• 한국산학기술학회논문지
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• 제13권9호
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• pp.3876-3881
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• 2012

일반적으로 마스터/슬레이브 원격제어 시스템에서 작업자는 원격에서 슬레이브를 제어하기 위하여 카메라 영상 같은 시각 정보를 이용하는 경우가 많은데, 많은 데이터 양으로 인하여 원격지의 영상 정보에 지연이 발생할 수 있고 카메라 위치에 따라 영상 정보가 제한되거나 불완전하여 제어가 어려운 경우가 생길 수 있다. 카메라 영상을 이용한 원격제어 시스템의 이러한 문제점을 해결하기 위하여 본 논문에서는 영상 정보 대신에 3차원 재구성 그래픽 모델을 이용한 원격제어 시스템을 제안한다. 제안된 원격제어시스템은 로봇 제어 모듈, 힘반향 조이스틱을 이용한 마스터 모듈, 그래픽유저인터페이스모듈로 이루어져 있는데, 여기서 그래픽유저인터페이스모듈은 원격지에서 전달된 적은 양의 센싱 데이터를 이용하여 3차원으로 재구성된 그래픽 모델을 작업자에게 제공해 준다. 제안된 원격제어 시스템은 펙인홀(peg-in-hole) 조립 작업을 이용하여 그 효과가 검증되었다.

• 한국항해항만학회지
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• 제40권5호
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• pp.249-256
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• 2016

The International Association of Marine Aids to Navigation and Lighthouse Authorities(IALA) model course recommends specific aspects of basic curriculums for Vessel Traffic Services(VTS) operator education such as modules, course hours, contents, etc. Most domestic training programs for newly appointed VTS operators comply with such recommendations. The objective of this study is to determine whether such modules for VTS operator training recommended by the current IALA model course correspond to the actual opinions of VTS operators who are currently working in the field. To this end, the relative importance of basic modules for vessel traffic services operator training was analyzed using the Analytic Hierarchy Process(AHP) method. A questionnaire was designed to include 8 modules recommended by the IALA model course, and the survey results of 52 individuals working at 5 VTS centers were analyzed. The result showed that, unlike the assumption by the IALA, domestic VTS operators viewed Nautical Knowledge as the most important modules, followed by Emergency Situations, Traffic Management, Language, Equipment, VHF Radio, Communication Co-ordination, and Personal Attributes, in that order.

• Journal of Biosystems Engineering
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• 제26권1호
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• pp.21-28
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• 2001

Major deficiencies of current automation scheme including various robots for bioproduction include the lack of task adaptability and real time processing, low job performance for diverse tasks, and the lack of robustness of take results, high system cost, failure of the credit from the operator, and so on. This paper proposed a scheme that could solve the current limitation of task abilities of conventional computer controlled automatic system. The proposed scheme is the man-machine hybrid automation via tele-operation which can handle various bioproduction processes. And it was classified into two categories. One category was the efficient task sharing between operator and CCM(computer controlled machine). The other was the efficient interface between operator and CCM. To realize the proposed concept, task of the object identification and extraction of 3D coordinate of an object was selected. 3D coordinate information was obtained from camera calibration using camera as a measurement device. Two stereo images were obtained by moving a camera certain distance in horizontal direction normal to focal axis and by acquiring two images at different locations. Transformation matrix for camera calibration was obtained via least square error approach using specified 6 known pairs of data points in 2D image and 3D world space. 3D world coordinate was obtained from two sets of image pixel coordinates of both camera images with calibrated transformation matrix. As an interface system between operator and CCM, a touch pad screen mounted on the monitor and remotely captured imaging system were used. Object indication was done by the operator’s finger touch to the captured image using the touch pad screen. A certain size of local image processing area was specified after the touch was made. And image processing was performed with the specified local area to extract desired features of the object. An MS Windows based interface software was developed using Visual C++6.0. The software was developed with four modules such as remote image acquisiton module, task command module, local image processing module and 3D coordinate extraction module. Proposed scheme shoed the feasibility of real time processing, robust and precise object identification, and adaptability of various job and environments though selected sample tasks.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 심포지엄 논문집 정보 및 제어부문
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• pp.203-205
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• 2005

