366%. It means the surface area of treated wastes could be increased with destruction of cell membrane by hydrothermal reaction. However, the designer and operator of drying process should be careful, since enhanced drying rate cause the extension the decreasing drying period.

• Korean Chemical Engineering Research
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• v.58 no.4
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• pp.565-572
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• 2020

This study developed a software platform using machine learning of artificial intelligence to optimize the distillation column system. The distillation column is representative and core process in the petrochemical industry. Process stabilization is difficult due to various operating conditions and continuous process characteristics, and differences in process efficiency occur depending on operator skill. The process control based on the theoretical simulation was used to overcome this problem, but it has a limitation which it can't apply to complex processes and real-time systems. This study aims to develop an empirical simulation model based on machine learning and to suggest an optimal process operation method. The development of empirical simulations involves collecting big data from the actual process, feature extraction through data mining, and representative algorithm for the chemical process. Finally, the platform for the distillation column was developed with verification through a developed model and field tests. Through the developed platform, it is possible to predict the operating parameters and provided optimal operating conditions to achieve efficient process control. This study is the basic study applying the artificial intelligence machine learning technique for the chemical process. After application on a wide variety of processes and it can be utilized to the cornerstone of the smart factory of the industry 4.0.

• Korean Chemical Engineering Research
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• v.58 no.4
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• pp.604-609
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• 2020

The purpose of this study is to check the priority control status of the current operation process alarm by comparing the priority of the alarm set up in PV high trip point, which is being installed and operated in the domestic petrochemical industry, with the criteria presented in ISA 18.2 International Standard or EEMUA 191 Guidelines. In the event of a process problem, excessively set high alarm is provided to the driver in a short period of time, making it difficult to identify the alarm that needs to be handled first. As a result, it is likely that the operator will not be able to carry out appropriate actions within the specified time frame, and many cases have been reported leading to unexpected process shutdowns or process accidents. Therefore, this study aims to introduce international standards related to alarm management and identify the level of alarm control used at the domestic petrochemical industry site to inform potential risks that may occur in the petrochemical process of the national industrial complex in the future and suggest ways to reduce risk factors. This paper was submitted to Professor Lee Inbeom's retirement anniversary issue.