• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1934-1935
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• 2011

In order for a service robot to perform several tasks, basically autonomous navigation technique such as localization, mapping, and path planning is required. The localization (estimation robot's pose) is fundamental ability for service robot to navigate autonomously. In this paper, we propose a new system for point pattern matching based visual global localization using spot lightings in ceiling. The proposed algorithm us suitable for system that demands high accuracy and fast update rate such a guide robot in the exhibition. A single camera looking upward direction (called ceiling vision system) is mounted on the head of the mobile robot and image features such as lightings are detected and tracked through the image sequence. For detecting more spot lightings, we choose wide FOV lens, and inevitably there is serious image distortion. But by applying correction calculation only for the position of spot lightings not whole image pixels, we can decrease the processing time. And then using point pattern matching and least square estimation, finally we can get the precise position and orientation of the mobile robot. Experimental results demonstrate the accuracy and update rate of the proposed algorithm in real environments.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.2 s.95
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• pp.123-129
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• 1999

Ball-end milling process is widely used in the die and mold manufacturing because of suitable one for the machining of free-form surface. During the process, the pencil cutting operation can be adopted before finish cut to eliminate overload in uncut area caused by large diameter of ball-end mill. The ball-end mill cutter for the pencil cutting is easily deflected by cutting force due to the long and thin shape, and the tool deflection in pencil cutting is one of the main reason of the machining errors in a free-form surface. The purpose of this study is to find the characteristics of deflected cutter trajectory by constructing measurement system with eddy-current sensor. It was found that the severe reduction of corner radius produced the overcut during the plane cutting. Up cutting method induced the overcut both plane and slope cutting, but down cutting one induced the undercut. From the experiments, down cutting with upward cutting path can generate the small undercut surface.

• Atmosphere
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• v.14 no.2
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• pp.11-22
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• 2004

A technique on atmospheric correction algorithm to the multi-band reflectance of Landsat TM imagery has been developed using an atmospheric radiation transfer model for eliminating the atmospheric and surface diffusion effects. Despite the fact that the technique of satellite image processing has been continually developed, there is still a difference between the radiance value registered by satellite borne detector and the true value registered at the ground surface. Such difference is caused by atmospheric attenuations of radiance energy transfer process which is mostly associated with the presence of aerosol particles in atmospheric suspension and surface irradiance characteristics. The atmospheric reflectance depend on atmospheric optical depth and aerosol concentration, and closely related to geographical and environmental surface characteristics. Therefore, when the effects of surface diffuse and aerosol reflectance are eliminated from the satellite image, it is actually corrected from atmospheric optical conditions. The objective of this study is to develop an algorithm for making atmospheric correction in satellite image. The study is processed with the correction function which is developed for eliminating the effects of atmospheric path scattering and surface adjacent pixel spectral reflectance within an atmospheric radiation model. The diffused radiance of adjacent pixel in the image obtained from accounting the average reflectance in the $7{\times}7$ neighbourhood pixels and using the land cover classification. The atmospheric correction functions are provided by a radiation transfer model of LOWTRAN 7 based on the actual atmospheric soundings over the Korean atmospheric complexity. The model produce the upward radiances of satellite spectral image for a given surface reflectance and aerosol optical thickness.

• Nuclear Engineering and Technology
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• v.54 no.2
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• pp.554-564
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• 2022

The natural circulation phenomena occurring in fully integrated nuclear reactors are associated with a unique formation mechanism. The phenomenon results from a structural feature of these reactors involving upward flow from the core, located in the central-bottom region of a single vessel, and downward flow to the steam generator in the annulus region. In this study, to understand the natural circulation in a single vessel involving a multi-layered flow path, single-phase and two-phase natural circulation tests were performed using the SMART-ITL facility, and validation analysis of the TASS/SMR-S code was performed by comparing the corresponding test results. Three single-phase natural circulation tests were sequentially conducted at 15%, 10%, and 5% of full-scaled core-power without RCP operation, following which a two-phase natural circulation test was successively conducted with an artificial discharge of coolant inventory. The simulation capability of the TASS/SMR-S code with respect to the natural circulation phenomena was validated against the test results, and somewhat conservative but reasonably comparative results in terms of overall thermalhydraulic behavior were shown.

