• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.9
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• pp.3422-3427
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• 2010

In this paper, we presents a sensor calibration technique using stereo X-ray images to provide efficient inspection of fast moving cargo objects. Stereo X-ray scanned images are acquired from a specially designed equipment which consists of a X-ray source, dual-linear array detector, and a conveyor system. Dual detector is installed so that rectified stereo X-ray images of objects are acquired. Using the stereo X-ray images, we carry out a sensor calibration to find the correspondences between the images and reconstruct 3-D shapes of real objects. Using the Image acquired from the stereo detectors with varying distances, we calculated the GCP(ground control point)of the image. And we figure out the error by comparing calculated GCP and GCP of the real object. The experimental results show the proposed technique can enhance the accuracy of stereo matching and give more efficient visualization for cargo inspection image.

• Journal of the Korean Society of Marine Environment & Safety
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• v.23 no.5
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• pp.574-584
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• 2017

In this paper, the optimizing path finding control method is studied for a Legged-robot. It's named TITAN-VIII. It has a lot of advantages over the wheeled robot in the ability to walk freely on an irregular ground. However, the moving speed on the ground of the Legged-robot is slower than the Wheeled-robot's. Consequently, the purpose of the method is presented in this paper to minimize its time when it walks to a goal. It find the path, our approach is based on an algorithm which is called Dijkstra's algorithm. In the rest of paper, the various posture of the robot is discussed to keep the robot always in the statically stable. Based on above works, the math formulas are presented to determine the joint angles of the robot. After that an algorithm is designed to find and keep robot on the desired trajectory. Experimental results of the proposed method are demonstrated in the last of paper.

• Journal of the Korean Association of Geographic Information Studies
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• v.11 no.3
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• pp.68-79
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• 2008

Ground vehicle borne system which is named RoSSAV(Road Safety Survey and Analysis Vehicle) developed in KICT(Korea Institute of Construction Technology) can collect road geometric data. This system therefore is able to evaluate the road safety and analyze road deficient sections using data collected along the roads. The purpose of this study is to extract road geometric data for 3D road modeling in dangerous road section and The system should be able to quickly provide more accurate data. Various sensors(circular laser scanner, GPS, INS, CCD camera and DMI) are installed in moving object and collect road environment data. Finally, We extract 3d road geometry(center, boundary), road facility and slope using integrated multi-sensor data.

• Journal of Environmental Science International
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• v.14 no.1
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• pp.41-51
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• 2005

Using three-dimensional non-hydrostatical numerical model with one way double nesting technique, atmo­spheric circulation in the mountainous coastal region in summer was investigated from August 13 through 15, 1995. During the day, synoptic westerly wind blows over Mt. Mishrung in the west of a coastal city, Sokcho toward the East Sea, while simultaneously, easterly upslope wind combined with both valley wind from plain (coast) toward mountain and sea-breeze from sea toward inland coast blows toward the top of the mountain. Two different directional wind systems confront each other in the mid of eastern slope of the mountain and the upslope wind goes up to the height over 2 km, becoming an easterly return flow in the upper level over the sea and making sea-breeze front with two kinds of sea-breeze circulations of a small one in the coast and a large one in the open sea. Convective boundary layer is developed with a thickness of about 1km over the ground in the upwind side of the mountain in the west and a thickness of thermal internal boundary layer from the coast along the eastern slope of the mountain is only confined to less than 200 m. On the other hand, after sunset, no prohibition of upslope wind generated during the day and downward wind combined with mountain wind from mountain towardplain and land-breeze from land toward under nocturnal radiative cooling of the ground surfaces should intensify westerly downslope wind, resulting in the formation of wind storm. As the wind storm moving down along the eastern slop causes the development of internal gravity waves with hydraulic jump motion in the coast, bounding up toward the upper level of the coastal sea, atmospheric circulation with both onshore and offshore winds like sea-breeze circulation forms in the coastal sea within 70 km until midnight and after that, westerly wind prevails in the coast and open seas.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.659-665
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• 2010

This paper proposes a control algorithm for quadruped robots moving on irregularly sloped uneven surfaces. Since the body balance of a quadruped robot is controlled by the forces acting on its feet during touchdown, the ground reaction force (GRF) is controlled for stable running. The desired GRF for each foot is generated on the basis of the desired galloping pattern; this GRF is then compared with the actual contact force. The difference between the two forces is used to modify the foot trajectory. The desired force is realized by considering a combination of the rate change of the angular and linear momenta at flight. Then, the amplitude of the GRF to be applied at each foot in order to achieve the desired linear and angular momenta is determined by fuzzy logic. Dynamic simulations of galloping motion were performed using RecurDyn; these simulations show that the proposed control method can be used to achieve stable galloping for a quadruped robot on irregularly sloped uneven surfaces.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.7C
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• pp.527-537
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• 2012

In this paper, we propose unmanned vehicle based tracking network (UVTN) architecture and algorithms which employ multiple autonomous unmanned ground vehicles (AUGV) to efficiently follow targets in a group. The goal of UVTN is to maximize the service coverage while tracking target nodes for monitoring or providing the network access. In order to achieve this goal, UVTN performs periodic expansion and contraction which results in optimized redistribution of AUGV's in the network. Also, enhanced algorithms such as fast contraction and longest first are also discussed to improve the performance of UVTN in terms of the average coverage ratio and traveled distance. Simulation results show that the proposed UVTN and enhanced algorithms can effectively track the moving target and provide the consistent coverage.

