• Journal of Sensor Science and Technology
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• v.20 no.3
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• pp.178-186
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• 2011

Line tracking is a well defined method of mobile robot navigation. It is simple in concept, technically easy to implement, and already employed in many industrial sites. Among several different line tracking methods, magnetic sensing is widely used in practice. In comparison, vision-based tracking is less popular due mainly to its sensitivity to surrounding conditions such as brightness and floor characteristics although vision is the most powerful robotic sensing capability. In this paper, a vision-based robust path line detection technique is proposed for the navigation of a mobile robot assuming uncontrollable surrounding conditions. The technique proposed has four processing steps; color space transformation, pixel-level line sensing, block-level line sensing, and robot navigation control. This technique effectively uses hue and saturation color values in the line sensing so to be insensitive to the brightness variation. Line finding in block-level makes not only the technique immune from the error of line pixel detection but also the robot control easy. The proposed technique was tested with a real mobile robot and proved its effectiveness.

• KIPS Transactions on Computer and Communication Systems
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• v.6 no.9
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• pp.369-376
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• 2017

Recently, an RSSI-based fingerprinting localization technology has been widely used in indoor location-based services. In the conventional fingerprinting method, as many APs as possible are used to increase the accuracy of location estimation. In another study, a part of APs having the strongest RSSI signal intensity are selected and used to reduce the time spent for positioning. However, it does not reflect the influence of RSSI occurred from the changes of the surrounding environments such as human movement or moving obstacles in a real environment. The environmental changes may cause the difference between the predicted RSSI signal strength value and the measured value, and thus occur an unpredictable error in the position estimation. Therefore, in order to mitigate the error caused by environmental factors, it is necessary to select APs suitable for indoor positioning estimation considering the changes in the surrounding environments. In this paper, we propose a method to select stable APs considering the influence of surrounding environments and derive a suitable positioning algorithm. In addition, we compare and analyze the performance of the proposed method with that of the existing AP selection methods through experiments.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.22 no.9
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• pp.62-68
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• 2008

This paper describes the electrical characteristics of ZnO surge arresters associated with the variation of surrounding conditions. To investigate the deterioration behaviors of ZnO surge arresters due to lightning surges, 8/20[${\mu}s$], 2.5[kA] impulse currents were injected to the ZnO surge arrester under test. The leakage currents of ZnO surge arrester subject to power frequency AC voltage were measured in different surrounding temperature and wet conditions. As a result, it was found that the leakage current is increased and its asymmetry is pronounced as the number of injection of the impulse current and the ambient temperature increase. Also, in the wet test the outside leakage current flowing through the housing surface of the ZnO surge arrester is much larger than the intrinsic leakage current of ZnO surge arrester element. The results obtained in this work can be a lied as factors of improving the reliability and performance of monitoring system for surge arresters.

• Journal of Climate Change Research
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• v.2 no.4
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• pp.221-235
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• 2011

This study summarizes previous studies on the climate change over Korea. Several studies on climate change in the neighboring countries as well as the entire globe are reviewed. Temperature data obtained from modern observational system show an increasing trend beyond the natural variations. The increasing rate of sea surface temperature (SST) over the ocean basins surrounding Korea is higher than that of the global-mean SST. The large increase in the SST over the oceans surrounding Korea may enhance tropical cyclone activity and heavy rainfall frequency in Korea. In addition, it has been reported that the changes in large scale circulation associated with global climate change influence the spatio-temporal variation of monsoon including Changma in summer and cold surges in winter. Although all researches on the subject were not fully discussed in this study due to short period of preparation, allowed pages, and authors' limited knowledge, we expect that this summarized reviews would be helpful to understand climate changes over Korea and the surrounding regions.

