• 제어로봇시스템학회논문지
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• 제8권3호
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• pp.270-274
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• 2002

This paper presents a teleoperation system that combines computer network and an autonomous mobile robot. We control remotely an autonomous mobile robot with vision over the Internet to guide it under unknown environments in the real time. The main feature of this system is that local operators need a web browser and a computer connected to the communication network and so they can command the robot in a remote location through the home page. The hardware architecture of this system consists of an autonomous mobile robot, workstation, and local computers. The software architecture of this system includes the client part for the user interface and robot control as well as the server part for communication between users and robot. The server and client systems are developed using Java language which is suitable to internet application and supports multi-platform. Furthermore. this system offers an image compression method using JPEG concept which reduces large time delay that occurs in network during image transmission.

• 한국지능시스템학회논문지
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• 제18권6호
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• pp.787-796
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• 2008

매니퓰레이터와 환경과의 충돌 시 충격량을 줄이기 위해서는 유효질량이 최소화되는 자세가 요구되므로 자체운동(self motion)을 통하여 이러한 자세를 유지해야 한다. 이때 여유자유도를 분해하기 위하여 관절 토크 국소 최소화 알고리즘을 이용할 수 있다. 본 논문에서는 매니퓰레이터와 환경과의 충돌 시 충격 및 손상을 줄이기 위해 기구학적인 여자유도를 이용하여 관절토크를 최소화시킴과 동시에 충돌을 최소화시키는 새로운 제어 알고리즘을 제안한다 이 알고리즘은 기존의 국소 토크 최소화 알고리즘과 국소 충돌 최소화 알고리즘에 퍼지 로직과 유전자 알고리즘을 적용시킨 것이다. 제안된 알고리즘은 3자유도 평면 여자유도 매니퓰레이터에 적용하였으며, 시뮬레이션 결과를 통하여 제안된 알고리즘의 타당성을 확인하였다.

• 디지털융복합연구
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• 제9권3호
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• pp.191-202
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• 2011

공공기관과 지방자치단체는 방범용과 교통용, 쓰레기 무단투기용 등 다양한 형태로 CCTV를 설치하고 있다. 그 밖에도 국가행정기관이나 각급 학교, 특별법에 의한 특수법인, 지방공사 및 공단 등에서도 개별적으로 CCTV를 운영하고 있다. 이와 같이 로컬지역의 관할구역에 개별적으로 설치 및 운용되어오던 CCTV시스템이 혼재되어 있거나 도입시점이 상호 기술적 이질성이 발생한다. 행정안전부는 2011년 2월 국가영상정보자원을 위한 통합관제센터구축을 위한 가이드라인을 제시하였다. 본 연구는 행정안전부가 권고하는 가이드라인에 근거하여 2011년 4월 28일 완료 보고한 부산광역시의 경찰청, 소방청 그리고 부산시간의 통합관제센터 구축 사례를 소개한다. 기관간 통합과정에서 발생하는 문제와 선결요인은 무엇이고 해결방안을 제시한다.

• Journal of Communications and Networks
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• 제18권3호
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• pp.502-512
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• 2016

The wireless carrier sense multiple access with collision detection (WCSMA/CD) and carrier sense multiple access with collision resolution (CSMA/CR) protocols are considered representative distributed collision detection protocols for fully connected dense wireless local area networks. These protocols identify collisions through additional short-sensing within a collision detection (CD) period after the start of data transmission. In this study, we analyze their throughput numerically and show that the throughput has a trade-off that accords with the length of the CD period. Consequently, we obtain the optimal length of the CD period that maximizes the throughput as a closed-form solution. Analysis and simulation results show that the throughput of distributed collision detection protocols is considerably improved when the optimal CD period is allocated according to the number of stations and the length of the transmitted packet.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2009년도 추계학술대회 논문집
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• pp.301-306
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• 2009

High strength steels are widely used for lightweight automobile parts and the control of springback is very important in sheet metal forming. The object of this study is to develop the forming process for stair type side sill made of high strength steel, DP780. Stair type side sill with local formed area and geometry change area can improve stiffness and design freedom but there are a few studies for forming process. The forming technology considered in this paper is form type process, which have many advantages for farming of high strength steel compared with draw type process. Finite element analysis is carried out to predict formability and springback. It is shown that angle calibration of die is essential for reducing springback, and local forming involving bead is effective to control springback also. The effectiveness of local forming and angle calibration is verified by experimental.

• 제어로봇시스템학회논문지
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• 제18권7호
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• pp.664-668
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• 2012

Hierarchical IPP (Integrated Path Planning) combining the GPP (Global Path Planner) and the LPP (Local Path Planner) is interesting the researches who study about the mobile vehicle in recent years. However, in this study, there is the path mismatch problem caused by the difference in the map information available to both path planners. If ever a part of the path that was found by the GPP is available to mobile vehicle, the part may be unavailable when the mobile vehicle generates the local path with its built-in sensors while the vehicle moves. This paper proposed the TWR (Temporal Waypoint Reviser) to solve the path mismatch problem of the hierarchical IPP. The results of simulation provide the performance of the IPP with the TWR by comparing with other path planners.

