• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.262-269
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• 2016

Flight of an autonomous unmanned aerial vehicle (UAV) generally consists of four steps; take-off, ascent, descent, and finally landing. Among them, autonomous landing is a challenging task due to high risks and reliability problem. In case the landing site where the UAV is supposed to land is moving or oscillating, the situation becomes more unpredictable and it is far more difficult than landing on a stationary site. For these reasons, the accurate and precise control is required for an autonomous landing system of a UAV on top of a moving vehicle which is rolling or oscillating while moving. In this paper, a vision-only based landing algorithm using dynamic gimbal control is proposed. The conventional camera systems which are applied to the previous studies are fixed as downward facing or forward facing. The main disadvantage of these system is a narrow field of view (FOV). By controlling the gimbal to track the target dynamically, this problem can be ameliorated. Furthermore, the system helps the UAV follow the target faster than using only a fixed camera. With the artificial tag on a landing pad, the relative position and orientation of the UAV are acquired, and those estimated poses are used for gimbal control and UAV control for safe and stable landing on a moving vehicle. The outdoor experimental results show that this vision-based algorithm performs fairly well and can be applied to real situations.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.9
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• pp.4491-4509
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• 2017

The present paper proposes a novel dynamic system for hand gesture recognition. The approach involved is comprised of three main steps: detection, tracking and recognition. First, the gesture contour captured by a 2D-camera is detected by combining the three-frame difference method and skin-color elliptic boundary model. Then, the trajectory of the hand gesture is extracted via a gesture-tracking algorithm based on an occlusion-direction oriented linear extrapolation predictor, where the gesture coordinate in next frame is predicted by the judgment of current occlusion direction. Finally, to overcome the interference of insignificant trajectory segments, the longest common subsequence (LCS) is employed with the aid of velocity information. Besides, to tackle the subgesture problem, i.e., some gestures may also be a part of others, the most probable gesture category is identified through comparison of the relative LCS length of each gesture, i.e., the proportion between the LCS length and the total length of each template, rather than the length of LCS for each gesture. The gesture dataset for system performance test contains digits ranged from 0 to 9, and experimental results demonstrate the robustness and effectiveness of the proposed approach.

• Clinical and Experimental Reproductive Medicine
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• v.40 no.3
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• pp.115-121
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• 2013

Objective: Letrozole and estradiol valerate are used to treat some hormonally-responsive symptoms and also in modeling of the polycystic ovary syndrome. However, the stereological analysis of the ovary has received less attention. Estimation of the whole ovary volume using the Cavalieri method can be applied in any orientation desired, but estimation of the mean volume of the oocytes requires isotropic uniform random sectioning. Here, a combined method was developed for estimating the parameters. To our knowledge, no comparison has been made of the effects of letrozole and estradiol on the ovary. Methods: Sixty rats were divided into 4 groups receiving estradiol (4 mg/kg), olive oil, letrozole (1 mg/kg), or normal saline. After 21 days, their ovaries were studied. Results: Relative to the control group, the total volume of the ovary and the cortex increased in the letrozole-treated and estradiol-treated rats. In addition, the number of the preantral, antral, and granulosa cells decreased by 43% to 56% in the letrozole- and estradiol-treated rats. On average, a 19% increase was observed in the atretic oocytes of the letrozole-treated and estradiol-treated rats, but the mean oocyte volume decreased by 29% to 44% in letrozole- and estradiol-treated rats. Furthermore, the letrozole-treated rats showed a 5-fold and 7-fold increase in the volume of the cysts and corpus luteum, respectively. A 3-fold increase was found in the volume of both the cysts and corpus luteum in the estradiol group. Conclusion: The structural changes of the ovary were most pronounced in the letrozole-treated animals.

