• 비파괴검사학회지
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• 제23권5호
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• pp.520-525
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• 2003

Fast Breeder Test Reactor (FBTR) is a 40MW (thermal) / 13.2MW (electrical), Plutonium - Uranium mixed carbide fuelled, sodium cooled, loop type nuclear reactor operating at Indira Gandhi Centre for Atomic Research (IGCAR), Kalpakkam. Its main aim is to generate experience in operation of fast reactors and sodium systems and to serve as an irradiation facility for development of fuels and structural materials fur fast reactors. Nuclear reactors pose difficulties to the NDT techniques used to monitor the conditions of the internal components. Sodium cooled fast breeder reactors have their own typical difficulties in using the NDT techniques. These are due to the need for operation in aggressive environment of nuclear radiation and sodium (molten/vapour), as well as the need to maintain leak tightness of a very high order during all states of reactor operation and shutdown for fuel handling, maintenance and remote inspection. This paper discusses the following NDT techniques, which have been successfully used for the past 15 years in FBTR: (i) Periscope and Projector, (ii) Core Co-ordinate Measuring Device and, (iii) Optical fiberscope. The inspection using these techniques have given confidence for further reactor operation at high power by giving useful data on the conditions of the components inside the reactor vessel.

• 로봇학회논문지
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• 제9권3호
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• pp.154-159
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• 2014

The Global Positioning System (GPS) is widely used to aid the navigation of aerial vehicles. However, the GPS cannot be used indoors, so alternative navigation methods are needed to be developed for micro aerial vehicles (MAVs) flying in GPS-denied environments. In this paper, a real-time three-dimensional (3-D) indoor navigation system and closed-loop control of a quad-rotor aerial vehicle equipped with an inertial measurement unit (IMU) and a low-cost light detection and ranging (LIDAR) is presented. In order to estimate the pose of the vehicle equipped with the two-dimensional LIDAR, an octree-based grid map and Monte-Carlo Localization (MCL) are adopted. The navigation results using the MCL are then evaluated by making a comparison with a motion capture system. Finally, the results are used for closed-loop control in order to validate its positioning accuracy during procedures for stable hovering and waypoint-following.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2007년 가을학술발표회
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• pp.481-501
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• 2007

Excessive rainfalls due to climatic changes can trigger an increase in rainfall-induced slope failures that pose real threats to both lives and properties. Many high slopes in residual soils could stand at a steep angle, but failed during or after rainfall. Commonly, these slopes have a deep groundwater table and negative pore-water pressures in the unsaturated zone above the groundwater table contribute to the shear strength of soil and consequently to factor of safety of the slope. Stability assessment of slope under rainfall requires information on rate of rainwater infiltration in the unsaturated zone and the resulting changes in pore-water pressure and shear strength of soil. This paper describes the application of unsaturated soil mechanics principles and theories in the assessment of rainfall effect on stability of slope through proper characterization of soil properties, measurement of negative pore-water pressures, seepage and slope stability analyses involving unsaturated and saturated soils. Factors controlling the rate of changes in factor of safety during rainfall and a preventive method to minimize infiltration are highlighted in this paper.

• Transactions on Electrical and Electronic Materials
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• 제16권1호
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• pp.42-45
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• 2015

The ability to take electrocardiographic measurements while performing our daily activities has become the people-choice for modern age vital sign sensing. Currently, wet and dry ECG electrodes are known to pose threats like inflammations, allergic reactions, and metal poisoning due to their direct skin interaction. Therefore, the main goal in this work is to implement a very small ECG sensor system with a capacitive coupling, which is able to detect electrical signals of heart at a distance without the conductive gel. The aim of this paper is to design, implement, and characterize the contactless ECG electrodes. Under a careful consideration of factors that affect a capacitive electrode functional integrity, several different sizes of ECG electrodes were designed and tested with a pilot ECG device. A very small cotton-insulated copper tape electrode ($2.324cm^2$) was finally attained that could detect and measure bioelectric signal at about 500 um of distance from the subject's chest.

• Journal of Biosystems Engineering
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• 제40권1호
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• pp.67-77
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• 2015

Purpose: Fungal secondary metabolite (mycotoxin) contamination in foods can pose a serious threat to humans and animals. Spectroscopic techniques have proven to be potential alternative tools for early detection of mycotoxins. Thus, the aim of this review is to provide an overview of the current developments in nondestructive food safety testing techniques, particularly regarding fungal contamination testing in grains, focusing on the application of spectroscopic techniques to this problem. Methods: This review focuses on the use of spectroscopic techniques for the detection of fungi and mycotoxins in agricultural products as reported in the literature. It provides an overview of the characteristics of the main spectroscopic methods and reviews their applications in grain analysis. Results: It was found that spectroscopy has advantages over conventional methods used for fungal contamination detection, particularly when combined with chemometrics. These advantages include the rapidness and nondestructive nature of this approach. Conclusions: While spectroscopy offers many benefits for the detection of mycotoxins in agricultural products, a number of limitations exist, which must be overcome prior to widespread adoption of these techniques.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.355-360
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• 2002