• International Journal of Automotive Technology
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• v.5 no.4
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• pp.221-238
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• 2004

Wall interactions of direct injection spray were investigated using laser-sheet imaging, shadowgraphy, wetted footprint and phase Doppler interferometry techniques. A narrow-cone high-pressure swirl injector is used to inject iso-octane fuel onto a plate, which has three different impact angles inside a pressurized chamber. Heated air and plate conditions were compared with unheated cases. Injection interval was also varied in the heated case to compare dry- and wet- wall impingement behaviors. High-speed macroscopic Mie-scattering images showed that presence of wall and air temperature has only minor effect on the bulk spray structure and penetration speed for the narrow-cone injector tested. The overall bulk motions of the spray plume and its spatial position at a given time are basically unaffected until a few millimeters before impacting the wall. The surface properties of the impact surface, such as the temperature, the presence of a preexisting liquid film also have a small effect on the amount of wetting or the wetted footprint; however, they have strong influence on what occurs just after impact or after a film is formed. The shadowgraph in particular shows that the plate temperature has a significant effect on vapor phase propagation. Generally, 10-20% faster horizontal vapor phase propagation is observed along the wall at elevated temperature condition. For impingement onto a preexisting film, more splash and evaporation were also observed. Contrary to some preconceptions, there is no significant splashing and droplet rebounding from surfaces that are interposed in the path of the DI gasoline spray, especially for the oblique impact angle cases. There also appears to be a dense spray front consists of large sac spray droplets in the oblique impact angle cases. The bulk of the spray is not impacted on the surface, but rather is deflected by it The microscopic details as depicted by phase Doppler measurements show that the outcome of the droplet impaction events can be significantly influenced. Only droplets at the spray front have high enough Weber numbers for wall impact to wet, splash or rebound. Using the sign of vertical velocity, the time-resolved downward droplets and upward droplets are compared. The Weber number of upward moving droplets, which seldom exceeds unity, also decreases as the impact angle decreases, as the droplets tend to impact less and move along the wall in the deflected spray plume.

• Journal of Korean Society of Environmental Engineers
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• v.31 no.7
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• pp.531-540
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• 2009

In this study, thermo-gravimetric analysis(TGA) was used to investigate the effect of urea concentration and heating rate on the ammonia($NH_3$) formation process from urea solution. A newly designed pipe nozzle was inserted through a 1,000 N${\ss}$(C)/h oil firing boiler to compare the DeNOx efficiencies between the upward and downward nozzle. This experiment reveals the effect of path which an urea droplet goes through. Urea solution showed the same TGA graph without regard to the presence of oxygen. Heating rate had a great influence on the weight loss trend. But the concentration of urea solution between 10% and 40% did not affect so much the thermal decomposition temperature. Therefore, heating rate is more important factor on the thermal decomposition of urea than the concentration of urea solution. Three nozzles located at different positions showed similar DeNOx efficiencies such as 68.1%, 71.8%, 70.8% at the same temperature. Even though urea solution was injected for the same zone, the injection direction made much difference in DeNOx efficiency. A upward nozzle showed 68.1% and downward nozzle 9.5%. This results illustrate the importance of heating rate.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.3
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• pp.259-264
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• 2012

Automatic magnetic abrasive polishing (MAP), which can be applied after machining of a mold on a machine tool without unloading, is very effective for finishing a free-form surface such as a complicated injection mold. This study aimed to improve the efficiency of MAP of a non-ferrous mold surface. The magnetic array table and control of the electromagnet polarity were applied in the MAP of a free-form surface. In this study, first, the magnetic flux density on the mold surface was simulated to determine the optimal conditions for the polarity array. Then, the MAP efficiency for polishing a non-ferrous mold surface was estimated in terms of the change in the radius of curvature and the magnetic flux density. The most improved surface roughness was observed not only in the upward tool path but also in the working area of larger magnetic flux density.

