• The Journal of Korea Robotics Society
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• v.2 no.1
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• pp.40-47
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• 2007

Recently, with the development of service robots and with the new concept of ubiquitous world, the position estimation of mobile objects has been raised to an important problem. As pre-liminary research results, some of the localization schemes are introduced, which provide the absolute location of the moving objects subjected to large errors. To implement a precise and convenient localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed in this paper. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter: 1. The RFID receiver gets the synchronization signal from the mobile robot and 2. The ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from three beacons and the absolute position information of the beacons themselves. Since it is not easy to install the beacons at a specific position precisely, there exists a large localization error and the installation time takes long. To overcome these problems, and provide a precise and convenient localization system, a new auto calibration algorithm is developed in this paper. Also the extended Kalman filter has been adopted for improving the localization accuracy during the mobile robot navigation. The localization accuracy improvement through the proposed auto calibration algorithm and the extended Kalman filter has been demonstrated by the real experiments.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.10
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• pp.4296-4301
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• 2011

Gantry loader which is also called as gantry robot is a kind of cartesian coordinate robot with two or more linear motions. A conventional gantry system has cableveyor for protecting power and signal cables, but the use of cableveyor makes a delay of work due to frequent repairing for its aging. This study reports that a wireless gantry loader is able to be operated without a power line for power transmission or a signal cable for motion control. The wireless gantry loader enables a convenient maintenance and a stable productivity by the reduction of wire broken from fatigue. The developed loader system is controlled by PC-based motion controller and is communicated by wireless LAN devices. The line from a power source to the loader system was substituted by attaching trolley bar on the traveling beam. The loader system was designed to be moved with high speed and high repeatability, and the motion was observed continuously by monitoring system in the PC-based controller. The maximum speed and the repeatability for the transferring and loading axes are 200 m/min, 60 mm and 100 m/min, 40 mm respectively.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.12
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• pp.1889-1894
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• 2017

Global automobile manufacturers are developing electric vehicles (EVs) to eliminate the pollutant emissions from internal combustion vehicles and to minimize fossil fuel consumptions for the future generations. However, EVs have a disadvantage of shorter traveling distance than that of conventional vehicles. To answer this shortfall, more batteries are installed in the EV to satisfy the consumer expectation for the driving range. However, as the energy capacity of the battery mounted in the EV increases, the amount of heat generated by each cell also increases. Naturally, a better battery thermal management system (BTMS) is required to control the temperature of the cells efficiently because the appropriate thermal environment of the cells greatly affects the power output from the battery pack. Typically, the BTMS is divided into an active and a passive system depending on the energy usage of the thermal management system. Heat exchange materials usually include gas and liquid, semiconductor devices and phase change material (PCM). In this study, an application of PCM for a BTMS was investigated to maintain an optimal battery operating temperature range by utilizing characteristics of a PCM, which can accumulate large amounts of latent heat. The system was modeled using Dymola from Dassault Systems, a multi-physics simulation tool. In order to compare the relative performance, the BTMS with the PCM and without the PCM were modeled and the same battery charge/discharge scenarios were simulated. Number of analysis were conducted to compare the battery cooling performance between the model with the aluminum case and PCM and the model with the aluminum case only.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.6
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• pp.431-437
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• 2017

In this study, based on the RPS algorithm, the application results to an electrically controlled suspension system using previewed road information are presented. Reducing the excessive vibration induced by a disturbance transmitted to the system and secure its stability is a major issue. In particular, in the automotive industry, the demand is constantly being raised. A typical external disturbance causing vibration and instability of a vehicle is an irregular roadway surface that contacts a running vehicle tire. Therefore, obtaining such profile information is an important process. The RPS algorithm using a multi sensor system was constructed and implemented in a real car. Through experimental work using the RPS system included non-contact type optical sensors, it could robustly reconstruct the road input profiles from the intermixed data onto the vehicle's dynamic motion while traveling at an uneven roadway surface. A controller with a preview control was designed in the framework of a semi-active suspension system based on the 7 degrees of freedom full vehicle model. The control performance of the system was evaluated through simulations and the results were compared with the passive vehicle condition. These results highlight the feasibility of the presented control frame.

• Journal of the Korea Society of Computer and Information
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• v.28 no.2
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• pp.121-129
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• 2023

In this paper, we developed a traffic signal control system for emergency situations that can minimize loss of property and life by actively controlling traffic signals in a certain section in response to emergency situations. When the emergency vehicle terminal transmits an emergency signal including identification information and GPS information, the surrounding image is obtained from the camera, and the object is analyzed based on deep learning to output object information having information such as the location, type, and size of the object. After generating information tracking this object and detecting the signal system, the signal system is switched to emergency mode to identify and track the emergency vehicle based on the received GPS information, and to transmit emergency control signals based on the emergency vehicle's traveling route. It is a system that can be transmitted to a signal controller. This system prevents the emergency vehicle from being blocked by an emergency control signal that is applied first according to an emergency signal, thereby minimizing loss of life and property due to traffic obstacles.