• Journal of Environmental Science International
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• v.27 no.2
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• pp.75-81
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• 2018

At present research on mining backfill materials is being carried out to prevent ground subsidence and breaking by underground cavern of exhausted mines. However, backfill materials can cause secondary environmental issues such as ground pollution. To solve these issues, liner and cover materials are constructed before backfill materials constructed, to inhibit toxic substances form moving to the surroundings. Liner and cover materials, however, should have an accelerating performance after construction and when the accelerating performance is degraded, the work efficiency can be lowered, and the construction cost can be increased, by many rebound content. Therefore, this study develops mining liner and cover materials, and evaluates their accelerating performance and physical properties of liner and cover materials by types and content of accelerating agent. In case of aluminate accelerating agent, it is mixed with more than 5% of liner and cover materials(binder/ratio); thus an accelerating performance satisfying Korean Industrial Standards(KS) occurs, and in case of alkali-free accelerating agent, when it is mixed with more than 7%(binder/ratio), accelerating performance satisfying KS occurs. The more the accelerating agent capacity increases, the more compressive strength decreases. In addition, it is confirmed that compressive strength of aluminate accelerating agent is more degraded than compressive strength of the alkali-free accelerating agent. It is also confirmed that drying shrinkage stability of the alkali-free accelerating agent is better than the drying shrinkage stability of the aluminate accelerating agent.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.11
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• pp.1112-1120
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• 2009

In this paper, the authors introduced a new approach to find the target orbits of each satellite in order to establish a temporary reconnaissance constellation mission to minimize the average revisit time (ART) while satisfying the constraint on fuel limit. Two distinct problems are dealt with: the first is to reconnoiter the local area with discriminating fuel constraint the second is to reconnoiter ground moving target with same fuel constraint. A preliminary effort in applying a genetic algorithm to those problems has also been demonstrated through simulation study. The results show that current ARTs of each mission are reduced by 41% and 42%, respectively, by relocating the orbit of each satellite. Naturally, the final result may depend on satellite orbits, sensor characteristics, allowable fuel cost, thruster capability, and maneuver strategies.

• Journal of the Korean Society of Groundwater Environment
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• v.6 no.3
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• pp.133-139
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• 1999

The geostatistical method Kriging is used to estimate the areal distributions of the depth to the water table and the altitude of the water table measured from the sea level. A northern part of the city of Pohang, Kyeong-Buk, Korea has been chosen and the digital map of the area with 1:5,000 scale from the National Geographic Information System (NGIS) project by National Geographic Institute has bun used to reproduce the ground surface distribution. The water table depth appears to be in the range between 7 m and 9.5 m except a few localities where mountain tops exist and the use of groundwater for agicultural purposes is believed to be heavy. The overall distribution of the water table altitude shows a monotonic gradual decrease from the west to the east (seaward direction from the inland) and to the south with maximum rate approximately at 90 m over 6 km in horizontal distance and indicates that the groundwater is moving several meters per day there.

• Korean Journal of Applied Biomechanics
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• v.12 no.2
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• pp.179-195
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• 2002

The purpose of this research is to provide a proper model by analyzing the sports biomechanical of physical movements on the basis of the two patterns(open-stance and cross-stance) at the ready-to-start pose. The subjects for this study are composed of five male handball players from P university and five female shooting players from S university. Three-way moving actions at start(right, left, and forward) are recorded with two high-speed video cameras and measured with two Force platforms and a EMG system. Three-dimensional action analyzer, GRF system, and Whole body reaction movement system are used to figure out the moving mechanisms at the start pose. The analytic results of the moving mechanism at the start pose were as follows. 1. Through examining the three-way moving actions at start, I have found the cross-stance pose is better for the moving speed of body weight balance than the open-stance one. 175 degree of knee joint angle at "take-off" and 172 degree of hip joint angle were best for the start pose. 2. The Support time and GRF data shows that the quickest center of gravity shift was occurred when cross-stanced male subjects started to move toward his lefthand side. The quickest male's average supporting time of left and right foot is 0.19${\pm}$0.07 sec., 0.26${\pm}$0.06sec. respectively. The supporting time difference between two feet is 0.07sec. 3. Through analyzing GRF of moving actions at start pose, I have concluded that more than 1550N are overloaded on one foot at the open-stance start, and the overloaded force may cause physical injury. However, at the cross-stance pose, The GRF are properly dispersed on both feet, and maximum 1350N are loaded on one foot.