• Journal of Institute of Control, Robotics and Systems
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• v.17 no.11
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• pp.1179-1182
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• 2011

RC servos are electro-mechanical devices that respond to a control signal, which instructs them to move their output shaft to a certain position. A servo is normally plugged into a radio receiver with a three pin connector. The three wires are a power (usually 4.8V to 6.0V), a ground, and a signal wire. The signal wire carries a PWM (Pulse-Width Modulation) signal consisting of a 1-2msec pulse repeated 50 times a second. A 1.5msec pulse will tell the servo to move to its output shaft to the center position, 0 degrees. For a servo with a 180 degree of motion, a 1msec pulse will move the servo to -90 degrees, and a 2msec pulse will move the servo to +90 degrees. In order to development a humanoid robot, mechanical design, fixtures design, analysis of kinematics, implementation moving program, selection of RC servo motor and controller are required. This study was performed to experimentally compare the rotation range of RC servo motors according to change of a periods.

• Journal of the Korea Institute of Military Science and Technology
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• v.17 no.6
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• pp.810-820
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• 2014

Recently many studies of Radar systems mounted on ground vehicles for autonomous driving, SLAM (Simultaneous localization and mapping) and collision avoidance are reported. In near field, several hits per an object are generated after signal processing of Radar data. Hence, clustering is an essential technique to estimate their shapes and positions precisely. This paper proposes a method of grouping hits in range-doppler domains into clusters which represent each object, according to the pre-defined rules. The rules are based on the perceptual cues to separate hits by object. The morphological connectedness between hits and the characteristics of SNR distribution of hits are adopted as the perceptual cues for clustering. In various simulations for the performance assessment, the proposed method yielded more effective performance than other techniques.

• Journal of Internet Computing and Services
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• v.17 no.5
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• pp.173-184
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• 2016

Prevalence of Agile methods in software companies is increasing dramatically. Software companies need to employ these methods to overcome the inherent challenges of traditional methods. However, transitioning to Agile approach is a topic of debate and there is no unique and well-defined transition model or framework yet. Although some research studies have addressed barriers and strengths behind the successful Agile deployment, it seems that this process still needs to be studied more in depth. The rationale behind this is the socio-technical nature of Agile transition and adoption. Particularly, the challenges and problems that software companies are facing during Agile transition, show that this process in more difficult than expected. Conducting a large-scale research study revealed that Agile transition and adoption process needs to be supported by several critical prerequisites. This study adopted a Ground Theory with the participation of 49 Agile experts from 13 different countries and empirically identified seven transition prerequisites. These prerequisites focus on the different aspects of the transition. The main aim of this paper is proposing these prerequisites and theoretical and practical implication of these prerequisites. Providing these prerequisites before moving to Agile increases chance of success in Agile transition and adoption and leads to fewer challenges during the change process.

• Journal of The Korean Digital Architecture Interior Association
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• v.8 no.2
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• pp.65-72
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• 2008

Therefore about the city research the research will be necessary from historical time. Are not adapted to a finally new situation the functions atrophy and they change, the different city function creating, they do. Specially, the time according to becoming, becomes the axial oneself more city intensive painter, or, in the city which extends the territory, compares the process which is special historically and the change which change etc. is various is rough (Japanese colonial time) with the atrophy which illustrates shows From the research which sees consequently (1) The background which the central area of the city comes to build and tries to analyze the features which changes from the cities and social viewpoints. And (2) Tries to investigate the city system which comes to make from the process which is special is a Japanese colonial time, Also (3) About movement of the process which the city central area which happens from that place comes to build and the city central area searches. With being like that, Space Syntax where uses from the research which sees makes the result which leads with objective the ground and the reporter comparison to analyze with social causes together does.

• Journal of the Korean Society of Safety
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• v.23 no.3
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• pp.87-92
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• 2008

A finite element method which is discontinuous in time is developed for the solution of the classical parabolic model of heat conduction problems. The approximations are continuous with respect to the space variables for each fixed time, but they admit discontinuities with respect to the time variable at each time step. The method is superior to other well-known approaches to these problems in that it allows a wider range of moving boundary value problems to be dealt with, such as are encountered in complex engineering operations like ground freezing. The method is applied to one-dimensional and two-dimensional heat conduction problems in this paper, although it could be extended to more higher dimensional problems. Several example problems are discussed and illustrated, and comparisons are made with analytical approaches where these can also be used.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.35 no.3
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• pp.277-283
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• 1999

