• Journal of the Korean Society of Safety
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• v.27 no.6
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• pp.70-77
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• 2012

Experimental investigations were performed to examine the characteristics of propagating flame fronts around multiple bars within a rectangular chamber. The explosion chamber is 400 mm in height, $700{\times}700mm^2$ in cross-section and has a large top-venting area, $A_v$, of $700{\times}210mm^2$. This results in a value of 0.44 for $A_v/V^{2/3}$ and a L/D value of 0.57. The multiple obstacles of length 700 mm with a blockage ratio of 30 % were placed within the chamber. Temporally resolved flame front images were recorded by a high speed video camera to investigate the interaction between the propagating flame and the obstacles. Results showed that the flame propagation speeds before the flame impinges onto the obstacle almost equal to the laminar burning velocity. As the propagating flame impinged on the obstacle, the central region of flame began to become concave, this resulted in the flame deceleration in the region. As the flame interacted with the modified flow filed generated behind the central obstacle, the probability density functions(PDFs) of the local flame displacement speed were extensively distributed toward higher speeds.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.500-507
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• 2022

In this study, a motion planning method based on the integer representation of contact status between wheels and the ground is proposed for planning swing motion of a 6×6 wheel-legged robot to cross large obstacles and gaps. Wheel-legged robots can drive on a flat road by wheels and overcome large obstacles by legs. Autonomously crossing large obstacles requires the robot to perform complex motion planning of multi-contacts and wheel-rolling at the same time. The lift-off and touch-down status of wheels and the trajectories of legs should be carefully planned to avoid collision between the robot body and the obstacle. To address this issue, we propose a planning method for swing motion of robot legs. It combines an integer representation of discrete contact status and a trajectory optimization based on the direct collocation method, which results in a mixed-integer nonlinear programming (MINLP) problem. The planned motion is used to control the joint angles of the articulated legs. The proposed method is verified by the MuJoCo simulation and shows that over 95% and 83% success rate when the height of vertical obstacles and the length of gaps are equal to or less than 1.68 times of the wheel radius and 1.44 times of the wheel diameter, respectively.

• The Journal of the Acoustical Society of Korea
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• v.28 no.8
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• pp.755-760
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• 2009

In this paper, we apply a reverberation suppression method using difference of singular values to improve the short-distance underwater obstacle detection probability in reverberation environment induced by a linear frequency modulation signal. The reverberation suppression method using difference of singular values suppresses LFM reverberation based on subtracting the singular values for a reference beam, assumed to contain only the reverberation, from those for the current beam of interest, assumed to contain the reverberation and target echo. For the validation, the reverberation suppression method using difference of singular values is applied to real oceanic data, which are acquired using the cross type array.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.6
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• pp.1259-1265
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• 2013

In wireless environment such as wireless LAN, proper location of wireless LAN AP allows us to take an effective coverage to provide good wireless communication service. To simulate wireless environment, FDTD formulation is introduced and Gaussian pulse injection in grid space is considered to be replaced wireless LAN AP. So structural effect corresponding to location of arbitrary obstacle must be considered, and its received gain is estimated. An obstacle in scattering field should be modeled to be conductor and concrete wall and its diffraction effect for some cross wall is evaluated between transmitter and receiver point.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.05a
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• pp.49-50
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• 2013

In wireless environment, to provide more efficient service area is need to maintain proper location of wireless LAN AP. Since structural effect corresponding to location of arbitrary scatterers must be considered. Using FDTD method, an obstacle in scattering field should be considered and its diffraction effect for some cross wall is estimated between transmitter and receiver point.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.7
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• pp.697-703
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• 2011

This article describes a snake robot with 2-DOF actuator modules. The 2-DOF actuator modules make the snake robot move in the 3D space so that the snake robot can cross obstacles and rough terrain. Each 2-DOF actuator module is designed to have high torque output and an embedded controller. A cross bracket connecting the modules is designed be able to support the weight of two actuator modules. The developed snake robot shows 3-D motions such as side winding, standing/monitoring, and can climb in a narrow pipe with high torque modules. The snake robot moves fast with passive wheels in a plane while crossing obstacles.

• International Journal of Computer Science & Network Security
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• v.22 no.4
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• pp.329-339
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• 2022

Small cells, particularly femtocells, are regarded a promising solution for limited resources required to handle the increasing data demand. They usually boost wireless network capacity. While widespread usage of femtocells increases network gain, it also raises several challenges. Interference is one of such concerns. Interference management is also seen as a main obstacle in the adoption of two-tier networks. For example, placing femtocells in a traditional macrocell's geographic area. Interference comes in two forms: cross-tier and co-tier. There have been previous studies conducted on the topic of interference management. This study investigates the principle of categorization of interference management systems. Many methods exist in the literature to reduce or eliminate the impacts of co-tier, cross-tier, or a combination of the two forms of interference. Following are some of the ways provided to manage interference: FFR, Cognitive Femtocell and Cooperative Resource Scheduling, Beamforming Strategy, Transmission Power Control, and Clustering/Graph-Based. Approaches, which were proposed to solve the interference problem, had been presented for each category in this work.

• Journal of the Korean Institute of Gas
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• v.17 no.1
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• pp.13-18
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• 2013

Experimental studies were carried out to investigate the interactions between the propagating flame fronts and different multiple obstacles within an explosion chamber. The explosion chamber is 600 mm in height, $700{\times}700mm^2$ in cross-section and has a H/L value of 0.86. Three different multiple obstacles with the blockage ratio of 0.43 were replaced within the chamber. The results showed that relatively higher local flame displacement speed was observed with the triangular obstacle while the lower was observed with the circular one. It was found that the local flame displacement speeds behind the obstacle were largely dependent on the obstacle types. It was also found that as the flame interacted with the flow field generated behind the obstacle, the probability density functions(PDFs) of the local flame displacement speed were extensively distributed toward higher speeds.

• Journal of Korean Society of Transportation
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• v.20 no.5
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• pp.55-66
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• 2002

In many countries the principle of shielding is employed to permit a more logical approach to restricting new construction and prescribing obstacle marking and lighting. It also reduces the number of cases of new construction requiring review by authorities. Shielding principles are employed when some object, an existing building or natural terrain, already penetrates above one of the obstacle limitation surfaces described in Annex 14. If it is considered that the nature of an object is such that its presence may be permanent, then additional objects within a specified area around it may be permitted to penetrate the surface without being considered as obstacle. The shielding effect of immovable obstacles laterally in final approach and missed approach areas is more uncertain. In certain circumstances, it nay be advantageous to preserve existing unobstructed cross section areas, particularly when the obstacle is close to the runway. This would guard against future changes in either approach or take-off climb area specifications or the adoption of a turned take-off procedure.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.83-86
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• 1987

A vision algorithm is presented for the separation of near objects from distant objects. In the algorithm, a difference field of a stereo pair of images is computed to obtain the range information and the median filter is used for the suppression of distant objects. The objects within a given distance is segmented by thresholding the gray scale cross-section of the median filtered difference field. The experiment is performed in a laboratory setting.