• 한국초전도학회:학술대회논문집
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• v.9
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• pp.102-106
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• 1999

We have designed and fabricated a four-bit shift register circuit using YBCO bicrystal junctions and experimentally tested its operations by a computer-controlled digital measurement set-up. Laser ablated YBCO thin films with clean surface were used in this work. The circuit consists of the shift register and two read SQUIDs placed next to each sides of the shift register. The SQUIDs were inductively coupled to the nearby shift register stages. A probe equipped with high speed coax lines were used in this experiment. The major obstacle in testing the circuit was the interference between the read SQUIDs and we solved the problem by finding the correct operation points of the SQUIDs from the simultaneously measured modulation curves. Loaded Data("1" or "0") were successfully shifted from a stage to the next one by a controlled current pulse injected to the bias lines located between the stages and the data shifts were correctly monitored by the read SQUIDs

• Journal of architectural history
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• v.25 no.2
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• pp.7-19
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• 2016

Shenyang was one of the representative transportation hub of Northeast China during the modern period. The formation and development of the railway network gave great influence on Shenyang's city development. In order to understand the relationship between railway and city development, first, we classified Shenyang's city development period by the railway network's formation and expansion process. Then, we analyzed the relationship between railway and city space by five categories. The results of this study are as follows. First, before railway was constructed, Shenyang was a castle city, which also was the economic center of Northeast China. This was the main reason Shenyang was chosen as a railway zone. During the modern period, the castle structure became an obstacle to city transportation and environment, therefore, it was disposed. During the period of railways' expansion, South Manchuria, Jingfeng and Shenhai railway line was constructed in Shenyang. Since each line had different operation organizations, city sites along the railways were planned separately. However, these operation organizations had one common purpose, which was to use railway as an accelerator for economic development. During the period of railway's military usage, railway was reorganized as military supply transport for the Japanese, which also was used as a tool for the expansion of colonialism. Second, after Shenyang's city space was reconstructed along the railway, it created a close connection with city structure, city facilities, landscape and city transportation system. Hence, the railway system played a key role in modern city planning.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.4
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• pp.456-462
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• 2014

In this paper, we present a deployable bio-inspired robot called the Pillbot-light, which utilizes a safe autonomous navigation system. The Pillbot-light is mounted the station robot, and can be operated in a disaster relief operation or military operation. However, the Pilbot-light has a challenge to navigate autonomously because the Pilbot-light cannot be equipped with various sensors. As a result, we propose a new robot system for autonomous navigation that the station robot controls Pillbot-light equipped with vision camera and CPU of high performance. This system detects obstacles based on the edge extraction using vision camera. Also, it cannot only achieve path planning using the hazard cost function, but also localization using the Particle Filter. And this system is verified by simulation and experiment.

• Journal of Advanced Navigation Technology
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• v.28 no.3
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• pp.272-277
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• 2024

In most countries, instrument flight procedures are designed by applying one of the following standards: the International Aviation Organization's DOC 8168, Air Navigation Services and Operation Procedures (PANS-OPS), or the US Federal Aviation Administration's TERPS, Terminal Procedures. In particular, the circling approach procedure has many differences between the two standards, and the US terminal procedure (TERPS) has become more complicated since 2013 by applying expanded standards depending on altitude. The circling approach procedures are more risky than straight-in approach procedures because it involves maneuvering the aircraft close to the ground at low energy for landing. In order to accurately understand these differences, this study provides to distinguish by what criteria the circling approach procedure is designed according to individual domestic airports in Korea, to calculate the radius for the range of circling approach areas that guarantee minimum obstacle avoidance during circling approach maneuvers, and to present methods for performing safe circling approach procedures.

• Journal of the Korean Society of Industry Convergence
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• v.14 no.4
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• pp.151-156
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• 2011

The domestic mine development community the countermeasure establishment is insufficient about ground sinkage, not only the mine which is a in line is partial from the mine of the most which has become the rest mine and abandoned mine or the index sinkage occurs. The ground sinkage which occurs from the abandoned mine area most after operation is stopped, a long time passes and accurately predicts an occurrence location and a time with the residual sinkage which occurs, is difficult. Underground goaf of the abandoned mine and the closed shaft When considering the potentiality which causes the instability of ground, is a possibility of reaching a damage in the ground infrastructure or life. The underground shaft which is formed specially with mine development and goaf operates with the obstacle factor in the development project of the mine area, the ground sinkage which is caused by with sinkage, operates with the large safety accident occurrence factor where the important infrastructure of the railroad, road, residential area etc. is damaged. Therefore, In this paper, the goaf cave of the abandoned mine area, for the displacement behavior according to the filling factor of the material is to analyze the numerical analysis.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.849-854
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• 2003