• Journal of Biosystems Engineering
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• v.31 no.6 s.119
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• pp.489-499
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• 2006

Since the application of chemicals in confined spaces under the canopy of an orchard is hazardous work, it is needed to develop an autonomous guidance system for an orchard sprayer. The autonomous guidance system developed in this research could steer the vehicle by tracking an overhead guidance rail, which was installed on an existing frame structure. The autonomous guidance system consisted of an 80196 kc microprocessor, an inclinometer, two interface circuits of actuators for steering and ground speed control, and a fuzzy control algorithm. In addition, overhead guidance rails for both straight and curved paths were devised, and a trolley was designed to move smoothly along the overhead guidance rails. Evaluation tests showed that the experimental vehicle could travel along the desired path at a ground speed of 30 $\sim$ 50 cm/s with a RMS error of 5 cm and maximum deviation of less than 12 cm. Even when the vehicle started with an initial offset or a deflected heading angle, it could move quickly to track the desired path after traveling 2 $\sim$ 3 m. The vehicle could also complete turns with a curvature of 1 m. However, at a ground speed of 50 cm/s, the vehicle tended to over-steer, resulting in a zigzag motion along the straight path, and tended to turn outward from the projected line of the guidance rail.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.05a
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• pp.229-231
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• 2018

As autonomous vehicle technology has been gradually developed, robots that have introduced autonomous navigation systems have been actively involved in areas where there is a lot of livelihoods such as industrial sites and accident sites. For this reason, the unmanned transportation system equipped with the autonomous traveling system is widely used in harmful environments where human access is difficult. In addition, the introduction of the autonomous driving system reduces the collision and casualties that occur in a mobility environment like the industrial field, and it helps the efficient work process. In addition, autonomous driving vehicles can be handled more safely and quickly in a wider area by transmitting the surrounding environment of each vehicle to a server connected to each autonomous driving vehicle and passing it through the main server. In this paper, by utilizing V2X communication for autonomous unmanned forklift system, it can increase industrial workload, reduce loss of life and damage to property through wide area forklifts.

• Journal of Korea Society of Digital Industry and Information Management
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• v.12 no.2
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• pp.15-24
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• 2016

GPS(Global Positioning System) location tracking is a method for taking the precise coordinates after the coordinates are obtained by a GPS receiver, and displaying them on the map. In this paper with WAVE(Wireless Access for Vehicular Environment) simulation, we show that various services such as vehicle tracking service, real-time road conditions service and logistics can go tracking service, control and operation services according to the vehicle position and the traveling direction by using the GPS position data. A vehicle tracking system using GPS is automatically able to manage multiple RCP when exchanging data between RMA and the RCP, and it provides rapid requests and responses. To verify that multiple sessions between RMA and RM, as well as multiple sessions between RMA and RCP are able to be implemented, we take RMA as a RCP application on an OBU, until the RMA is receiving data response from corresponding RM. As a result of this experiment, we show that the response speeds of single session between RMA and RM using 1, 2, 3, and 4 kbyte unit data are similar, 62.32ms, 62.65ms, 63.02ms, and 63.48ms, respectively. Likewise, those of 128 muliple sessions using 1, 2, 3, and 4 kbyte unit data are not much more time difference, 298.08ms, 302.21ms, 322.85ms, and 329.62ms, respectively.

• Journal of Preventive Medicine and Public Health
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• v.33 no.4
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• pp.484-494
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• 2000

Objective : To evaluate the relative benefits and the costs associated with the introduction of the new pharmaceutical provision called 'Mandatory Prescription System' which separates the role of physicians from that of pharmacists with respect to the prescription and dispensation of from the perspective of consumers (i.e., patients). Methods : The costs of the system were measured by considering both direct and indirect costs. Direct costs included additional payments for ambulatory care and dispensing fees that occurred under the new system. indirect costs consisted of transportation expenses and costs related to time spent for physician consultation, waiting for the prescriptions to be filled, and extra traveling. Benefits identified in this study were the reduction of drug misuse and overuse, and the overall decrease in drug consumption among the Korean population. Sensitivity analysis was peformed for the inclusion of benefits for outpatients of hospitals, price elasticity, and increased fees for established patients. Results : The net benefit was estimated to be about minus 1,862 billion won and the benefit-cost ratio was 0.478. This indicates that the costs of 'Mandatory Prescription' outweigh its benefits, relative to the previous system. The sensitivity analysis results for all the variables considered in this study consistently showed the benefit-cost ratio to be less than 1. Conclusion : The results of this study suggest that implementing Mandatory Prescription System in Korea might be inefficient from the consumer's perspective. The results of this study do not coincide with the results of previous studies, presumably because of the differences in study design and in which items of costs and benefits were considered.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.11 no.10
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• pp.1957-1967
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• 2007

User can be offered various information form internet and reserve. However this operation is hard to be satisfied with user's requirement. Because it offer the alternative by self-mediation and the place where offer the information is distributed and a form or stored f[nm of data would be different. These cases occurred in change of enterprise recently. In a process of M&A, outsourcing or cooperation. necessity of new strategy become a pressing issue for ensuring interoperability on application, database of each enterprise and integration information management. Thus, interoperability of distributed data is a base condition for cooperation of legacy system, it will solve a problem such as available or clarity of data, problem of cooperation system. This paper use a XMDR for integration of distributed system and ensuring interoperability. By using XMDR, integrate a traveling information system and it will be solve the problem of interoperability and variety data problem that be occurred in integration of data by suggesting a technique of transaction management.