Development of Autonomous Bio-Mimetic Ornamental Aquarium Fish Robotic (생체 모방형의 아쿠아리움 관상어 로봇 개발)
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- KIPS Transactions on Software and Data Engineering
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- v.4 no.5
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- pp.219-224
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- 2015
In this paper, the designed fish robots DOMI ver1.0 is researched and development for aquarium underwater robot. The presented fish robot consists of the head, 1'st stage body, 2nd stage body and tail, which is connected two point driving joints. The model of the robot fish is analysis to maximize the momentum of the robot fish and the body of the robot is designed through the analysis of the biological fish swimming. Also, Lighthill was applied to the kinematics analysis of robot fish swimming algorithms, we are applied to the approximate method of the streamer model that utilizes techniques mimic the biological fish. The swimming robot has two operating mode such as manual and autonomous operation modes. In manual mode the fish robot is operated to using the RF transceiver, and in autonomous mode the robot is controlled by microprocessor board that is consist PSD sensor for the object recognition and avoidance. In order to the submerged and emerged, the robot has the bladder device in a head portion. The robot gravity center weight is transferred to a one-axis sliding and it is possible to the submerged and emerged of DOMI robot by the breath unit. It was verified by the performance test of this design robot DOMI ver1.0. It was confirmed that excellent performance, such as driving force, durability and water resistance through the underwater field test.
The COMS(Communication, Ocean and Meteorological Satellite) EPS(Electrical Power Subsystem) is derived from an enhanced Eurostar 3000 version. Eurostar 3000 EpS is fully autonomous operation in nominal conditions or in the event of a failure and provides a high level of reconfigure capability. This paper introduces the COMS EPS preliminary design result. COMS EPS consists of a battery, a solar arrat wing, a PSR(Power Supply Regulator), a PRU(Pyrotechnic Unit), a SDAM(Solar Array Drive Mechanism) and relay and fuse brackets. COMS EPS can offer a bus power capability of 3 kW. The solar array is made of a deployable wing with two panels. One type fo solar cells is selected ad GaAs/Ge triple junction cells. Li-ion battery is base lined with ten series cell module of five cells in parallel. PSR associated to battery and solar array wing generates a power bus fully regulated at 50 V. Power bus os centralized protection and distribution by relay and fuse brackets. PRU provides power for firing actuarors devices. The solar array wing is rotated by the SADM under control of the attitude orbit control subsystem. The control and monitoring of the EPS, especially of the battery, is performed by the PSR in combination with the on-board software.
In this paper, we present a multi-media processor which can decode multiple-format video standards. The designed processor is evaluated with optimized MPEG-2, MPEG-4, and AVS (Audio video standard). There are two approaches for developing of real-time video decoders. First, hardware-based system is much superior to a processor-based one in execution time. However, it takes long time to implement and modify hardware systems. On the contrary, the software-based video codecs can be easily implemented and flexible, however, their performance is not so good for real-time applications. In this paper, in order to exploit benefits related to two approaches, we designed a processor called ASIP(Application specific instruction-set processor) for video decoding. In our work, we extracted eight common modules from various video decoders, and added several multimedia instructions to the processor. The developed processor for video decoders is evaluated with the Synopsys platform simulator and a FPGA board. In our experiment, we can achieve about 37% time saving in total decoding time.
The purpose of this study was to develop a miniature imaging gamma probe with high performance that can detect small or residual tumors after surgery. Gamma probe detector system consists of NaI(Tl) scintillator, position sensitive photomultiplier tube (PSPMT), and collimator. PSPMT was optically coupled with 6.5 mm thick, 7.62 cm diameter of NaI(Tl) crystal and supplied with -1000V for high voltage. Parallel hexagonal hole collimator was manufactured for characteristics of 40-mm hole length, 1.3-mm hole diameter, and 0.22 mm septal thickness. Electronics consist of position and trigger signal readout systems. Position signals were obtained with summing, subtracting, and dividing circuit using preamplifer and amplifier. Trigger signals were obtained using summing amplifier, constant fraction discriminator, and gate and delay generator module with preamplifer. Data acquisition and processing were performed by Gamma-PF interface board inserted into pentium PC and PIP software. For imaging studies, flood and slit mask images were acquired using a point source. Two hole phantom images were also acquired with collimator. Intrinsic and system spatial resolutions were measured as 3.97 mm and 5.97 mm, respectively. In conclusion, Miniature gamma probe images based on the PSPMT showed good image quality, we conclude that the miniature imaging gamma probe was successfully developed and good image data were obtained. However, further studies will be required to optimize imaging characteristics.