• Elastomers and Composites
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• v.15 no.1
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• pp.3-9
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• 1980

The oxygen permeability and it's proofness of te various commercial polymer films have been investigated at the constant pressure and temperature. Oxygen proofness, the reciprocals of the oxygen permeability for the various samples, were determined by means of a coulometric oxygen permeability tester. The testing of sample films was performed at constant temperature $(23{\pm}1^{\circ}C)$ under 1 atm. for 24 hours. The order of the relative proofness observed are as follows; oriented Nylon (O. Nylon)> oriented Polyester (O. PET)>nonoriented Nylon (N. Nylon)>nonoriented Polyester (N.PET)> rigid Polyvinyl chloride (Rigid PVC)>semirigid Polyvinyl chloride (Semirigid PVC)> oriented Polypropylene (O. PP)>plasticized Polyvinyl chloride (P. PVC)> casted Polypropylene (C. PP)> low density Polyethylene (LDPE)>high density Polyethylene (HDPE, Inflation)> high density-polyethylene (HDPE, T-die) The oxygen proofness of the films was increased with the polarity cf polymer, the film thickness and mechanical orientation and decreased with the addition of plasticizer in PVC. For the use of wrapping materials, one film with the polar property in the main chain of the polymer molecule and the others with nonpolar property in it are laminated for the protection from oxygen and moisture.

• Bulletin of the Korean Chemical Society
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• v.31 no.10
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• pp.2841-2848
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• 2010

Quasiclassical trajectory (QCT) method has been used to investigate stereodynamics information of the reaction $O(^1D)+H_2{\rightarrow}\;OH$+H on the DK (Dobbyn and Knowles) potential energy surface (PES) at a collision energy of 23.06 kcal/mol, with the initial quantum state of reactant $H_2$ being set for v = 0 (vibration quantum number) and j = 0-5 (rotation quantum number). The PDDCSs (polarization dependent differential cross sections) and the distributions of P($\theta_r$), P($\phi_r$), P($\theta_r$, $\phi_r$) have been presented in this work. The results demonstrate that the products are both forward and backward scattered. As j increases, the backward scattering becomes weaker while the forward scattering becomes slightly stronger. The distribution of P($\theta_r$) indicates that the product rotational angular momentum j' tends to align along the direction perpendicular to the reagent relative velocity vector k, but this kind of product alignment is found to be rather insensitive to j. Furthermore, the distribution of P($\phi_r$) indicates that the rotational angular momentum vector of the OH product is preferentially oriented along the positive direction of y-axis, and such product orientation becomes stronger with increasing j.

• Proceedings of KOSOMES biannual meeting
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• 2007.05a
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• pp.169-174
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• 2007

The purpose in having a control rod an a buoy system is to control the motion of it. The system may be composed entirely af a single circular cylinder finder and a lang mooring anchor cable. A control rod has one function to perform in meeting its purpose, and that is to develop a control force in consequence of its orientation and movement relative to the water. The forces and moments generated as a result of the effects of mutual interference, then determine the stability characteristics of the body. In this paper, the study of control-rod-attached buoy's 2-dimensional section was accomplished. model tests and numerical simulations had been carried out with different diameters of control rods. and varying the Reynolds number $Re=5,000{\sim}25,000$ based an the cylinder diameter(D=50mm) to. predict the performance af the body and the 2 frame particle tracking method had been used to obtain the velocity distribution in the flaw field 50mm circular cylinder had been used during the whale experiments and measured results had been compared with each other.

• Journal of the Korean Society of Marine Environment & Safety
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• v.23 no.2
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• pp.200-207
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• 2017

The purpose in having a control surface on ships is to control the motion of the ship. The control surface may be composed entirely of a single movable surface or of a combination of fixed and movable portions. A control surface has one sole function to perform in meeting its purpose, and that is to develop a control force in consequence of its orientation and movement relative to the water. The forces and moments generated as a result of this rotation and angle of attack then determine the manoeuvring characteristics of the ship. In this paper, two-dimensional flow characteristics of a flapped rudder and a water-blowing control rudder were accomplished respectively by PIV method in a circulating water channel. Model test has been carried out with different angles of attack of main foil (NACA 0012) and flap's deflection angles to predict the performance of the flapped rudder and the water-blowing control rudder. The 2-frame particle tracking method has been used to obtain the velocity distribution in the flow field. $Re{\fallingdotseq}3.0{\times}10^4$ has been used during the whole experiments and measured results have been compared with each other.