For the purpose of leading horse mackerel Trachurus japonicus schools, mackerel Scomber japonicus schools and arrow squid Todarodes pacificus schools, which migrate to the Cheju coast and are caught by the set-net, to the set-net by attracting lamps, we made five attracting lamps and took a practical experiment in the Gwiduk and Dongbuk set-net fishing ground. In the set-net with two bag-nets, we compared the amount of catch of both bag-nets by the means of switching on and off the each attracting lamps in order, switching off the attracting lamps in order which had been switched on and moving an attracting lamp.In the bag-net with an attracting lamp, horse mackerel, mackerel and arrow squid were caught the most, on the other hand, yellow tail Seriola quinqueradiata, striped mullet Mugil cephalus were caught in large quantities in the bag-net without attracting lamp. File fish Stephanolepis cirrhifer, Dusky spinefoot Siganus fuscescens were caught evenly in both bag-nets regardless of an attracting lamp.This result indicates that the amount of horse mackerel, mackerel, arrow squid can be increased by the use of attracting lamps in the set-net fishing method.

• Journal of Ocean Engineering and Technology
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• v.21 no.4
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• pp.55-60
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• 2007

In contrast to the method in Part I, which is considered to be the general approach, Part II pursues a closed-form solution. However, this closed-form solution is available only in the 2D situation under the assumption that the moving object is restricted to a 2D space, and also requires the use of only two laser-slit sensors. Since the motion of the container loaded on top of an AGV is restricted to a plane parallel to the ground, it can be considered a 2D motion. As a simple method, but with a high cost, the use of a laser scanner is also discussed. Since the approach in Part I already uses three laser-slit sensors, it is desirable to use the schemes presented in Part II for supplementary purposes.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.6
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• pp.545-551
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• 2009

A small guard robot working indoors or outdoors can be used to report various information on its environment to an operator. The guard robot should be small-sized and lightweight to increase its portability. In addition, it should be able to overcome a relatively high obstacle to cope with various situations. To satisfy these requirements, this paper presents a small robot equipped with a novel hybrid wheel and track mechanism that can select wheels or tracks depending on the situation. The robot folds the tracks into the body in the wheel mode and only wheels are active with the tracks immobilized, which results in the fast moving speed. In the track mode, the tracks are extended to keep in contact with the ground. Furthermore, this research proposes the belt length maintenance mechanism by which the belt length is kept constant in either the wheel or track mode. Various experiments demonstrate that the proposed robot can move fast by using wheels on the smooth terrain and overcome obstacles by using tracks on the rough terrain.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.253-256
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• 2005

The use of satellite remote sensing in maritime safety and security can aid in the detection of illegal fishing activities and provide more efficient use of limited aircraft or patrol craft resources. In the area of vessel traffic monitoring for commercial vessels, Vessel Traffic Service (VTS) which use the ground-based radar system have some difficulties in detecting moving ships due to the limited detection range. A virtual vessel traffic control system is introduced to contribute to prevent a marine accident such as collision and stranding from happening. Existing VTS has its limit. The virtual vessel traffic control system consists of both data acquisition by satellite remote sensing and a simulation of traffic environment stress based on the satellite data, remotely sensed data. And it could be used to provide timely and detailed information about the marine safety, including the location, speed and direction of ships, and help us operate vessels safely and efficiently. If environmental stress values are simulated for the ship information derived from satellite data, proper actions can be taken to prevent accidents. Since optical sensor has a high spatial resolution, JERS satellite data are used to track ships and extract their information. We present an algorithm of automatic identification of ship size and velocity. This paper lastly introduce the field testing results of ship detection by RADARSAT SAR imagery, and propose a new approach for a Vessel Monitoring System(VMS), including VTS, and SAR combination service.

• Journal of the Korean Society of Safety
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• v.14 no.4
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• pp.158-167
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• 1999

In parallel flow condition, to estimate the stability of the extended embankment constructed on a permeable foundation ground, a laboratory model test was performed due to extended materials and water level increasing velocity of a flood period. A laboratory model test was peformed for different permeability coefficients ($K_1=2.0{\times}10^{-5}cm/sec,\;K_2=1.5{\times}10^{-4}cm/sec,\;K_3=2.3{\times}10^{-3}cm/sec$) using seepage. The fluctuation of water level occurring to an extended embankment was analyzed by laboratory model tests as vary the increasing velocity of water level with 0.6cm/min, 1.2cm/min, 2.4cm/min respectively. In analysis results, the increase of water level into embankment occurs rapidly because seepage water moving along with a permeable soil flow into embankment. The larger the permeability coefficient of an extended part is the longer initial seepage distance, and the exit point of downstream slope is gradually increased and then shows unstable seepage behavior as occurring partial collapse. As the increasing velocity of water level increase, the initial seepage line is formed low, and the discharge increases. Therefore, the embankment extended by a lower permeable soil than existing embankment shows stable seepage behavior because an existing embankment plays a role as filter for an extended part.