A reactor protection system (RPS) plays the roles of generating the reactor trip signal and the engineered safety features (ESF) actuation signal when the monitored plant processes reach predefined limits. A Korean project group is developing a new digitalized RPS and the Cabinet Operator Module (COM) of the RPS which is used for the RPS integrity testing and monitoring by an equipment operator. A flat panel display (FPD) with a touch screen capability is provided as a main user interface for the RPS operation. To support the RPS COM user interface design, actually the FPD screen design, we developed a user interface style guide because the system designer could not properly deal with the many general human factors design guidelines. To develop the user interface style guide, various design guideline gatherings, a walk-though with a video recorder, guideline selection with respect to user interface design elements, determination of the properties of the design elements, discussion with the system designers, and a conversion of the properties into a screen design were carried out. This paper describes the process in detail and the findings in the course of the style guide development.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.295-300
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• 1998

In this paper, a real time diagnostic algorithm fur estimating the impact location by loose parts is proposed. It is composed of two modules such as the alarm discrimination module (ADM) and the impact-location estimation module(IEM). ADM decides whether the detected signal that triggers the alarm is the impact signal by loose parts or the noise signal. When the decision from ADM is concluded as the impact signal, the beginning time of burst-type signal, which the impact signal has usually such a form in time domain, provides the necessary data fur IEM. IEM by use of the arrival time method estimates the impact location of loose parts. The overall results of the estimated impact location are displayed on a computer monitor by the graphical mode and numerical data composed of the impact point, and thereby a plant operator can recognize easily the status of the impact event. This algorithm can perform the diagnosis process automatically and hence the operator's burden and the possible operator's error due to lack of expert knowledge of impact signals can be reduced remarkably. In order to validate the application of this method, the test experiment with a mock-up (flat board and reactor) system is performed. The experimental results show the efficiency of this algorithm even under high level noise and potential application to Loose Part Monitoring System (LPMS) for improving diagnosis capability in nuclear power plants.

• 한국압력기기공학회 논문집
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• 제5권2호
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• pp.40-44
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• 2009

In this study, Event Corrective Action Supporting System (ECAS) is developed for the accident evaluation in nuclear power plant. The ECAS system can be used in supporting regulator and/or operator under event situation in nuclear power plants. The ECAS system consists of 5 modules including failure location module, failure analysis module, failure integrity evaluation module, system vulnerability evaluation module, and reporting and operating experience feedback module. The ECAS system will be used as sub module of Knowledge-Based Event Evaluation Network (K-EvENT) which is developing for the against the accident in nuclear power plants.

• 충청수학회지
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• 제20권4호
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• pp.367-373
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• 2007

For a unital *-subalgebra of the space $\mathcal{L}^a(X)$ of all adjointable maps on a Hilbert $\mathcal{B}$-module X with a $C^*$-algebra $\mathcal{B}$, we study unitary operator (in such algebra)-valued multiplier ${\sigma}$ on a normal, generating subsemigroup S of a group G with its extension to G. A dilation of a projective isometric ${\sigma}$-representation of S is established as a projective unitary ${\rho}$-representation of G for a suitable unitary operator (in some algebra)-valued multiplier ${\rho}$ associated with the multiplier ${\sigma}$ which is explicitly constructed.

• 제어로봇시스템학회논문지
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• 제11권8호
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• pp.669-677
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• 2005

This acticle describes the control method of mobile robots for avoiding slip and turnover on sloped terrain. An inexpensive gyro/vision sensor module is suggested for obtaining the information of terrain at present and future. Using the terrain information and the robot state, the maximum limit velocity of the forward velocity of the robot is defined fur avoiding slip and turnover of the robot. Simultaneously the maximum value of the robot velocity is reflected to an operator in the form of reflective force on a forte feedback joystick. Consequently the operator can recognize the maximum velocity of the robot determined by the terrain information and the robot state. In this point of view, the inconsistency of the robot movement and the user's command caused by the limit velocity of the robot can be compensated by the reflective force. The experimenal results show the effectiveness of the suggested method.

• 한국원자력학회:학술대회논문집
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• 한국원자력학회 2005년도 추계학술발표회
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• pp.1065-1066
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• 2005

• 대한수학회보
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• 제54권2호
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• pp.679-686
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• 2017

The present paper is devoted to self-adjoint cyclically compact operators on Hilbert-Kaplansky module over a ring of bounded measurable functions. The spectral theorem for such a class of operators is given. We use more simple and constructive method, which allowed to apply this result to compact operators relative to von Neumann algebras. Namely, a general form of compact operators relative to a type I von Neumann algebra is given.