• The Korean Journal of Physiology
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• v.27 no.1
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• pp.13-25
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• 1993

To study the regulation of amniotic fluid volume and electrolyte concentration by the Membranes surrounding the amniotic fluid, the rate of $Li^+$ disappearance from amniotic sac of expired fetuses were examined while increasing the amniotic volume and osmolarity in rabbits. After intraamniotic injection of 1 ml isosmotic saline (about 20% of the amniotic fluid volume) containing 15 mM LiCl and 0.5 g/L Censored, the time courses of $Li^+$ and Censored disappearance were determined. From there the $Li^+$ clearance through the extrafetal routes was estimated and compared with that obtained from living fetuses. The volume, $Na^+$ concentration and osmolarity of amniotic fluid were measured and their relationships with $Li^+$ disappearance were evaluated. The fellowing results were obtained: 1. The rate of disappearance from amniotic fluid of living fetuses during the first 30 minutes was strikingly higher for $Li^+$ than for Censored, suggesting that extrafetal routes exist. At 60 and 90 minutes, however, the disappearance rate of $Li^+$ was less than that of Censored, suggesting the possibility of $Li^+$ reentry through fetal urination. 2. The disappearance of $Li^+$ from the amniotic fluid of the expired fetus was substantial, although lower than that of living fetuses, throughout the experimental period. 3. The $Na^+$ concentration and the osmolarity of the amniotic fluid of expired fetus measured 30 minutes after an intraamniotic injection of isoosmotic saline showed wide variation, but thereafter they changed gradually towards the normal extracellular fluid level. 4. When the amniotic fluid was iso- or hyposmolar, the rate of $Li^+$ disappearance from the amniotic fluid of the expired fetuses showed little variation. However, when the amniotic fluid was hyperosmolar, the rate at 30 minutes was markedly lower than those of isosmotic or hyposmotic amniotic fluid. At 90 minutes, the rate of $Li^+$ disappearance in hyperosmolar fluid reached a similar level to the rate in isosmolar fluid. 5. The intraamniotic injection of 400 mOsm/L saline solution decreased the disappearance rate of $Li^+$ from expired fetuses, while the injection of mannitol into the maternal vein induced no significant change. From these results it is concluded that: 1) a significant amount of $Li^+$ may leave the amniotic fluid via filtration through the membranes surrounding the amniotic fluid, 2) during hyperosmolar challenge to amniotic fluid, osmotic bulk flow might counteract the filterable loss, and 3) $Li^+$ disappearance might continue even after the volume and osmolarity of the amniotic fluid have recovered to control values.

• Environmental Engineering Research
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• v.20 no.1
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• pp.19-24
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• 2015

This paper mainly focuses on the research of the monitoring data about the total nitrogen (TN), total phosphorus (TP) of ten monitoring points of Hongze Lake in 28 years. Our study adopts the technical methods such as difference comparison, correlation analysis, Mann-Kendall, etc. to analyze the statistical characteristics, regional differences, and temporal and spatial variation condition of ten monitoring points of Hongze Lake in 1986-2013 as well as the reason for the time and space variation of TN and TP. The results show that the TN and TP of Hongze Lake change dramatically during the period of 1994-2004. In all the monitoring periods, TN and TP of the HZ5, HZ6, HZ7, HZ8 monitoring points in the estuary surrounding the Huaihe River are the highest, which suggests that TN and TP of Hongze Lake should not be ignored for the pollution along the Huaihe River. The TN concentration in the core area is the highest, but that in the development control area is the lowest. In most of the years, TN concentration is higher than 2 mg/L, and the water quality is V class and poor V class water quality in China's Environmental Quality Standards for Surface Water (GB3838-2002). TP concentration of the three areas is basically close, that is lower than 2 mg/L in most of the years, and the water quality is within the V class. The TN and TP concentration of Hongze Lake decreased and intensifying trend of eutrophication is controlled after 2004.

