• Journal of the Korean Institute of Gas
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• v.21 no.5
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• pp.45-55
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• 2017

Release and fire/explosion tests of flammable gas are extremely dangerous. Furthermore, it is difficult to select the site where the experiment can be performed. In these reasons, gas flow analysis(CFD) has been used as much as possible. However, with the opening of the Energy Safety Empirical Research Center in Yeongwol-gun, Gangwon-do in October 2016, it was possible to conduct releases and detection tests of small scale combustible gas as well as large scale / high pressure / ultra low temperature experiments. In this study, LPG leaked after the calibration and placement of the sensor, the sensor detected LPG and the data were visualized as a contour map. And the differences between the actual release(28s, max 3.7[m]) and the analysis were analyzed compared to the FLACS analyzed under the same conditions.

• Journal of Communications and Networks
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• v.16 no.3
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• pp.335-343
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• 2014

This paper considers the crucial problem of deploying wireless relays for achieving a connected wireless sensor network in indoor environments, an important aspect related to the management of the sensor network. Several algorithms have been proposed for ensuring full sensing coverage and network connectivity. These algorithms are not applicable to indoor environments because of the complexity of indoor environments, in which a radio signal can be dramatically degraded by obstacles such as walls. We first prove theoretically that the indoor relay placement problem is NP-hard. We then predict the radio coverage of a given relay deployment in indoor environments. We consider two practical scenarios; wire-connected relays and radio-connected relays. For the network with wire-connected relays, we propose an efficient greedy algorithm to compute the deployment locations of relays for achieving the required coverage percentage. This algorithm is proved to provide a $H_n$ factor approximation to the theoretical optimum, where $H_n=1+{\frac{1}{2}}+{\cdots}+{\frac{1}{n}}={\ln}(n)+1$, and n is the number of all grid points. In the network with radio-connected relays, relays have to be connected in an ad hoc mode. We then propose an algorithm based on the previous algorithm for ensuring the connectivity of relays. Experimental results demonstrate that the proposed algorithms achieve better performance than baseline algorithms.

• Journal of the Korea Institute of Building Construction
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• v.23 no.2
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• pp.209-220
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• 2023

Ensuring accuracy within tolerance is crucial for a marking robot; however, rebar displacement frequently occurs during the structural work process, necessitating corrections to layout lines or rebar locations. To guarantee precision and automation, the marking robot must be capable of measuring rebar error and determining appropriate adjustments for marking lines and rebar placement. Consequently, this study proposes a method for measuring rebar location error using a LiDAR sensor and implementing a layout assessment process based on the measurement results. The rebar recognition experiment using the LiDAR sensor yielded an average error of 5mm, demonstrating a reliable level of accuracy for wall rebars. Additionally, this research proposed a process that enables the robot to evaluate rebar and marking corrections based on the error range. The findings of this study can contribute to the automated operation of marking robots while accounting for construction errors, potentially leading to improvements in structural quality.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.12
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• pp.87-98
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• 1999

This study is concentrated on the development of real-time estimation model and vision control method as well as the experimental test. The proposed method permits a kind of adaptability not otherwise available in that the relationship between the camera-space location of manipulable visual cues and the vector of manipulator joint coordinates is estimate in real time. This is done based on a estimation model ta\hat generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation as well as uncertainty of manipulator. This vision control method is roboust and reliable, which overcomes the difficulties of the conventional research such as precise calibration of the vision sensor, exact kinematic modeling of the manipulator, and correct knowledge of position and orientation of CCD camera with respect to the manipulator base. Finally, evidence of the ability of real-time vision control method for manipulator's position control is provided by performing the thin-rod placement in space with 2 cues test model which is completed without a prior knowledge of camera or manipulator positions. This feature opens the door to a range of applications of manipulation, including a mobile manipulator with stationary cameras tracking and providing information for control of the manipulator event.

• Journal of Microbiology and Biotechnology
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• v.14 no.5
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• pp.991-995
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• 2004

Immobilized sensor spots were applied for online measurement of dissolved $O_2$, in test tubes. Oxygen transport was quantified at varied shaking frequency and filling volumes. The k$_{L}$ a increased with increasing shaking frequency and decreasing filling volume. In non-baffled tubes the maximum $k_{L}a$ value was $70h^{-1}$, equivalent to a maximum $O_2$ transfer capacity of 15mMh^{-1}$. Monitoring of the hydrodynamic profile revealed that the liquid bulk rotated inside the tube with an inclined liquid surface, whereby the angle between the surface and tube wall increased with increasing shaking frequency. The $k_{L}a$ clearly correlated to the surface area. Placement of four baffles into the tubes improved the oxygen transfer up to 3-fold. The highest increase in $k_{L}a$ was observed at high filling volume and high shaking frequency. The maximum $k_{L}a$ in baffled tubes was $100 h^{-1}$.