• Proceedings of the Korean Magnetic Resonance Society Conference
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• 2002.08a
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• pp.80-80
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• 2002

MnPSO-34 and Mn-impregnated SAPO-34 (Mn-SAPO-34) sample were prepared with various manganese contents and studied by electron spin resonance (ESR) and electron spin-echo modulation (ESEM). Electron spin-echo modulation analysis of 0.07mol ％ Mn(relative to p) in MnAPSO-34 with adsorbed D$_2$O shows two deuteriums at 0.25 nm and two at 0.36 nm from Mn. This suggests that two waters hydrate an MnO4 configuration with a D-O bond orientation for the waters as expect for a negatively charged site at low manganese content (0.07 mol％), the ESR spectra of MnAPSO-34 and MnH-SAPO-34 exhibit the same parameters (g 2.02 and A 87 G), but the spectra obtained from MnAPSO-34 samples are better resolved. TGA of as-synthesized MnAPSO-34 shows that the decomposition temperature in the range 200-$600^{\circ}C$ of the morpholine is 12$^{\circ}C$ higher than that in as-synthesized MnH-SAPO-34. Infrared spectra shows that the position of a band at about 15 cm-1 toward higher energy in MnAPSO-34 versus MnH-SAPO-34. The modulation depth of the two-pulse ESE of MnAPSO-34 with absorbed D$_2$O is deeper than that of MnH-SAPO-34 with absorbed D$_2$O. Three-pulse ESEM of MnAPSO-34 and MnH-SAPO-34 with absorbed deuterium oxide shows that the local environments of manganese in the hydrated samples are different, suggesting that Mn(II) is framework substituted in MnAPSO-34 since it obviously occupies an extra-framework position in MnH-SAPO-34

• Korean Journal of Materials Research
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• v.21 no.7
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• pp.371-376
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• 2011

We report on the effects of $TiO_2$ doping power on the characteristics of multicomponent $TiO_2$-ITO (TITO) electrodes prepared by a multi-target sputtering system with tilted cathode guns. Both as-deposited and annealed TITO electrodes showed linearly increased sheet resistance and resistivity with increasing $TiO_2$ doping power. However, the TITO electrodes exhibited a fairly high optical transmittance regardless of the $TiO_2$ doping power due to the high transparency of the $TiO_2$. Although the annealed TITO showed much lower sheet resistance and resistivity relative to the as-deposited samples, the electrical properties of the annealed samples exhibited similar dependence on the $TiO_2$ power to the as-deposited samples. In addition, it was found that doping of an anatase $TiO_2$ in the ITO electrode prevented the preferred (222) orientation of the TITO electrodes. Although the TITO electrode showed higher sheet resistance and resistivity than that of the pure ITO electrode, it offers a very smooth surface and usage of a low-cost Ti element. It is thus considered a promising multicomponent transparent conducting electrode for cost-efficient flat panel displays and photovoltatics.

• Korean Journal of Materials Research
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• v.21 no.12
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• pp.660-665
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• 2011

1-D ZnO nanowires have been attractive for their peculiar properties and easy growth at relatively low temperature. The length, diameter, and density of ZnO nanowires were determined by the several synthetic parameters, such as PEI concentration, growth time, temperature, and zinc salt concentration. The ZnO nanowires were grown on the <001> oriented seed layer using the hydrothermal process with zinc nitrate and HMTA (hexamethylenetetramine) and their structure and optical properties were characterized. The morphology, length and diameter of the nanowires were strongly affected by the relative and/or absolute concentration of $Zn^{2+}$ and $OH^{-1}$ and the hydrothermal temperature. When the concentrations of the zinc nitrate HMTA were the same as 0.015 M, the length and diameter of the nanowires were $1.97{\mu}m$ and $0.07{\mu}m$, respectively, and the aspect ratio was 28.1 with the preferred orientation along the <001> direction. XRD and TEM results showed a high crystallinity of the ZnO nanowires. Optical measurement revealed that ZnO nanowires emitted intensive stimulated UV at 376 nm without showing visible emission related to oxygen defects.