• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.4
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• pp.438-444
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• 2004

The intelligent robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, robots need to recognize their position and posture in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for a robot to estimate of his position by solving uncertainty for mobile robot navigation, as one of the best important problems. In this paper, we describe a method for the localization of a mobile robot using image information of a moving object. This method combines the observed position from dead-reckoning sensors and the estimated position from the images captured by a fixed camera to localize a mobile robot. Using the a priori known path of a moving object in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a moving object and the estimated robot's position. Since the equations are based or the estimated position, the measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot. The Kalman filter scheme is applied for this method. its performance is verified by the computer simulation and the experiment.

• Journal of Korean Traditional Oncology
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• v.16 no.1
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• pp.41-53
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• 2011

Background and Objectives: Iodine is an essential constituent of the thyroid hormones associated with the growth and development of humans and animals as an inorganic nutrition. This element may be accumulated in human blood, tissues and body through the intake of foodstuffs, a beverage, a nutritional supplement and a medicine, among others. The aim of the research is to find out a better medicinal stuff for the thyroid cancer patient who required a low level of iodine diet. Methods: Neutron activation analysis (NAA) used for the iodine analysis is one of nuclear analytical techniques using radiation and radioisotopes and very useful as sensitive analytical technique for performing both qualitative and quantitative multi-elemental non-destructive analysis of major, minor and trace components in variety of environmental and biological materials. In this study, iodine contents in ten kinds of oriental herb medicinal products, which is frequently used to cancer patients are determined by using instrumental neutron activation analysis (INAA) at the HANARO research reactor. The samples prescribed are manufactured as powdered form for taking medicine easily. The analytical quality control is performed to assure an uncertainty of the measurement and to compensate the measured data using a biological certified reference material, NIST SRM 1572, Citrus Leaves. The measured value is $1.89{\pm}0.35mg/kg$, and the relative error is 2.88%, and relative standard deviation is 19 % due to high counting error by small counts of gamma ray spectrum. The standard deviations for other elements such as Cl, K, Mn and Na were in the range of 2 to 8%. Result: The level of iodine contents of Biki-huan, Chungryong-huan and Chungcho-huan, samples detected is less than 6 mg/kg except Hangam Plus sample (more than 210 mg/kg) and six samples were not detected. Iodine in the samples of Shoxiho-tang, Shopunghualhyl-tang, Shocungryong-tang, Banhasaxim-tang, Insampaedox-san and Myunyuk Plus were not measured, but possible level of content can be estimated from the detection limits. In addition, the concentrations of some major elements like Cl, K, Mn, Na, in the samples were determined with the detection limits. Conclusions: Most of samples showed low iodine contents of less than 6 mg/kg but it turned out that most of testing samples can be used to classify the level of iodine diet samples considering the recommended low level of iodine diet 50 ${\mu}g$/day, and a better medicinal stuff for the thyroid cancer patient can be found.

• Journal of the Society of Naval Architects of Korea
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• v.54 no.5
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• pp.406-414
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• 2017

An experimental study in a recirculating water channel was carried out to investigate the effect of large coherent structures to the skin friction on a flat plate. Particle Image Velocimetry (PIV) technique was used to quantify characteristic features of coherent structures growing to the boundary layer. In the PIV measurement, it is difficult to calculate the friction velocity near the wall region due to laser deflection and uncertainty so that Clauser fitting method at the logarithmic region was adopted to compute the friction velocity and compared with the one directly measured by the dynamometer. With changing the free-stream velocity from 0.5 m/s to 1.0 m/s, the activity of coherent structures in the logarithmic region was increased over three times in terms of Reynolds stress. The flow field was separated by Variable Interval Time Averaging (VITA) technique into the weak and the strong structure case depending on the existence large coherent structures in order to validate its effectiveness. The stream-wise velocity fluctuation was scanned through at the boundary thickness whether it had a large deviation from background flow. With coherent structures connected from near-wall to the boundary layer, mean wall shear stress was higher than that of weak structure case. Proper Orthogonal Decomposition (POD) analysis was also applied to compare the energy budget between them at each free-stream velocity.

