• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.24-27
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• 2004

This paper describes the method how to control an autonomous robot remotely using Internet. The autonomous robot that has an artificial brain is called "Tarou". (1) It is able to move along the line on the floor based on processing the image data obtained from two CCD cameras. (2) It is able to understand dialogs between human being and it and is able to take actions such as turn right and lefts, go forward 1m and go backward 0.5m, etc. (3) It is able to recognize patterns of objects. (4) It is able to recognize human faces. (5) It is able to communicate human being and to speak according to contents written in the program. We show the techniques to control the autonomous robot "Tarou" remotely by personal computer and/or portable Phone via Internet. The techniques developed in our research could dramatically increase their performance for..the need of artificial life robot as the next generation robot and national homeland security needs.

• 한국정밀공학회지
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• 제19권11호
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• pp.65-74
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• 2002

This paper examines the usefulness of a Brake Steer System (BSS), which uses differential brake forces for steering intervention in the context of Intelligent Transportation Systems (ITS). In order to help the car to turn, a yaw moment can be achieved by altering the left/right and front/rear brake distribution. This resulting yaw moment on the vehicle affects lateral position thereby providing a limited steering function. The steering function achieved through BSS can then be used to control lateral position in an unintended road departure system. A 8-DOF nonlinear vehicle model including STI tire model will be validated using the equations of motion of the vehicle. Then a controller will be developed. This controller, which will be a PID controller tuned by Ziegler-Nichols, will be designed to explore BSS feasibility by modifying the brake distribution through the control of the yaw rate of the vehicle.

• 한국경영과학회지
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• 제35권4호
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• pp.33-53
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• 2010

When purchase prices of a raw material fluctuate over time, the total purchasing cost is mainly affected by reordering time. Existing researches focus on deciding the right time when the demand for each period is replenished at the lowest cost. However, the decision is based on expected future prices which usually turn out to include some error. This discrepancy between expected prices and actual prices deteriorates the performance of inventory models dealing with fluctuating purchase prices. In this paper, we propose a new inventory model which incorporates not only cost but also risk into making up a replenishment schedule to meet each period's demand. For each replenishment schedule, the risk is defined to be the variance of its total cost. By introducing the risk into the objective function, the variability of the total cost can be mitigated, and eventually more stable replenishment schedule will be obtained. According to experimental results from crude oil inventory management, the proposed model showed better performance over other models in respect of variability and cost.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2009년도 제40회 하계학술대회
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• pp.2251_2252
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• 2009

In this paper, an attempt has been made by incorporating variable wheel arrangement for a car-like robot. In this scheme, the car-like robot controls its body height and the length of forward and backward wheels while driving in omni-direction. Experimental results show that the proposed car-like robot with wheel arrangement variable structure presents effectiveness of several situations.(a. left and right turn, b. longitudinal and latitudinal parking, c. control of body height and the length of forward and backward wheels, d. passing over obstacles, e. adaptive cruise control.)

• Journal of Korean Neurosurgical Society
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• 제49권5호
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• pp.290-291
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• 2011

Persistent primitive olfactory artery (PPOA) is a rare anomaly of the anterior cerebral artery. We present one case of PPOA incidentally diagnosed with the aid of computed tomography (CT) angiography. A 24-year-old woman was admitted to our hospital after sudden onset of vertigo. Three-dimensional CT angiography revealed an anomalous artery arising from the terminal portion of the right internal carotid artery. The proximal portion of the anomalous artery coursed anteromedially and made a hairpin turn posterosuperior to the midline. PPOA may be overlooked because of its rarity, but CT angiography can be useful in detecting this rare vascular anomaly. Follow-up study is necessary in our case to confirm whether an aneurysm occurs on the PPOA.

• 대한수학회보
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• 제45권4호
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• pp.651-661
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• 2008

Given binary operations "*" and "$\circ$" on a set X, define a product binary operation "$\Box$" as follows: $x{\Box}y\;:=\;(x\;{\ast}\;y)\;{\circ}\;(y\;{\ast}\;x)$. This in turn yields a binary operation on Bin(X), the set of groupoids defined on X turning it into a semigroup (Bin(X), $\Box$)with identity (x * y = x) the left zero semigroup and an analog of negative one in the right zero semigroup (x * y = y). The composition $\Box$ is a generalization of the composition of functions, modelled here as leftoids (x * y = f(x)), permitting one to study the dynamics of binary systems as well as a variety of other perspectives also of interest.

