• 제어로봇시스템학회논문지
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• 제10권8호
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• pp.696-702
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• 2004

An optimal trajectory generation algorithm for capturing a moving object by a mobile robot in real-time is proposed in this paper. The linear and rotational velocities of the moving object are estimated using the Kalman filter, as a state estimator. For the estimation, the moving object is tracked by a 2-DOF active camera mounted on the mobile robot, which enables a mobile manipulator to track the mobile robot until the capturing moment. The optimal trajectory for capturing the moving object is dependent on the initial conditions of the mobile robot as well as the moving object. Therefore, real-time trajectory planning for the mobile robot is definitely required for the successful capturing of the moving object. The performance of proposed algorithm is verified through the real experiments and the superiority is demonstrated by comparing to other algorithms.

• 한국시뮬레이션학회:학술대회논문집
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• 한국시뮬레이션학회 1999년도 춘계학술대회 논문집
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• pp.147-151
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• 1999

This paper extends and enhances the existing inverse kinematics technique using the concept of motion characteristic capturing. Motion characteristic capturing is not about measuring motion by tracking body points. Instead, it starts from pre-measured motion data, extracts the motion characteristics, and applies them in animating other bodies. The resulting motion resembles the originally measured one in spite of arbitrary dimensional differences between the bodies. Motion characteristics capturing is a new principle in kinematic motion generalization to process measurements and generate realistic animation of human being or other living creatures.

• 인터넷정보학회논문지
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• 제16권2호
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• pp.19-26
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• 2015

RFID 시스템을 구축하여 운영하기 위해서는 자체적으로 시스템을 개발하여 운영을 하거나 표준에 입각한 시스템을 구축하는 방법이 있다. RFID 시스템을 자체적으로 운영을 하고자 한다면 자체적으로 개발한 시스템을 사용하여도 문제가 되지 않는다. 그러나 여러 회사 또는 거점에서 시스템 연계 및 데이터 연계를 위해서는 표준을 준수한 시스템을 구축해야 한다. 본 논문은 국제 민간표준기구인 EPCglobal의 EPC Network 기반으로 RFID를 적용하기 위한 요소 중 EPCIS Capturing Application을 제안한다. EPCIS Capturing Application은 리더와 미들웨어에서 전송된 데이터를 수신하여 EPCIS에 전송하기 위한 메시지를 생성하여 EPCIS에 전송하는 역할을 한다. 본 논문은 현장에서 사용하기 위해 구현한 시스템으로 고정형 RFID 리더에서 사용하는 ALE Interface 뿐만 아니라 휴대형 RFID 리더와 같이 ALE Interface를 사용하지 않는 장비의 데이터를 수신할 수 있는 Capture Interface도 제안한다. 이에 본 논문은 RFID가 적용된 완성품 이력추적을 위한 EPCIS Capturing Application을 제안한다. 제안된 EPCIS Capturing Application을 통해 RFID 시스템을 EPCglobal 표준 기반으로 적용하고자 하는 모든 시스템에 활용 할 수 있게 된다.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2009년 추계학술대회논문집
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• pp.201-210
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• 2009

A volume capturing method using unstructured grid system for numerical analysis of multiphase flows is introduced in the present paper. This method uses an interface capturing method (CICSAM) in a volume of fluid(VOF) scheme for phase interface capturing. The novelty of CICSAM lies in the adaptive combination of high resolution discretization scheme which ensures the preservation of the sharpness and shape of the interface while retaining boundedness of the field, and no explicit interface reconstruction which is perceived to be difficult to implement on unstructured grid system. Several typical test cases for multiphase flows are presented, which are simulated by an in-house solution code(PowerCFD). This code employs an unstructured cell-centered method based on a conservative pressure-based finite-volume method with CICSAM. It is found that the present method simulates efficiently and accurately complex free surface flows such as multiphase flows.

• 제어로봇시스템학회논문지
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• 제12권2호
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• pp.145-153
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• 2006

An optimal capturing trajectory for a moving object is proposed in this paper based on the observation that a single-curvature path is more accurate than double-or triple-curvature paths. Moving distance, moving time, and trajectory error are major factors considered in deciding an optimal path for capturing the moving object. That is, the moving time and distance are minimized while the trajectory error is maintained as small as possible. The three major factors are compared for the single and the double curvature trajectories to show superiority of the single curvature trajectory. Based upon the single curvature trajectory, a kinematics model of a mobile robot is proposed to follow and capture the moving object, in this paper. A capturing scenario can be summarized as follows: 1. Motion of the moving object has been captured by a CCD camera., 2. Position of the moving object has been estimated using the image frames, and 3. The mobile robot tries to follow the moving object along the single curvature trajectory which matches positions and orientations of the moving object and the mobile robot at the final moment. Effectiveness of the single curvature trajectory modeling and capturing algorithm has been proved, through simulations and real experiments using a 2-DOF wheel-based mobile robot.

