• 대한조선학회 특별논문집
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• 대한조선학회 2006년도 특별논문집
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• pp.112-121
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• 2006

The vertical displacement of a ship on the basis of the sea level is an important parameter for its stability and control. To indicate the displacement on operating conditions, "draft marks" are carved on the hull of the ship in various ways. One of the methods is welding. The position, shape and size of the marks are specified on the shipbuilding rules by classification societies to be checked by shipbuilders. In most cases, high-skilled workers do the welding along the drawing for the marks and welding bead becomes the marks. But the inaccuracies due to human errors and high labor cost increase the needs for automating the work process of the draft marks. In the preceding work, an indoor robot was developed for automatic marking system on flat surfaces and the work proved that the robot welding was more effective and accurate than manual welding. However, many parts of the hull structure constructed at the outdoor are cowed shapes, which is beyond the capability of the robot developed for the indoor works on the flat surface. The marking on the curved steel surface requiring the 25m elevations is one of the main challenges to the conventional robots. In the present paper, the robot capable of climbing vertical curved steel surfaces and performing the welding at the marked position by effectively solving the problems mentioned earlier is presented.

• 한국인터넷방송통신학회논문지
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• 제14권5호
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• pp.237-242
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• 2014

이 논문은 발전소에서 설치 운전 중인 6.6kV 고전압 케이블이 시간에 따라 성능이 악화되는 현상의 추세를 결정하는 수명지수를 파악하기 위한 논문이다. 우리가 연구한 케이블 시스템은 설치 후 13 년 동안 운전하고 있다. 삼상전력에 연결되는 변류기, 온도센서 LPF 등을 이용한 측정장치를 개발하여 케이블의 절연저항 변화 특성을 해석하였다. 고전압 22kV 케이블과 비교하면 절연체의 두께가 더 두껍기 때문에 특성을 다르게 나타낸다. 동작시간이 경과함에 따라, 절연저항이 계속 감소하지 않음을 확인 하였다. 일정한 값으로 감소하다가 더 이상 감소하지 않고 상하진동하는 특성을 나타내었다. 지난 13 년 동안의 열화과정을 파악할 수 없었지만, 시스템이 안정 상태에서 동작을 하였다는 사실은 열화가 아직 발생하지 않았다는 의미이다. 이런 경우에는, 수명지수를 예측할 수 없기 때문에 케이블의 수명을 정량적으로 예측할 수 없음을 확인하였다.

• Imaging Science in Dentistry
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• 제34권4호
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• pp.185-190
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• 2004

Purpose: To compare the diagnostic accuracy for the detection of root fractures in CMOS-based digital periapical images with conventional film-based periapical images. Materials and Methods: Sixty extracted single-root human teeth with closed apices were prepared endodontically and divided into two groups; artificially induced vertical root fracture group and control group. All radiographs were obtained using the paralleling technique. The radiographs were examined by 4 observers three times within a 4 week interval. Receiver operating characteristic (ROC) analysis was carried out using data obtained from four observers. Intra- and inter-examiner agreements were computed using kappa analysis. Results: The area under the ROC curve (Az) was used as an indicator of the diagnostic accuracy of the imaging system. Az values were as follows: direct-digital images; 0.93, film-based images; 0.92, and inverted digital images; 0.91. There was no significant difference between imaging modalities (P<0.05). The kappa value of inter-observer agreement was 0.42 (range: 0.28-0.60) and intra-observer agreement was 0.57 (range: 0.44-0.75). Conclusion : There is no statistical difference in diagnostic accuracy for the detection of vertical root fractures between digital periapical images and conventional periapical images. The results indicate that the CMOS sensor is a good image detector for the evaluation of vertical root fractures.