Purpose: Lymphoscintigraphy is absolutely being used standard examination in lymphatic diagnosis, evaluation after treatment, and it is useful for lymphedema to plan therapy. In case of lymphoscintigraphy of lower-extremity lymphedema, it had an effect on results if patients had not pose same position on the examination of 1 min, 1 hour and 2 hours after injection. So we'll study the methods to improve confidence with minimized quantitative analysis errors by influence factors. Materials and Methods: Being used the Infinia of GE Co. we injected
Background: The purpose of this study was to develop a structured and individualized smoking prevention program for adolescents by utilizing a multimedia computer-assisted instruction model and to empirically assess its effect. Method: For the purpose of this study, a guide book of smoking prevention program for middle and high school students was developed as the first step. The contents of this book were summarized and developed into an actual multimedia CAI smoking prevention program according to the Gane & Briggs instructional design and Keller's ARCS motivation design models as the second step. At the final step, the short-tenn effects of this program were examined by an experiment. This experiment were made for middle school and high school students and the quasi experimental design was the pretest - intervention - posttest. The measured data was attitude, belief, and knowledge about smoking, interest in the program, and learning motivation. Result: The results of this study were as follows: First, the guide book of a smoking prevention program was developed and the existing literature on adolescent smoking was analyzed to develop the content of the guide book. Then the curriculum was divided into three main domains on tobacco and smoking history, smoking and health, adolescent smoking and each main domain was divided into sub-domains. Second, the contents of the guide book were translated into a multimedia CAI program of smoking prevention througn Powerpoint software according to the instructional design theory. The characteristics of this program were interactive, learner controllable, and structured The program contents consisted of entrance(5.6%), history of tobacco(30%), smoking and health(38.9%), adolescent smoking(22.2%), video(4.7%), and exit(1.6%). Multimedia materials consisted of text(121), sound and music, image(still 84, dynamic 32), and videogram(6). The program took about 40 minutes to complete. Third, the results on analysis of the program effects were as follows: 1) There was significant knowledge increase between the pre-test and post-test with total mean difference 3.44, and the highest increase was in the 1st grade students of high school(p<0.001). 2) There was significant decrease in general belief on smoking between the pre-test and post-test with total mean difference 0.28. In subgroup analysis, the difference was significantly higher in the 1st grade of high school (p<0.001), low income class (p<0.001), and daily smokers (p<0.01). 3) There was no significant difference in attitudes on his personal smoking between the pre-test and post-test. 4) The interest in the program seemed to lower as students got older. The score of motivation toward this prevention program was the highest in the middle school 3rd grade. Among sub-domains of motivation, the confidence score was the highest. Conclusion: To be most effective, the smoking prevention program for adolescents should utilize the most up-to-date and accurate information on smoking, and then instructional material should be developed so that the learners can approach the program with enjoyment. Through this study, a guide book with the most up-to-date information was developed and the multimedia CAI smoking prevention program was also developed based on the guide book. The program showed positive effect on the students' knowledge and belief in smoking.
Mission opportunities and trajectory characteristics for the future Korean Mars mission have designed and analyzed using KSIV-III(Korea Space Launch Vehicle-III). Korea's first space center, 'NARO space center' is selected as a launch site. For launch opportunities, year 2033 is investigated under considering the date of space center's completion with KSLV series development status. Optimal magnitude of various maneuvers, Trans Mars Injection (TMI) maneuver, Trajectory Correction Maneuver (TCM), Mars Orbit Insertion (MOI) maneuver and Orbit Trim Maneuver(OTM), which are required during the every Mars mission phases are computed with the formulation of nonlinear optimization problems using NPSOL software. Finally, mass budgets for upper stage (launcher for KSIV-III and spacecraft are derived using various optimized maneuver magnitudes. For results, daily launch window from NARO space center for successful Korean Mars mission is avaliable for next 27 minutes starting from Apr. 16. 2033. 12:17:26 (UTC). Maximum spacecraft gross mass which can delivered to Mars is about 206kg, with propellant mass of 109kg and structure mass of 97kg, when on board spacecraft thruster's Isp is assumed to have 290 sec. For upper stage, having structure ratio of 0.15 and Isp value of 280 sec, gross mass is about 1293kg with propellant mass of 1099kg and structure mass of 194kg. However, including 10% margins to computed optimal maneuver values, spacecraft gross mass is reduced to about 148kg with upper stage's mass of 1352kg. This work will give various insights, requiring performances to developing of KSIV-III and spacecraft design for future Korean Mars missions.
