• Journal of Ocean Engineering and Technology
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• v.33 no.2
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• pp.168-177
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• 2019

KRISO (Korea Research Institute of Ship & Ocean Engineering) started a project to develop the core algorithms for autonomous intervention using an underwater robot in 2017. This paper introduces the development of the robot platform for the core algorithms, which is an ROV (Remotely Operated Vehicle) type with one 7-function manipulator. Before the detailed design of the robot platform, the 7E-MINI arm of the ECA Group was selected as the manipulator. It is an electrical type, with a weight of 51 kg in air (30 kg in water) and a full reach of 1.4 m. To design a platform with a small size and light weight to fit in a water tank, the medium-size manipulator was placed on the center of platform, and the structural analysis of the body frame was conducted by ABAQUS. The robot had an IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and a depth sensor for measuring the underwater position and attitude. To control the robot motion, eight thrusters were installed, four for vertical and the rest for horizontal motion. The operation system was composed of an on-board control station and operation S/W. The former included devices such as a 300 VDC power supplier, Fiber-Optic (F/O) to Ethernet communication converter, and main control PC. The latter was developed using an ROS (Robot Operation System) based on Linux. The basic performance of the manufactured robot platform was verified through a water tank test, where the robot was manually operated using a joystick, and the robot motion and attitude variation that resulted from the manipulator movement were closely observed.

• Tunnel and Underground Space
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• v.32 no.6
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• pp.451-463
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• 2022

Whenever a mineshaft accidentally collapses, speedy risk assessment is both required and crucial. But onsite safety diagnosis by humans is reportedly difficult considering the additional risk of collapse of the unstable mineshaft. Generally, drones equipped with high-speed lidar sensors can be used for such inspection. However, the drone technology is restrictively applicable at very shallow depth, failing in mineshafts with depths of hundreds of meters because of the limit of wireless communication and turbulence inside the mineshaft. In previous study, a three-dimensional (3D) scanning system with a single channel lidar was fabricated and operated using towed cable in a mineshaft to a depth of 200 m. The rotation and pendulum movement errors of the measuring unit were compensated for by applying the data of inertial measuring unit and comparing the similarity between the scan data of the adjacent depths (Kim et al., 2020). However, the errors grew with scan depth. In this paper, a multi-channel lidar sensor to obtain a continuous cross-sectional image of the mineshaft from a winch system pulled from bottom upward. In this new approach, within overlapped region viewed by the multi-channel lidar, rotation error was compensated for by comparing the similarity between the scan data at the same depth. The fabricated system was applied to scan 0-165 m depth of the mineshaft with 180 m depth. The reconstructed image was depicted in a 3D graph for interpretation.

• Journal for History of Mathematics
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• v.22 no.2
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• pp.27-52
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• 2009

This article discusses the contributions of the leader Oswald Veblen, who was the president of AMS during 1923-1924. In 2006, Korea ranked 12th in SCIE publications in mathematics, more than doubling its publications in less than 10 years, a successful model for a country with relatively short history of modern mathematical research. Now there are 192 four-year universities in Korea. Some 42 of these universities have Ph.D. granting graduate programs in mathematics and/or mathematical education in Korea. Rapid growth is observed over a broad spectrum including a phenomenal performance surge in International Mathematical Olympiad. Western mathematics was first introduced in Korea in the 17th century, but real significant mathematical contributions by Korean mathematicians in modern mathematics were not much known yet to the world. Surprisingly there is no Korean mathematician who could be found in MaC Tutor History Birthplace Map. We are at the time, to have a clear vision and leadership for the 21st century. Even with the above achievement, Korean mathematical community has had obstacles in funding. Many people thinks that mathematical research can be done without funding rather unlike other science subjects, even though they agree fundamental mathematical research is very important. We found that the experience of early American mathematical community can help us to give a vision and role model for Korean mathematical community. When we read the AMS Notice article 'The Vision, Insight, and Influence of Oswald Veblen' by Steve Batterson, it answers many of our questions on the development of American mathematics in early 20th century. We would like to share the story and analyze its meaning for the development of Korean Mathematics of 21st century.