• Structural Engineering and Mechanics
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• v.64 no.3
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• pp.279-285
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• 2017

Modal expansion technique (MET) is a method to estimate the vibration fields of flexible structures by using eigenmodes of the structure and the signals of sensors. It is the useful method to estimate the vibration fields but has the truncation error since it only uses the limit number of the eigenmodes in the frequency of interest. Even though block-wise MET performed frequency block by block with different valid eigenmodes was developed, it still has the truncation error due to the absence of other eigenmodes. Thus, this paper suggested an improved block-wise modal expansion technique. The technique recovers the truncation errors in one frequency block by utilizing other eigenmodes existed in the other frequency blocks. It was applied for estimating the vibration fields of a cylindrical shell. The estimated results were compared to the vibration fields of the forced vibration analysis by using two indices: the root mean square error and parallelism between two vectors. These indices showed that the estimated vibration fields of the improved block-wise MET more accurately than those of the established METs. Especially, this method was outstanding for frequencies near the natural frequency of the highest eigenmode of each block. In other words, the suggested technique can estimate vibration fields more accurately by recovering the truncation errors of the established METs.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.7 no.12
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• pp.3071-3095
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• 2013

Configuring optimization of wireless sensor networks, which can improve the network performance such as utilization efficiency and network lifetime with minimal energy, has received considerable attention in recent years. In this paper, a cross layer optimal approach is proposed for multi-source linear network and grid network under Rayleigh block-fading channels, which not only achieves an optimal utility but also guarantees the end-to-end reliability. Specifically, in this paper, we first strictly present the optimization method for optimal nodal number $N^*$, nodal placement $d^*$ and nodal transmission structure $p^*$ under constraints of minimum total energy consumption and minimum unit data transmitting energy consumption. Then, based on the facts that nodal energy consumption is higher for those nodes near the sink and those nodes far from the sink may have remaining energy, a cross layer optimal design is proposed to achieve balanced network energy consumption. The design adopts lower reliability requirement and shorter transmission distance for nodes near the sink, and adopts higher reliability requirement and farther transmission distance for nodes far from the sink, the solvability conditions is given as well. In the end, both the theoretical analysis and experimental results for performance evaluation show that the optimal design indeed can improve the network lifetime by 20-50%, network utility by 20% and guarantee desire level of reliability.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.3
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• pp.151-169
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• 2014

We propose a new technique for autonomous navigation and travelling of mobile robot based on ultrasonic sensors through the narrow labyrinth that leave only distance of a few centimeters on each side between the guides and the robot. In our current implementation the ultrasonic sensor system fires at a rate of 100 ms, that is, each of the 8 sensors fires once during each 100 ms interval. This is a very good firing rate, implemented here for optimal performance. This paper presents an extensively tested and verified solution to the problem of obstacle avoidance. Our solution is based on the optimal placement of ultrasonic sensors at strategic locations around the robot. Both the sensor location and the associated navigation algorithm are defined in such a way that only the accurate radial sonar data is used for accurate travelling.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2003.05b
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• pp.62-65
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• 2003

When a mobile robot moves around autonomously without man-made corrupted bye landmarks, it is essential to recognize the placement of surrounding objects especially for self localization, obstacle avoidance, and target classification and localization. To recognize the environment we use many Kinds of sensors, such as ultrasonic sensors, laser range finder, CCD camera, and so on. Among the sensors, ultra sonic sensors(sonar)are unexpensive and easy to use. In this paper, we analyze the sonar data and propose a method to recognize features of indoor environment. It is supposed that the environments are consisted of features of planes, edges, and corners, For the analysis, sonar data of plane, edge, and corner are accumulated for several given ranges. The data are filtered to eliminate some noise using the Kalman filter algorithm. Then, the data for each feature are compared each other to extract the character is ties of each feature. We demonstrate the applicability of the proposed method using the sonar data obtained form a sonar transducer rotating and scanning the range information around a indoor environment.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.7
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• pp.720-729
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• 2011

The demand for wireless technology in home automation systems has recently been increasing due to several advantages such as installation cost reduction, easy placement, easy extension, aesthetic benefits, and mobile device connectivity. Among the many wireless technologies, ZigBee is one of the most useful for home automation; a wireless home networking system can be configured using ZigBee alone. Compatibility with conventional home networking systems that are based on wired media, however, is not supported. KNX is a mature protocol for wired media that is recognized as an international standard. This paper proposes a KNX-ZigBee gateway to interface between KNX and ZigBee systems and thereby enable integration of wired and wireless home automation systems.