This study attempts to describe and periodinate the sixty years history of Korean Geographical Society. For the purpose, several numerical records concerned with the society were employed. The Korean Geographical Society was established in 1945 as a first academic society in geography. The international participation of Korean geographers started when it applied for the IGU membership in 1959. Next year, Korean's application was approved at the 19th IGC in Stockholm. The 40 years later, Korea came to host the 29th IGC in Seoul. This means that the activity of Korean geographers has been vigorous during the 40 years in accordance with high growth of Korean economy. The number of the society member reached 116 in the latter part of 1960s. It grew steadily from 1970s to 1990s and now amounts to around one thousand. It is believed that such trend is associated with the increase of geographical department and the development of graduate programs during past 40 years in Korea. The number of the advanced degree holders was only 2 in 1960, and now reachs 338 among which 166(
The wall shear stress in the vicinity of end-to end anastomoses under steady flow conditions was measured using a flush-mounted hot-film anemometer(FMHFA) probe. The experimental measurements were in good agreement with numerical results except in flow with low Reynolds numbers. The wall shear stress increased proximal to the anastomosis in flow from the Penrose tubing (simulating an artery) to the PTFE: graft. In flow from the PTFE graft to the Penrose tubing, low wall shear stress was observed distal to the anastomosis. Abnormal distributions of wall shear stress in the vicinity of the anastomosis, resulting from the compliance mismatch between the graft and the host artery, might be an important factor of ANFH formation and the graft failure. The present study suggests a correlation between regions of the low wall shear stress and the development of anastomotic neointimal fibrous hyperplasia(ANPH) in end-to-end anastomoses. 30523 T00401030523 ^x Air pressure decay(APD) rate and ultrafiltration rate(UFR) tests were performed on new and saline rinsed dialyzers as well as those roused in patients several times. C-DAK 4000 (Cordis Dow) and CF IS-11 (Baxter Travenol) reused dialyzers obtained from the dialysis clinic were used in the present study. The new dialyzers exhibited a relatively flat APD, whereas saline rinsed and reused dialyzers showed considerable amount of decay. C-DAH dialyzers had a larger APD(11.70
The wall shear stress in the vicinity of end-to end anastomoses under steady flow conditions was measured using a flush-mounted hot-film anemometer(FMHFA) probe. The experimental measurements were in good agreement with numerical results except in flow with low Reynolds numbers. The wall shear stress increased proximal to the anastomosis in flow from the Penrose tubing (simulating an artery) to the PTFE: graft. In flow from the PTFE graft to the Penrose tubing, low wall shear stress was observed distal to the anastomosis. Abnormal distributions of wall shear stress in the vicinity of the anastomosis, resulting from the compliance mismatch between the graft and the host artery, might be an important factor of ANFH formation and the graft failure. The present study suggests a correlation between regions of the low wall shear stress and the development of anastomotic neointimal fibrous hyperplasia(ANPH) in end-to-end anastomoses. 30523 T00401030523 ^x Air pressure decay(APD) rate and ultrafiltration rate(UFR) tests were performed on new and saline rinsed dialyzers as well as those roused in patients several times. C-DAK 4000 (Cordis Dow) and CF IS-11 (Baxter Travenol) reused dialyzers obtained from the dialysis clinic were used in the present study. The new dialyzers exhibited a relatively flat APD, whereas saline rinsed and reused dialyzers showed considerable amount of decay. C-DAH dialyzers had a larger APD(11.70