• Advances in environmental research
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• v.9 no.3
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• pp.151-160
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• 2020

Water quality demonstrates physical, chemical and biological characteristics of water. The quality of surface and groundwater is currently an important concern with population growth and industrialization. Over exploitation of water resources due to demand is causing the deterioration of surface water and ground water. Periodic water quality testing must be carried out to protect our water resources. The present research analyses the spatial variation of surface water and groundwater in and around the lakes of Hyderabad. Twenty-Seven lakes and their neighboring bore water samples are obtained for water quality monitoring. Samples are evaluated for specific physico-chemical parameters such as pH, Total Dissolved Solids (TDS), Cl, SO₄, Na, K, Ca, Mg, and Total Hardness (TH). The spatial variation of water quality parameters for the 27 lakes and groundwater were analysed. Correlation and multiple regression analysis were carried out to determine comparative study of lake and ground water. The study found that most of the lakes were polluted and this had an impact on surrounding ground water.

• Proceedings of the Korea Electromagnetic Engineering Society Conference
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• 2005.11a
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• pp.353-356
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• 2005

There have been many researches on the antenna performance degradation with the presence of the human body around the antenna structure to accomodate personal communication service [1][2]. To better understand the human body effects on the antenna resonance, radiation pattern, and input impedance, simulation was carried out with changing of the distance between antenna and lossy material. Effects on the antenna performance by the surrounding materials are also important in the case of the RFID system. It is desirable that the tag antennas for RFID system must reveal isotropic radiation pattern as well as attain the good impedance matching. In this paper, we investigated the antenna resonance and input impedance characteristic when there exist a lossy material sphere near various types of antenna at 900 MHz. In short antenna resonance was mostly affected by lossy material in the case of a rectangular loop antenna, and impedance variation was smallest in the case of a halfwave dipole.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.5 s.236
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• pp.762-769
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• 2005

This paper presents a method to investigate the characteristics of a hydrodynamic bearing of a HDD spindle motor due to elevated temperature considering the variation of the clearance as well as the lubricant viscosity. Iterative finite element analysis of the heat conduction and the thermal deformation is performed to determine the viscosity and clearance of a hydrodynamic bearing due to elevated temperature until the temperature of the bearing area converges. Proposed method is verified by comparing the calculated temperature with the measured one in elevated surrounding temperature as well as in room temperature. This research shows that elevated temperature changes the clearance as well as the lubricant viscosity of the hydrodynamic bearing of a HDD spindle motor. Once the viscosity and the clearance of a hydrodynamic bearing of a HDD spindle motor are determined, finite element analysis of the Reynolds equation is performed to investigate the static and dynamic characteristics of a hydrodynamic bearing of a HDB spindle motor due to elevated temperature. It also shows that the variation of clearance due to elevated temperature is another important design consideration to affect the static and dynamic characteristics of a hydrodynamic bearing of a HDD spindle motor

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.543-547
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• 2002

In this paper, we introduce a more improved camera modeling method for linear pushbroom images than the method proposed by Orun and Natarajan(ON). ON model shows an accuracy of within 1 pixel if more than 10 ground control points(GCPs) are provided. In general, there is high correlation between platform position and attitude parameters but ON model ignores attitude variation in order to overcome such correlation. We propose a new method that obtains an optimal solution set of parameters without ignoring the attitude variation. We first assume that attitude parameters are constant and estimate platform position's. Then we estimate platform attitude parameters using the values of estimated position parameters. As a result, we can set up an accurate camera model for a linear pushbroom satellite scene. In particular, we can apply the camera model to its surrounding scenes because our model provide sufficient information on satellite's position and attitude not only for a single scene but also for a whole imaging segment. We tested on two images: one with a pixel size 6.6m$\times$6.6m acquired from EOC(Electro Optical Camera), and the other with a pixel size 10m$\times$l0m acquired from SPOT. Our camera model procedures were applied to the images and gave satisfying results. We had obtained the root mean square errors of 0.5 pixel and 0.3 pixel with 25 GCPs and 23 GCPs, respectively.