• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.846-851
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• 2004

In this paper, we propose a global ultrasonic system for the self-localization and autonomous navigation of indoor mobile robots. The ultrasonic sensor is regarded as the most cost-effective ranging system among the possible alternatives, and it is widely used for general purpose, since it requires simple electronic drivers and has relatively high accuracy. The global ultrasonic system presented in this paper consists of four or more ultrasonic generators fixed at reference positions in the global coordinates of an indoor environment and two receivers mounted on the mobile robots. By using the RF (Radio Frequency) modules added to the ultrasonic sensors, the robot is able to control the ultrasonic generation and to obtain the critical distances from the reference positions, which are required in order to localize is position in the global coordinates. A kalman filter algorithm designed for the self-localization using the global ultrasonic system and the experimental results of the autonomous navigation are presented in this paper.

• 제어로봇시스템학회논문지
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• 제14권2호
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• pp.168-177
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• 2008

Path finding is a key element in the navigation of a mobile robot. To find a path, robot should know their position exactly, since the position error exposes a robot to many dangerous conditions. It could make a robot move to a wrong direction so that it may have damage by collision by the surrounding obstacles. We propose a method obtaining an accurate robot position. The localization of a mobile robot in its working environment performs by using a vision system and Virtual Reality Modeling Language(VRML). The robot identifies landmarks located in the environment. An image processing and neural network pattern matching techniques have been applied to find location of the robot. After the self-positioning procedure, the 2-D scene of the vision is overlaid onto a VRML scene. This paper describes how to realize the self-positioning, and shows the overlay between the 2-D and VRML scenes. The suggested method defines a robot's path successfully. An experiment using the suggested algorithm apply to a mobile robot has been performed and the result shows a good path tracking.

• 한국소음진동공학회논문집
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• 제16권7호
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• pp.677-682
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• 2006

In the case of aeroacoustic test in windtunnel, measurement accuracy is reduced by not only Doppler effects but also by the microphone self noise due to airflow and high turbulence in the wall boundary layer. Microphone array measurements can be easily utilized for the solutions of these problems. In this paper, geometrical optics approach and diagonal term elimination of cross spectral matrix was introduced to the de-dopplerization and self noise reduction methods for the microphone array measurement. For the validation, beamforming tests for sinusoidal point source were performed in the closed type test section of windtunnel, and their performances of beam width and sidelobe rejection were significantly improved.

• Journal of Pharmaceutical Investigation
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• 제40권4호
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• pp.201-212
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• 2010

Self-organized nanogels from polysaccharide derivatives offer a promising approach in treatment of cancer due to their flexibility in chemistry and their ability to improve the therapeutic index of a drug by modifying biodistribution by their preferential localization at target sites and lower distribution in normal healthy tissues. These properties have promoted studies of active cancer targeting by self-organized nanogels for even better accumulation in solid tumors. However although many researchers have reported their potential by using cell culture systems and small animal tumor models in cancer therapy, these nanogels need more decoration such as conjugation with targeting moiety and endowment of stimuli-sensitivity for precise targeting of the cancer site. In this review, we summarize the recent efforts in developing novel targeting approaches via active endocytosis and stimuli-sensitive systems responding to hyperthermic or acidic tumor pH conditions.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계학술대회논문집
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• pp.822-825
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• 2005

In the case of aeroacoustic test in windtunnel, measurement accuracy is reduced by not only Doppler effects but also by the microphone self noise due to airflow and high turbulence in the wall boundary layer. Microphone array measurements can be easily utilized for the solutions of these problems. In this paper, geometrical optics approach and diagonal term elimination of cross spectral matrix was introduced to the de-dopplerization and self noise reduction methods for the microphone array measurement. For the validation, beamforming tests for sinusoidal point source were performed in the closed type test section of windtunnel, and their performances of beam width and sidelobe rejection were significantly improved.