• 한국도로학회논문집
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• 제17권4호
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• pp.41-51
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• 2015

PURPOSES: This study investigates the mechanical performance of carbon-capturing concrete that mainly contains blast furnace slag. METHODS: The mixture variables were considered; these included Portland cement content, which was varied from 10% to 40% of the blast furnace slag by weight. The specimens were exposed to different conditions such as high $N_2$ and $O_2$ concentrations, laboratory conditions and high $CO_2$ conditions. Mechanical performances, including compressive and flexural strengths and carbon-capturing depth, were evaluated. RESULTS : The slump, air content and unit weight were not affected significantly by the variation in cement content. The strength development when the specimens were exposed to high purity air was slightly greater than that when exposed to high $CO_2$. As the cement content increased the compressive and flexural strength increased but not considerably. The carbon-capturing capacity decreased as the cement content increased. The specimens exposed in the field for 70 days had flexural strength greater than 3 MPa. CONCLUSIONS : The results indicate that cement content is not an important parameter in the development of compressive and flexural strengths. However, the carbon-capturing depth was higher for less cement content. Even after field exposure for 70 days, neither any significant damage on the surface nor any decrease in strength was observed.

• Smart Structures and Systems
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• 제12권1호
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• pp.1-22
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• 2013

Magnetic nanoparticle based bioseparation in microfluidics is a multiphysics phenomenon that involves interplay of various parameters. The ability to understand the dynamics of these parameters is a prerequisite for designing and developing more efficient magnetic cell/bio-particle separation systems. Therefore, in this work proof-of-concept experiments are combined with advanced numerical simulation to design and optimize the capturing process of magnetic nanoparticles responsible for efficient microfluidic bioseparation. A low cost generic microfluidic platform was developed using a novel micromolding method that can be done without a clean room techniques and at much lower cost and time. Parametric analysis using both experiments and theoretical predictions were performed. It was found that flow rate and magnetic field strength greatly influence the transport of magnetic nanoparticles in the microchannel and control the capturing efficiency. The results from mathematical model agree very well with experiments. The model further demonstrated that a 12% increase in capturing efficiency can be achieved by introducing of iron-grooved bar in the microfluidic setup that resulted in increase in magnetic field gradient. The numerical simulations were helpful in testing and optimizing key design parameters. Overall, this work demonstrated that a simple low cost experimental proof-of-concept setup can be synchronized with advanced numerical simulation not only to enhance the functional performance of magneto-fluidic capturing systems but also to efficiently design and develop microfluidic bioseparation systems for biomedical applications.

• Management Science and Financial Engineering
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• 제9권2호
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• pp.13-20
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• 2003

For inferring criteria in a performance appraisal. linear programming (LP) has been utilized as an alternative to policy capturing (PC). Previous policy capturing LP (PCLP) studies were limited to the criteria of exact numerical ratings. However. under certain evaluation circumstances, a ranged rating with a lower and upper bound may be preferred over an exact numerical value. Therefore, this study introduces a new LP model that allows ranged ratings. A simple example is given to illustrate our model.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2012년도 한국컴퓨터종합학술대회논문집 Vol.39 No.1(A)
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• pp.316-318
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• 2012

Radio Frequency Identification(RFID) technology has been widely used to identify and keep track of physical objects. The EPC Network Architecture, which is proposed by EPCglobal to promote EPC and RFID technologies, consists of several layers to deal with the captured data. Many studies concentrated on dealing with RFID tag data (ECReports) from ALE. However, there is no well-known work on specifying how to generate high level EPCIS events. For the incoming ECReports, Capturing Application cannot decide to generate which event types and how to get the semantic fields. In this paper, we propose the new Capturing Application (NCA) to solve the problem. NCA can generate EPCIS events correctly and automatically.

• 제어로봇시스템학회논문지
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• 제10권5호
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• pp.434-441
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• 2004

In this paper, an exoskeleton-type motion capturing system is designed and implemented. The device is designed to have 12 degree-of-freedom entirely to represent human arm motions. Forward and inverse kinematics of the device are analyzed to make sure of its singular positions. With the designed model parameters, simulation studies are conducted to verify that the designed motion capturing system is effective to represent human motions within the workspace. As a counterpart of the exoskeleton system, a mobile robot is built to follow human motion restrictively. Experimental studies of teleoperation from the exoskeleton device to control the mobile robot are carried out to show feasible application of wireless man-machine interface.