To calibrate a non-redundantly actuated parallel mechanism, one can find actual kinematic parameters by means of geometrical constraint of the mechanism's kinematic structure and measurement values. However, the calibration algorithm for a non-redundant case does not apply fur a redundantly actuated parallel mechanism, because the angle error of the actuating joint varies with position and the geometrical constraint fails to be consistent. Such change of joint angle error comes from constraint torque variation with each kinematic pose (meaning position and orientation). To calibrate a redundant parallel mechanism, one therefore has to consider constraint torque equilibrium and the relationship of constraint torque to torsional deflection, in addition to geometric constraint. In this paper, we develop the calibration algorithm fir a redundantly actuated parallel mechanism using these three relationships, and formulate cost functions for an optimization algorithm. As a case study, we executed the calibration of a 2-DOF parallel mechanism using the developed algorithm. Coordinate values of tool plate were measured using a laser ball bar and the actual kinematic parameters were identified with a new cost function of the optimization algorithm. Experimental results showed that the accuracy of the tool plate improved by 82% after kinematic calibration in a redundant actuation case.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.429-435
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• 2011

This paper presents a sensor fusion-based estimation of heading and a Bezier curve-based motion planning for unmanned ground vehicle. For the vehicle to drive itself autonomously and safely, it should estimate its pose with sufficient accuracy in reasonable processing time. The vehicle should also have a path planning algorithm that enables to adapt to various situations on the road, especially at intersections. First, we address a sensor fusion-based estimation of the heading of the vehicle. Based on extended Kalman filter, the algorithm estimates the heading using the GPS, IMU, and wheel encoders considering the reliability of each sensor measurement. Then, we propose a Bezier curve-based path planner that creates several number of path candidates which are described as Bezier curves with adaptive control points, and selects the best path among them that has the maximum probability of passing through waypoints or arriving at target points. Experiments under various outdoor conditions including at intersections, verify the reliability of our algorithm.

• 한국의류학회지
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• 제37권8호
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• pp.1075-1094
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• 2013

This study analyzed the lower body type of women aged 20 to 30 to understand their respective characteristics. The research method was restricted to the use of direct measurements data and 3D measurements data of the Sixth Size Korea. Factor analysis, cluster analysis, ANOVA, Duncan's test, discriminant analysis, t-test, and ${\chi}^2$-test were performed for the statistical analysis of the data using SPSS Win 20.0 program. The results of this study are as follows. Lower body type based on 3D measurements were classified into 3 types (obese lower body, long lower body, and small lower body). Lower body type based on direct measurements were classified into 3 types (obese lower body, thick and long lower body, and small lower body). Lower body type based on the direct measurement of sitting pose were classified into 3 types (obese lower body, long and thin lower body, and short lower body). The age differences in the lower body types could be analyzed by an evaluation of the 3D simulation of the lower body.

• 한국지능시스템학회논문지
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• 제21권3호
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• pp.329-334
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• 2011

본 논문은 실내형 이동로봇에 적용하기 위한 위치인식과 장애물 추적 방법을 제안한다. 제안된 방법을 구현하기 위해 레이저 스캐너가 사용되었으며 로봇이 운행되는 공간의 지도정보를 미리 알고 있다고 가정한다. 레이저 스캐너의 측정치를 지도정보와 매칭해가며 Sequential Monte Carlo (SMC)방법을 이용하여 로봇의 위치를 파악하고 파악된 위치에서 주변 장애물의 위치를 인식하고 다중 물체 추적 알고리즘을 이용함으로써 장애물과의 충돌 위험성 등을 미리 파악할 수 있다. 마지막으로, 본 논문에서 제안한 방법을 실험을 통해 검증한다.

• Smart Structures and Systems
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• 제31권6호
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• pp.561-571
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• 2023

Ensuring the safety of a structure necessitates that repairs are carried out based on accurate inspections and records of damage information. Traditional methods of recording damage rely on individual paper-based documents, making it challenging for inspectors to accurately record damage locations and track chronological changes. Recent research has suggested the adoption of building information modeling (BIM) to record detailed damage information; however, localizing damages on a BIM model can be time-consuming. To overcome this limitation, this study proposes a method to automatically localize damages on a BIM model in real-time, utilizing consecutive images and measurements from an inertial measurement unit in close proximity to damages. The proposed method employs a visual-inertial odometry algorithm to estimate the camera pose, detect damages, and compute the damage location in the coordinate of a prebuilt BIM model. The feasibility and effectiveness of the proposed method were validated through an experiment conducted on a campus building. Results revealed that the proposed method successfully localized damages on the BIM model in real-time, with a root mean square error of 6.6 cm.