The Korea Atomic Energy Research Institute has developed a teleoperated cleaning robot for use in the radioactive zone of the isolation room of the Irradiated Material Examination Facility where direct human access to the interior is strictly limited. The teleoperated cleaning robot that was designed to completely eliminate human interaction with the hazardous radioactive contaminants has five remotely replaceable submodules - a mobile module for navigation, a cleaning module for dislodging and sucking contaminated waste, a sensing module for obstacle avoidance, a collection module for storing the acquired waste, and a cover module for protecting the collection module. This cleaning robot is capable of cleaning the contaminated floor surface of the isolation room and collecting loose dry spent nuclear fuel debris and other radioactive waste fixed or scattered on the floor surface. The developed cleaning robot is operated either by a manual control or by autonomous control in conjunction with a graphical simulator, by which the human operator can monitor and intervene the robot performing cleanup tasks in the isolation room. In this paper, we present the mechanical and environmental design considerations and development of the teleoperated cleaning robot for radioactive isolation room use. We also demonstrate its mock-up performance test results from the viewpoint of a remote cleanup operation and remote maintenance.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.11
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• pp.1137-1145
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• 2007

Palletizing tasks are necessary to promote efficient storage and shipping of boxed products. These tasks, however, involve some of the most monotonous and physically demanding labor in the factory. Thus, many types of robot palletizing systems have been developed, although many robot motion commands still depend on the teach pendant. That is, the operator inputs the motion command lines one by one. This is very troublesome and, most importantly, the user must know how to type the code. We propose a new GUI(Graphic User Interface) for the palletizing system that is more convenient. To do this, we used the PLP "Fast Algorithm" and 3-D auto-patterning visualization. The 3-D patterning process includes the following steps. First, an operator can identify the results of the task and edit them. Second, the operator passes the position values of objects to a robot simulator. Using those positions, a palletizing operation can be simulated. We chose a widely used industrial model and analyzed the kinematics and dynamics to create a robot simulator. In this paper we propose a 3-D patterning algorithm, 3-D robot-palletizing simulator, and modified trajectory generation algorithm, an "overlapped method" to reduce the computing load.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.491-494
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• 2002

The real-time industrial network often referred to as fieldbus, is an important element for building automated manufacturing systems. Thus, in order to satisfy the real-time requirements of field devices such as sensors, actuators, and controllers. numerous standard organizations and vendors have developed various fieldbus protocols such as Profibus, WorldFIP and Foundation Fieldbus. However, the application of fieldbus has been limited due to the high cost of hardware and the difficulty in interfacing with multi-vendor products. In order to solve these problems, the computer network technology, especially Ethernet (IEEE 802.3), is being adopted lo the industrial environment. The crucial technical obstacle for Ethernet is that its non-deterministic behavior makes it inadequate for industrial applications where real-time data such as control command and alarm signal hale to be delivered within a certain time limit. Recently, the development of switched Ethernet shows a very promising prospect for industrial application due to the elimination of uncertainties in the network operation resulting in much improved performance. This paper focuses on the application of the switched Ethernet for industrial comm unications.

• The Journal of the Korea institute of electronic communication sciences
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• v.5 no.4
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• pp.471-479
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• 2010

A holonomic drive can provide rotational and translational acceleration simultaneously in any direction. For this reason the holonomic drive technology is very desirable in creating motion for any mobile platform and has many promising mobility applications in the field of robotics and automation where manipulability is critical issue especially when the mobile system is operated in obstacle prone environment. In this paper a pragmatic methodology for realizing a holonomic drive system using multiple servo-casters is presented. The steering and driving of each servo-caster is controlled such that they are coordinated with the motions of other servo-casters in order to realize holonomic motion. This paper also proposes algorithms for varying manipulability as operation situation demands.

• Journal of Sensor Science and Technology
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• v.17 no.4
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• pp.308-316
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• 2008

For the measurement of liquid level in ship's cargo tank, ballast tank, fuel oil tank and fresh water tank, several types of gauge meter are used such as tubular type, magnetic float type, reflex type transparent type and welding pad type. Among them, magnetic float type gauge meter is environmental friendly device because it is free of power source and maintenance. The main obstacle of the device is relatively large error bound. In this paper, finite element method is used to design and analysis of the magnetic float type gauge meter. The operation of reed switch according to the magnetic field has been successfully described and agreed well with experimental measurement. The optimum geometry with combination of permanent magnet and reed switches are designed to achieve 98 % accuracy of fluid level.