• Advances in aircraft and spacecraft science
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• v.3 no.4
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• pp.427-445
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• 2016

Star sensors are the attitude estimation sensors of the satellite orbiting in its path. It gives information to the control station on the earth about where the satellite is heading towards. It captures the images of a predetermined reference star. By comparing this image with that of the one captured from the earth, exact position of the satellite is determined. In the process of imaging, stray lights are eliminated from reaching the optic lens by the mechanical enclosures of the star sensors called Baffles. Research in space domain in the last few years is mainly focused on increased payload capacity and reduction in launch cost. In this paper, a star sensor baffle made of Aluminium is considered for the study. In order to minimize the component weight, material wastage and to improve the structural performance, an alternate material to Aluminium is investigated. Carbon Fiber Reinforced Polymer is found to be a better substitute in this regard. Design optimisation studies are carried out by adopting suitable design modifications like implementing an additional L-shaped flange, Upward flange projections, downward flange projections etc. A better configuration of the baffle, satisfying the design requirements and achieving manufacturing feasibility is attained. Geometrical modeling of the baffle is done by using UNIGRAPHICS-Nx7.5(R). Structural behavior of the baffle is analysed by FE analysis such as normal mode analysis, linear static analysis, and linear buckling analysis using MSC/PATRAN(R), MSC-NASTRAN(R) as the solver to validate the stiffness, strength and stability requirements respectively. Effect of the layup sequence and the fiber orientation angle of the composite layup on the stiffness are also studied.

• The Journal of the Korea Contents Association
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• v.13 no.10
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• pp.523-532
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• 2013

When the golf club hits the ground prior to making contact with the golf ball, we define it as 'fat shot'. The aim of this research was to investigate the difference between normal shot and fat shot in golf. Five candidates playing as recreational golfer participated in this research and they were all right-handed people. Time phase between each event, wrist cocking angle, elbow extension-flexion angle, backswing height, pelvis angle, thorax angle, L-GRF, R-GRF, pelvis linear velocity, pelvis angular velocity and COG path were calculated. For statistical analysis the paired T-test was used. An early un-cocking, an early right elbow extension and impact with leaving their weight behind foot were not reasons of fat shot. Backswing height, X-Factor, pelvis angle and thorax rotation angle were not different between normal shot and fat shot. But we could find a pattern of abrupt pelvic movement and weight shift to target direction just before impact in case of fat shot. In addition fat shot showed time-delayed and small value of pelvis linear velocity pattern to upward during downswing phase as against normal shot.

• International Journal of Highway Engineering
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• v.14 no.6
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• pp.103-110
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• 2012

PURPOSES : In Korea, over 70 percent of the land consists of mountainous and rolling area. Thus, tunnels continue its upward trend as road network are extended. In these circumstances, the importance of tunnel has been increased nowadays and then its safety investigation and research should be performed. This study is focus on confirming and improving the safety of tunnel. On tunnel hood, sunglare effect can irritate driver's behavior instantly and this can result in incident. METHODS : The study of this phenomenon is rarely conducted in domestic and foreign papers, so there is no proper measure for this. This study analyzes the driving environment of the effect of sunglare effect on tunnel hood. RESULTS : Traffic accidents stem from complex set of factors. This study build the Traffic Accident Prediction Models to find out the effect of sunglare effect on tunnel's hood. The independent variables are traffic volume, geometric design of road, length of tunnel and road side environment. Using these variables, this model estimates accident frequency on tunnel hood by Poisson regression model and Negative binomial regression model. Although Poisson regression model have more proper goodness of fit than Negative binomial regression model, Poisson regression model has overdipersion problem. So the Negative binomial regression model is used in this analysis. CONCLUSIONS : Consequently, the model shows that sunglare effect can play a role in driving safety on tunnel hood. As a result, the information of sunglare effect should be noticed ahead of tunnel hood so this can prevent drivers from being in hazard situation.