• 제어로봇시스템학회논문지
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• 제14권8호
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• pp.752-759
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• 2008

In this paper, we propose a high accurate geo-location system based on a single base station, where its location is obtained by Time-of-Arrival(ToA) and Direction-of-Arrival(DoA) of the radio signal. For estimating accurate ToA and DoA information, a MUltiple SIgnal Classification(MUSIC) is adopted. However, the estimation of ToA and DoA using MUSIC algorithm is a time-consuming process. The position tracking bias is occurred by the time delay caused by the estimation process. In order to mitigate the bias error, we propose the estimation method of the position tracking bias and compensate the location error produced by the time delay using the position tracking bias mitigation. For accurate self-localization of mobile robot, the Unscented Kalman Filter(UKF) with position tracking bias is applied. The simulation results show the efficiency and accuracy of the proposed geo-location system and the enhanced performance when the Unscented Kalman Filter is adopted for mobile robot application.

• 전기학회논문지P
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• 제65권2호
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• pp.101-107
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• 2016

The main target in this paper is the localization of VME Type EPSM in Generator Exciter(EX2100) System. Developed EPSM has the compatibility with the existing product in the structure and shape and electrical feature and so on, but it has a much improved capacity and reliability in comparison with origin company product. this paper, to improve these functions, put emphasis on protection, monitoring, power capacity increase(over 120%), an enlarged scale of input voltage supply, AC/DC dual voltage use and so on. After manufacturing product localization, it was carried out several tests for the performance and reliability verification of developed product. These tests were performed in Authorized Inspection Agency(KTL) and field application test and maker self-test were additionally performed. Finally, the results of all tests were "success".

• 제어로봇시스템학회논문지
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• 제11권5호
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• pp.423-428
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• 2005

This paper proposes a new edge detection method using a $3{\times}3$ ideal binary pattern and lookup table (LUT) for the mobile robot localization without any parameter adjustments. We take the mean of the pixels within the $3{\times}3$ block as a threshold by which the pixels are divided into two groups. The edge magnitude and orientation are calculated by taking the difference of average intensities of the two groups and by searching directional code in the LUT, respectively. And also the input image is not only partitioned into multiple groups according to their intensity similarities by the histogram, but also the threshold of each group is determined by fuzzy reasoning automatically. Finally, the edges are determined through non-maximum suppression using edge confidence measure and edge linking. Applying this edge detection method to the mobile robot localization using projective invariance of the cross ratio. we demonstrate the robustness of the proposed method to the illumination changes in a corridor environment.

• Geomechanics and Engineering
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• 제9권6호
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• pp.815-827
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• 2015

The mechanical behavior of soil and soil-rock mixture is investigated via the discrete element method. A non-overlapping combination method of spheres is used to model convex polyhedron rock blocks of soil-rock mixture in the DEM simulations. The meso-mechanical parameters of soil and soil-rock interface in DEM simulations are obtained from the in-situ tests. Based on the Voronoi cell, a method representing volumtric strain of the sample at the particle scale is proposed. The numerical results indicate that the particle rotation, occlusion, dilatation and self-organizing force chains are a remarkable phenomena of the localization band for the soil and soil-rock mixture samples. The localization band in a soil-rock mixture is wider than that in the soil sample. The current research shows that the 3D discrete element method can effectively simulate the mechanical behavior of soil and soil-rock mixture.

• 안보군사학연구
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• 통권15호
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• pp.117-151
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• 2018

The development of local defense parts has played a role a pure function such as maintenance of stable procurement source of military goods, provision of timely supply, establishment of self-defense base, creation of import substitution effect considering the whole life-cycle cost, reduction of foreign currency and protection of domestic defense industry. However, as the development success rate is deteriorating, it is time to analyze the related policies and improve the system. In order to improve the success rate of development of parts for the defense sector, it is necessary to unify the separated policies by the development-related departments and strengthen the policy support for the development companies to actively participate in the development. In addition, it is necessary to improve the paradigm for the selection of development items and change the authority of selecting development items and to delegate authority to create synergies. Parts localization development policy improvement is military support side it will contribute to strengthening defense power management by organically combining with technological development aspect and economical aspect. Development items will be linked to defense exports, which will have a remarkable effect on sales growth and job creation effects. The development of local defense parts is spreading.