• Journal of Astronomy and Space Sciences
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• 제35권3호
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• pp.185-193
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• 2018

Jang Bogo Station (JBS), the second Korean Antarctic research station, was established in Terra Nova Bay, Antarctica ($74.62^{\circ}S$ $164.22^{\circ}E$) in February 2014 in order to expand the Korea Polar Research Institute (KOPRI) research capabilities. One of the main research areas at JBS is space environmental research. The goal of the research is to better understand the general characteristics of the polar region ionosphere and thermosphere and their responses to solar wind and the magnetosphere. Ground-based observations at JBS for upper atmospheric wind and temperature measurements using the Fabry-Perot Interferometer (FPI) began in March 2014. Ionospheric radar (VIPIR) measurements have been collected since 2015 to monitor the state of the polar ionosphere for electron density height profiles, horizontal density gradients, and ion drifts. To investigate the magnetosphere and geomagnetic field variations, a search-coil magnetometer and vector magnetometer were installed in 2017 and 2018, respectively. Since JBS is positioned in an ideal location for auroral observations, we installed an auroral all-sky imager with a color sensor in January 2018 to study substorms as well as auroras. In addition to these observations, we are also operating a proton auroral imager, airglow imager, global positioning system total electron content (GPS TEC)/scintillation monitor, and neutron monitor in collaboration with other institutes. In this article, we briefly introduce the observational activities performed at JBS and the preliminary results of these observations.

• 센서학회지
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• 제14권2호
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• pp.78-84
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• 2005

A contactless recharging device for totally implantable middle ear systems has been designed as a pillow type that the user can recharge the implanted battery with taking a rest. The proposed device uses the electromagnetic coupling between the transmitting coil and the receiving coil. To supply sufficient power for the implanted circuits, each coil uses LC resonance and the implanted device uses voltage doubler. A power MOSFET is used for switching the DC voltage of LC parallel circuit and the switching frequency demands on a programmable frequency generator which is controlled by microcontroller. In order to improve the electromagnetic coupling efficiency at specific positions of coil which may vary with the displacement of head, the optimal location of receiving coil was studied, and the 5 transmitting coils in a pillow for recharging the implant module was designed. From such a recharging experiment, it was found that the proposed device could provide the sufficient operating voltage within the distance of 4 cm between pillow and the implanted device.

• 한국항공우주학회지
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• 제37권10호
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• pp.975-983
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• 2009

본 논문은 동축반전 로터 블레이드의 성능 특성 파악을 위한 선행연구로서, 단일 로터 블레이드에 대한 공력 데이터 획득 및 성능 특성을 확인하기 위한 연구에 중점을 두었다. 이를 위해 제자리 비행 상태에서 추력과 토크의 측정이 가능한 소형 로터 블레이드용 회전 시험장치를 구성하고 제작하였다. 로터 회전 시험장치는 회전장치부, 센서부, 그리고 데이터 획득 시스템으로 구성되었으며, 고정된 회전속도에서 콜렉티브 피치각을 변화시키면서 추력과 토크를 측정할 수 있도록 하였다. 이를 통하여 저 레이놀즈 수 ($Re{\approx}3{\times}10^5$) 영역에서 운용되는 단일 로터의 제자리 비행 성능 시험을 수행하였고 소형 로터 블레이드의 제자리 비행 성능을 획득하여 로터 회전 시험장치의 성능을 검증하였다.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
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• 제16권3호
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• pp.331-335
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• 2010

무선 센서 네트워크에서 중요한 이슈 중 하나는 배치되는 센서 노드들이 최대한 요래 지속되도록 전력 소비를 줄이는 것과, 네트워크를 시간 동기화 하는 것이다. 기존의 저 전력 시간 동기화 알고리즘은 취침모드에 대한 고려 없이 교환되는 패킷의 수를 줄이거나, 네트워크 토폴로지에 따라 다른 시간 동기화 방법을 사용하는 하이브라드 방법이 전부였다. 무선 센서 네트워크에서 효율적인 에너지 절약 방법은 노드의 취침을 통한 duty cycle의 감소이기 때문에, 본 논문에서는 노드의 취침을 통해 duty cycle을 줄일 수 있는 시간 동기화 알고리즘을 제안하였다. 알고리즘 제안 시, 실험을 통해 노드 구성요소의 특성을 파악하여 모델을 세운 후 접근하였다. 제안한 알고리즘의 성능 파악을 위해 네트워크에 요구되는 시간 동기화 정확도가 있을 때, 이를 만족시키기 위한 시간 동기화 주기 값을 구해보았으며, 노드 사이의 편차율을 구할 때 걸리는 시간을 확률적인 개념을 사용해 분석하여 보았다. 제안된 알고리즘을 $3{\times}3$ 격자(grid) 구조에서 구현해본 결과, duty cycle 5%, 시간동기 주기 10초일 때, 107.57 $\mu{s}$의 평균 시간동기 오차를, duty cycle 2.5%, 시간동기 주기 20초일때, 130 $\mu{s}$의 평균 시간동기 오차를 보여주었다.