• Bulletin of the Society of Naval Architects of Korea
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• v.54 no.4
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• pp.39-46
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• 2017

Jack-up drilling rigs are widely used in offshore oil and gas exploration industry. It is originally designed for use in the shallow waters less than 60m of water depth; there is growing demand for their use in deeper water depth over 150m and harsher environmental conditions. In this study, global in-place analysis of jack-up rig leg for North-sea oil well is performed through numerical analysis. Firstly, environmental conditions and seabed characteristics at the North-sea are collected and investigated measurements from survey report. Based on these data, design specifications are established and the overall basic design is performed. Dynamic characteristics of the jack-up rig for North-sea are considered in the global in-place analysis both leg and hull and the basic stability against overturning moment is also analyzed. The structural integrity of the jack-up rig leg/hull is verified through the code checks and the adequate safety margin is observed. The uncertainty in jack-up behaviour is greatly influenced by the uncertainties in the soil characteristics that determine the resistance of the foundation to the forces imposed by the jack-up structure. Among the risks above mentioned, the punch-through during pre-loading is the most frequently encountered foundation problem for jack-up rigs. The objective of this paper is to clarify the detailed structure and installation engineering matters for prove the structural safety of jack-up rigs during operation. With this intention the following items are addressed; - Characteristics of structural behavior considering soil effect against environmental loads - Modes of failure and related pre-loading procedure and parameters - Typical results of structural engineering and verification by actual measurement.

• Korean Journal of Biological Psychiatry
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• v.17 no.3
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• pp.136-144
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• 2010

Objectives : The $2^{nd}$ to $4^{th}$ digit length(2D : 4D) ratio reflects the amount of exposure and sensitivity to the prenatal sex hormone and it is considered to be the most convenient and useful way to understand the influence of sex hormone in the determination of human behavioral traits. This study was carried out to find the correlation between the 2D : 4D ratio and characteristics of temperament and character in Korean university students. We assumed that 2D : 4D ratio would show a strong correlation with temperament which is defined to be an inclination of an automatical emotional response to a stimulus. Methods : Participants were 104 university students who completed 2 self-report measures : Temperament and Character Inventory(TCI), Temperament Test. We examined the 2D : 4D ratio of each subject by measuring the lengths of the $2^{nd}$ and $4^{th}$ fingers using a photocopy measurement. We performed statistical analyses using correlation test and t-test to examine the relationship between 2D : 4D ratio and psychological characteristics. Results : We found out the typical sex difference in 2D : 4D ratio. Women had significantly higher 2D : 4D ratio than men. TCI-Character factor(TCI-C) didn't show any significant correlation with the 2D : 4D ratio. TCI-Tempterament factor(TCI-T) and the item of Temperament Test showed a significant correlation with the 2D : 4D ratio. In correlation analysis of the total group including all women and men, the 2D : 4D ratio showed a significant positive correlation in a subscale(shyness with stranger) of harm avoidance scales in TCI-T. In correlation analysis of women's group, the 2D : 4D ratio showed a significant positive correlation in two subscales( fear of uncertainty) and[shyness to stranger] of harm avoidance scales in TCI-T. In correlation analysis of men's group, the 2D : 4D ratio showed a significant negative correlation with a sanguine temperament item of the Temperament Test. Conclusion : The results suggest that the amount of exposure to sex hormone in the prenatal period seems to have an impact on the determination of temperament and characteristics.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.35 no.5
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• pp.1039-1049
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• 2015

The inflow estimation at large multipurpose dam reservoir is carried out by considering the water balance among the discharge, the storage change during unit time interval obtained from the observed water level near dam structure and area-volume curve. This method can be ideal for level pool reservoir but include potential errors when the inflow is influenced by the water level slope due to backwater effects from upstream flood inflows and strong wind induced by typhoon. In addition, the other uncertainties arisen from the storage reduction due to sedimentation after the dam construction and water level noise due to mechanical vibration transmitted from the electric power generator. These uncertainties impedes the accurate hydraulic inflow measurement requiring exquisite hydrometric data arrangement for reservoir waterbody. In this study, the distributed hydrologic model using UBC-3P boundary setting was applied and its feasibility was evaluated. Finally, the modeling performance has been verified since the calculated determination coefficient has been in between 0.96 to 0.99 after comparing with observed peak inflow and total inflow at Namgang dam reservoir.