• Asian-Australasian Journal of Animal Sciences
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• 제6권3호
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• pp.361-365
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• 1993

An experiment was conducted to investigate the effects of feeding fresh cassava roots on the performance and carcass quality of pigs raised from $15{\pm}1kg$ to 85 kg live weight. Fresh unpeeled cassava roots were chopped into chips and offered separately along with a protein concentrate made up of copra cake and meat and bone meal, and a local mineral-vitamin premix. Commercial pig grower and finisher diets served as control. A total of 24 pigs were used in an incomplete randomized split-plot design experiment. Pigs fed fresh cassava-based diet grew as fast, 0.78 vs 0.77 kg/day, and were as efficient, 3.74 vs 3.77 in converting feed into body weight gain as those fed the commercial control diet. Similarly, there were no differences in carcass quality measured in terms of dressing percentage, 77 vs 77; backfat thickness, 2.76 vs 2.78 cm; loin eye muscle area, 29.2 vs $29.1cm^2$ and in the relative proportions of the different carcass cuts between the two dietary treatments. The use of fresh cassava along with the protein and the local mineral-vitamin premix however, resulted in lowered total feed cost and cost per unit of live weight gain. It is concluded that fresh cassava roots can be fed along with copra cake, meat and bone meal protein concentrate and a local mineral-vitamin premix to fattening pigs with no adverse affects on performance and carcass quality.

• 대한장애인치과학회지
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• 제8권1호
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• pp.15-21
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• 2012

Extraction of all nonrestorable teeth prior to bone marrow transplantation is the major dental management of the patient being prepared for the transplantation. But, there are four principal causes for excessive bleeding in the immediate postextraction phase ; (1) Vascular wall alteration (wound infection, scurvy, chemicals, allergy) (2) Disorders of platelet function (3) Thrombocytopenic purpuras (4) Disorders of coagulation (liver disease, anticoagulation drug-heparin, coumarin, aspirin, plavix) If the hemorrhage from postextraction wound is unusually aggressive, the socket must be packed with local hemostatic agent and wound closure & pressure dressing are applied. But, in dental alveoli, local hemostatic agent (gelfoam, surgcel etc) may absorb oral microorganisms and cause alveolar osteitis (infection). This is a case report of bleeding and infection control by suture, pressure packing and iodoform gauze drainage on infected active bleeding extraction socket under sedation and local anesthesia in a 57-years-old multiple disabled patient with anticoagulation drug.

• 방송공학회논문지
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• 제21권1호
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• pp.51-59
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• 2016

본 논문에서는 다양한 조명하에서 얼굴 인식의 정확성을 향상시키기 위하여 DCT 기반의 조명 보상 기법을 제안하였다. 제안한 방법은 DCT 공간으로 변환된 입력영상에서 저주파 영역은 조명의 정보를 포함하는 것을 이용하여 저주파 성분의 DCT 계수를 목표로 하는 조명으로 변환함으로써 조명을 보상하는 방법이다. 이때, 견고한 얼굴 특징을 추출하기 위해서 고차 지역 패턴 서술자를 이용하여 방향성에 강인한 특징점을 추출하였다. 실영상을 이용한 실험에서 최대 95% 이상의 인식률로써 제안한 알고리즘의 성능을 확인하였다.

• 환경위생공학
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• 제17권2호
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• pp.26-33
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• 2002

Ultimate objective of industrial hygiene is the prevention of health impairment that may result from exposure to chemicals at workplace. Workers in solvent thinner-using occupation environment may be highly exposed to VOCs (volatile organic compounds) because solvent thinner has been used extensively such as painting, spraying, degreasing, coating and so on in Korea. The purpose of this study was to recognize, evaluate, and propose the control methods of VOCs from solvent thinner-using workplace. Five target volatile organic compounds (benzene, toluene, ethylbenzene, o-xylene, and m-xylene) were monitored in H company of Shiwa Industrial Complex and analyzed in perosnal, occupational indoor and outdoor during working hours simultaneously. Engineering control such as local ventilation should be made in considering the long-term exposure, though measured VOCs concentration did not exceed the workplace exposure standards. In addition, air cleaning device should be installed in local ventilation because Shiwa Industrial Complex has had the serious ambient air pollution. Currently, environmental purification using $TiO_2$ photocatalyst have attracted a great deal of attention with increasing number of recent environmental problems. In this study, $TiO_2$ sol coated on the ceramic bead was prepared by sol-gel method and the photodegradation of target compounds was investigated in gas phase by the exposure to UV-A lamp(365nm) in a batch system.