• Nuclear Engineering and Technology
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• 제52권1호
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• pp.164-169
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• 2020

Use of SiPM has been considered as an alternative to PMT, because of its compact size, low-operating voltage, non-sensitive to electromagnetic, low costs and so on. The main limitation for the use of SiPM is due to its small sensitive area compared to PMT that limits the light collection, and therefore the sensor energy resolution. In this article we studied the effect of increasing the number of SiPM by connecting them in parallel to increase the active detection area. This allowed us to compare the different energy resolution measurements. ¹³⁷Cs has been selected as reference to study the energy resolution for 662 keV gamma-rays. Another investigation was to compare the minimum detectable gamma energy under various SiPM configurations. It has been found that the use of 4 SiPM arrays can greatly improve the energy resolution up to 4% than only one SiPM array, meanwhile use of more than 2 SiPM arrays does not increase the energy resolution significantly. Thus we can conclude that for a large area of cylindrical scintillator (3 × 3 inches), the use of SiPMs are limited to a certain number or certai active area depending on the commercial SiPMs, and its cost should be less than traditional PMT for the cost-effective and compact size considerations. It is well known that the gain of SiPM varies with temperature. In this article, we also calibrated gain to guarantee the same position of photoelectric peak in response of different temperatures.

• 자동차안전학회지
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• 제14권2호
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• pp.39-44
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• 2022

This paper presents LiDAR static obstacle map based vehicle position correction algorithm for urban autonomous driving. Real Time Kinematic (RTK) GPS is commonly used in highway automated vehicle systems. For urban automated vehicle systems, RTK GPS have some trouble in shaded area. Therefore, this paper represents a method to estimate the position of the host vehicle using AVM camera, front camera, LiDAR and low-cost GPS based on Extended Kalman Filter (EKF). Static obstacle map (STOM) is constructed only with static object based on Bayesian rule. To run the algorithm, HD map and Static obstacle reference map (STORM) must be prepared in advance. STORM is constructed by accumulating and voxelizing the static obstacle map (STOM). The algorithm consists of three main process. The first process is to acquire sensor data from low-cost GPS, AVM camera, front camera, and LiDAR. Second, low-cost GPS data is used to define initial point. Third, AVM camera, front camera, LiDAR point cloud matching to HD map and STORM is conducted using Normal Distribution Transformation (NDT) method. Third, position of the host vehicle position is corrected based on the Extended Kalman Filter (EKF).The proposed algorithm is implemented in the Linux Robot Operating System (ROS) environment and showed better performance than only lane-detection algorithm. It is expected to be more robust and accurate than raw lidar point cloud matching algorithm in autonomous driving.

• 한국컴퓨터정보학회논문지
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• 제28권10호
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• pp.171-178
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• 2023

본 논문은 공간 활용 극대화를 위한 스마트 자동 적재창고를 제안한다. 기존 수직형 적재창고의 트레이 최대 강성 하중이 100kg로 설계되어 공간내에 적재할 수 있는 팔레트가 극히 제한적이라는 문제점을 가진다. 본 논문에서는 최대 수직강성을 300kg으로 설계하여 공간 활용도를 극대화할 수 있는 스마트 적재창고를 설계하고 구현된 결과를 보인다. 구현된 적재창고의 성능평가 결과를 살펴보면, 최대 적재하중은 500.6kg으로 당초 설계 및 요구도를 달성하였으며, 수직강하속도는 0.5m/s, 장치의 작동 소음은 67.1dB, 팔레트의 입출고 시간은 36.92초, 트레이 처짐량은 4mm로 모든 평가항목에서 우수한 성능을 보였다. 또한, 제어부와 조작 패널의 UI를 별도로 설계하는 PLC 방식의 제어방식을 PC 시스템으로 통합하여 다양한 공정관리 시스템과의 연동성과 유지보수성을 증대하였다. 향후 IoT 센서기반의 물류 로봇을 연동하여 완전 자동화된 스마트 적재창고로 발전시키고자 한다.