• Progress in Medical Physics
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• v.9 no.4
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• pp.259-266
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• 1998

To achieve the 2D dose distribution around the designed high dose rate Ir-192 source substitution for Co-60 brachytherapy source, we determined the exposure rate constant and tissue attenuation factors as a large depth as a 20 cm from source center. The exposure rate constant is used for apparent activity in designed source with self-absorption and encapsulation steel wall. The tissue dose delivered from the 4401 segments of 2.5 mm in a diameter and 2.5 mm height of disk-type source layer. In the experiments, the tissue attenuation factors include the tissue attenuation and multiple scattering in a medium surrounding the source. The fitted the polynomial regression with 4th order for the tissue attenuation factors are very closed to the experimental measurement data within ${\pm}$1% discrepancy. The Meisberger's constant showed the large uncertainty in large distance from source. The exposure rate constant 4.69 Rcm$^2$/mCi-hr was currently used for determination of apparent activity of source and air kerma strength was obtained 0.973 for tissue absorbed dose from the energy spectrum of Ir-192 source. In our experiments with designed high dose rate brachytherapy source, the apparent activity of Ir-192 source was delivered from the 54.6 % of actual physical source activity through the self-absorption and encapsulation wall attenuations. This paper provides the 2-dimensional dose tabulation from unit apparent activity in a water medium for dose planning includes the multiple scattering, source anisotropy effect and geometric factors.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.1
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• pp.81-87
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• 2010

The coverage ability is one of essential techniques for the Robotic Vacuum Cleaner (RVC). Most of the RVCs rely on random or regular pattern movement to cover a target space due to the technical difficulties to implement localization and map and constraints of hardwares such as controller and sensors. In this paper, we consider two main issues which are low computational load and using sensors with very limited sensing capabilities. First, in our approach, computing procedures to build map and detect the RVC's position are minimized by simplifying data obtained from sensors. To reduce computational load, it needs simply presenting an environment with objects of various shapes. Another isuue mentioned above is regarded as one of the most important problems in our approach, because we consider that many RVCs use low-cost sensor systems such as an infrared sensor or ultrasonic sensor with limited capabilities in limited range, detection uncertainty, measurement noise, etc. Methods presented in this paper are able to apply to general RVCs equipped with these sensors. By both simulation and real experiment, we evaluate our method and verify that the proposed method guarantees a complete coverage.

• Journal of the Korean Society of Radiology
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• v.12 no.2
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• pp.123-131
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• 2018

This study compared PENELOPE with measured values from low energy peak to high energy peak to reduce peak to compton ratio and continuum background spectrum using $^{60}Co$, $^{137}Cs$ and mixed volume source. In addition, the change in backscattering and compton edge efficiency was compared with that of PENELOPE through changes in the vicinity of low energy. The results from the mixed volume source are applied to the soil samples to determine how much the minimum detection limits of the soil samples are reduced in the suppression and unsuppressed mode. The compton suppression of the low energy region of $^{60}CO$ (1,173 keV) was considerable, and the Compton edge RF for the $^{137}Cs$ (661 keV) peak was 2.8. In particular, the $^{60}Co$ source emits coincidence gamma rays of 1,173.2 keV and 1,332.5 keV, so compton inhibition was reduced by approximately 21%. RF of compton edges of 1,173 keV and 1,332 keV emitted from a $^{60}Co$ source was 3.2 and 3.4, and the peak to compton edge ratio was improved to 8: 1. And Compared with Penelope, the uncertainty was well within 2%. In compton unsuppressed mode, MDA values of 661 keV, 1,173 keV and 1,332 keV were 0.535, 0.173 and 0.136 Bq/kg, respectively, but decreased in compton suppressed mode to 0.121, 0.00826 and 0.00728 Bq/kg. Thus, Compton suppressed could reduce the background radioactivity and the radioactivity contained in the detector itself.

• Analytical Science and Technology
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• v.18 no.4
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• pp.271-277
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• 2005

Urea in blood has been measured as an effective marker for diagnosis of renal function. Urea which is e end-product of nitrogen containing metabolites such as proteins is filtered through glomeruli of kidneys and then excreted as urine. If the renal function is deteriorated, the urea concentration in blood will be increased, from which the healthiness of renal function is judged. In order to improve the confidence of diagnosis results, the results must keep traceability chain to certified reference materials, which was certified by primary reference method. In this study, we proposed isotope dilution-liquid chromatography/mass spectrometry (ID-LC/MS) as a candidate primary method, in which $15^N_2$-urea is used as an internal reference material. The developed method is highly accurate in principle and is convenient as it does not require cumbersome derivatization. 0.1 mmol/L ammonium chloride was selected as a mobile phase for HPLC because it provided low interference in MS analysis of relatively low molecular weighted urea. HPLC and MS were connected with an electrospray ionization (ESI) interface of positive mode, which provided high sensitivity and reproducibility. The developed method was validated with internationally recognized reference materials, and we have obtained satisfactory results in an international ring trial. The expanded uncertainty calculated according to ISO guide was 1.8% at 95% confidence interval. The developed method is being used as a primary reference measurement method such as for certification of serum certified reference materials (CRMs).