• 대한교통학회지
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• 제18권4호
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• pp.41-50
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• 2000

신호교차로에서 맨 우측차로의 대부분이 우회전 공용차로로 사용되는데 도로용량편람에서 우회전이 불가능한 보행자 횡단시간 비율$(f_c)$은 공용차로의 용량을 결정하는 우회전보정계수$(f_{RT})$의 산정시 중요한 요소가 된다. 그러나 이에 대한 국내의 연구는 미미하여 연구의 필요성이 있다고 생각된다. 본 연구는 유입부의 직진신호시간을 위주로 교차방향 횡단보도 내의 보행자수와 우회전차량의 통과여부를 촬영하여 분석하는 방법으로 진행되었으며, 우회전 차량이 교차도로의 보행자 횡단시간에 보행자와의 상충으로 우회전하지 못하는 시간 비율을 산정함에 있어서 횡단보도의 보행자수에 따라 우회전 차량의 통과율을 구하고 이로부터 횡단보도 보행신호시간동안에 우회전이 불가능한 시간비율을 산정했다. 연구결과는 우회전이 불가능한 시간비율이 시간당 보행자수(양방향)가 500인/시~1,500인/시로 변할 때 0.78에서 0.94사이의 값을 가지며 한국도로용량편람에서 제시한 값 0.3에서 0.9보다는 대체로 큰 것으로 나타났다. 따라서 한국용량편람에서 얻은 우회전차로의 용량은 과대 평가되는 경향이 있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.171.4-171
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• 2001

This paper proposes a method of human- robot interaction (HRI) using face directional gesture. A single CCD color camera is used to input face region, and the robot recognizes the face directional gesture based on the facial feature´s positions. One can give a command such as stop, go, left and right turn to the robot using the face directional gesture. Since the robot also has the ultra sonic sensors, it can detect obstacles and determine a safe direction at the current position. By combining the user´s command with the sensed obstacle configuration, the robot selects the safe and efficient motion direction. From simulation results, we show that the robot with HRI is more reliable for the robot´s navigation.

• 농촌지도와개발
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• 제4권1호
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• pp.29-40
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• 1997

This study aims to analyze the model of 'autonomous regional development', which was initiated in 1980s in Austria, then introduced into Germany and Switzerland. The basic ideas of autonomous regional development are constructed of the peculiarity, the autonomy, the integrity, and the project promotion. The subjects of the development-four poles of the model 'autonomous regional development' -are designed of the land residents, the regional advisers, the regional associations and the state. The concret measures to realize the autonomous regional development are the realization of independent regional economic structures, the autonomy of political decision-makings, and the development of peculiar rural cultures. The autonomous regional development is a new development model, which is founded on the right basic principles. In this model the initiative of the residents is emphasized, and the real autonomy of regional development is required. The principle of autonomy leads to the development of peculiar rural cultures, which keep the peculiarity of the region. The development of rural culture contributes in turn to restoring the identity of residents, which may become a driving force of the rural development.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 제39회 하계학술대회
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• pp.1735-1736
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• 2008

In this research, a riding robot system named as "RideBot" is developed for health-care and entertainments. The developed riding robot can follow the intention of horseman and can simulate the motion of horse. The riding robot mechanisms are used for many functions of attitude detection, motion sensing, recognition, common interface and motion-generations. This riding robot can react on health conditions, bio-signals and intention informations of user. One of the objectives of this research is that the riding robot could catch user motion and operate spontaneous movements. In this paper, we develope the saddle mechanism which can generate 3 degrees-of-freedom riding motion based on the intention of horseman. Also, we develope reins and spur mechanism for the recognition of the horseman's intention estimation and the bio-signal monitoring system for the health care function of a horseman. In order to evaluate the performance of the riding robot system, we tested several riding motions including slow and normal step motion, left and right turn motion.