• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.806-811
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• 2005

The robot to search and rescue is used in narrow space where human cannot approach. In case of this robot, it can overcome obstacles such as wrecks or stairs etc. Also, this robot can do various locomotion for each object. In this reason, an articulated robot has advantages comparing with one module robot. However, the existing articulated robot has limits to overcome vertical passages. For expanding contacted territory of robot, a novel mechanism is demanded. In this paper, the novel mechanism of articulated mobile robot is designed for moving level ground and vertical passages. This paper proposes to change wheel alignment. The robot needs two important motions for passing vertical passages like pipe. One is a motion to press wheels at wall for not falling into gravity direction. The other is a motion that wheels contact a vertical direction of wall's tangential direction for reducing loss of force. The mechanism of the robot focused that two motions can be acted to use just one motor. Length of each link of robot is optimized that wheels contact a vertical direction of wall's tangential direction through kinematic modeling of each link. The force of pressing wall of robot is calculated through dynamic modeling. This robot composes four modules. This mechanism is confirmed by dynamic simulation using ADAMS program. The articulated mobile robot is elaborated based on the results of kinematic modeling and dynamic simulation.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.10
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• pp.954-961
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• 2008

An experimental study has been conducted to investigate the flow field around the wing having a circular damage hole. The damage was represented by a circular hole passing through the model with 10% airfoil chord diameter and normal to the chord. The hole was centered at quarter or half chord. The PIV flow fields and static pressure measurements on the wing upper and lower surface were carried out at Rec=2.85×105 based on the chord length. The PIV results showed the two types of flow structures around a damage hole were formed. The first one was a weak jet that formed an attached wake behind the damage hole. The second one resulted from increased incidence; this was a strong jet where the flow through the hole penetrates into the free-stream resulting in extensive separation of oncoming boundary layer flow and development of a separated wake with reverse flow. The surface pressure data showed a big pressure alteration near the circular damage hole. The severity of pressure alteration was increased as a damage hole located nearer to the leading edge.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.15 no.2
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• pp.77-82
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• 1979

It is said that anchovy of 6 to 7 em in body length is the most suitable for the live bait in skipjack pole and line fishing, and it must be held in a creel for more than 7 days so as to be transported from the holding ground to the fishing ground, kept in the small bait hold in a fishing boat. To hold the live bait anchovy, holding creel should be settled in calm waters, and then it is necessary to investigate the appearance of the available resource in the south-eastern coastal waters of Korea where the creel can be settled. The authors investigated the app~arance of the available resource in the waters, and the following results are found. 1. The available resource appears more and the fishing season is longer than in the offshore, rather than in the inshore. 2. The available resource arc caught in the offshore with the passing of time into winter, and they are caught merely in the offshore side in December. 3. The available resource could be secured from July to December, somewhere in the south-eastern coastal waiers of Korea, if the holding ground were removed appropriately.

• Journal of Korean Neurosurgical Society
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• v.48 no.3
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• pp.263-267
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• 2010

Although cerebellar hemangioblastomas are histopathologically benign, they yield a degree of malignant clinical behavior in long-term follow-up. We present two cases of long-term progression of renal cell carcinoma, which had been diagnosed as renal cysts during treatment for cerebellar hemangioblastoma. A 14-year-old male with von Hippel-Lindau disease was admitted for a cerebellar hemangioblastoma with multiple spinal hemangioblastomas and a renal cyst. After primary total resection of the cerebellar hemangioblastoma, the patient required two further surgeries after 111 and 209 months for a recurrent cerebellar hemangioblastoma. Furthermore, he underwent radical nephrectomy as his renal cyst had progressed to renal cell carcinoma 209 months after initial diagnosis. A 26-year-old male presented with multiple cerebellar hemangioblastomas associated with von Hippel-Lindau disease and accompanied by multiple spinal hemangioblastomas and multiple cystic lesions in the liver, kidney, and pancreas. He underwent primary resect'lon of the cerebellar hemangioblastoma in association with craniospinal radiation for multiple intracranial/spinal masses. Unexpectedly, a malignant glioma developed 83 months after discovery of the cerebellar hemangioblastoma. At the same time, renal cell carcinoma, which had developed from an initial renal cyst, was diagnosed, and a radical nephrectomy was performed. In the view of long term clinical course, cerebellar hemangioblastoma associated with von Hipple-Lindau disease may redevelop even after primary total resection. In addition, associated lesions such as renal cysts may also progress to malignancy after the passing of a sufficient length of time.

• The Transactions of the Korea Information Processing Society
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• v.3 no.2
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• pp.369-380
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• 1996

Inductive Loop Detector(ILD) has been commonly used in collecting traffic data such as occupancy time and non-occupancy time. From the data, the traffic volume and type of passing vehicle is calculated. To provide reliable data for traffic control and plan, accuracy is required in type recognition which can be utilized to determine split of traffic signal and to provide forecasting data of queue-length for over-saturation control. In this research, a new recognition model issuggested for recognizing typeof vehicle from thecollected data obtained through ILD systems. Two clustering methods, based on statistical algorithms, and one neural network clustering method were employed to test the reliability and occuracy for the methods. In a series of experiments, it was found that the new model can greatly enhance the reliability and accuracy of type recongition rate, much higher than conventional approa-ches. The model modifies the neural network clustering method and enhances the recongition accuracy by iteratively applying the algorithm until no more unclustered data remains.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.13 no.4
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• pp.242-251
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• 2001

Flow boiling heat transfer coefficients (HTCs) of R22, R134a, R407C, and R410A were measured for a horizontal plain tube. The test section was made of a copper tube of 8.8mm inner diameter and 1000mm length respectively. The refrigerant was heated by passing hot water through an annulus surrounding the test section. All tests were performed at a fixed refrigerant saturation temperature of $5^{\circ}C$ with mass fluxes of 100~300 kg/$m^2$,/TEX>s. HTCs were measured by two methods: the direct wall temperature measurement method and the indirect Wilson plot method. Experimental results showed that the Wilson plot method was affected greatly by the external test conditions and yielded inconsistent results. For the mass flux of 100kg/$m^2$,/TEX>s, HTCs were almost constant regardless of the quality for a given refrigerant HTCs of R134a and R407C were similar to those of R22 while those of R410A were 60% higher than those of R22. For the mass fluxes of 200 and 300kg/$m^2$,/TEX>s, HTCs of R407C were almost the same as those of R22, while HTCs of R134a and R410A were 12-13% and 20~23% higher than those of R22 respectively. For pure refrigerant, Shah\`s correlation yielded a good agreement with the measured data both qualitatively and quantitatively.

• International Journal of Highway Engineering
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• v.13 no.4
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• pp.151-158
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• 2011

Tunnel sections on the expressway are different from rest of sections on the expressway in terms of velocity, the number of passing cars, and vehicle density which, in particular, affect drivers' behavior before and after drivers pass through the tunnel. However, literature review reveals that former studies are too focused on quantitative indicator to consider qualitative aspects. Thus, this study tried to find out qualitative factors affecting speed reduction in tunnel sections based on questionnaire surveys and its analysis in tunnel sections selected by taking consideration of diverse conditions. Analysis showed that factors concerning tunnel configuration (lane width, shoulder width, and tunnel length) related to very long tunnels increasingly popular recently had some effects on reduced speed inside of tunnels. It appeared that visual environment such as visibility of tunnel entrance had an impact in speed reduction and vehicle speed tended to change according to lighting illumination level inside of tunnels. It is expected that continual investment would be made in technological development related to expressway tunnel design and service improvement based on this study.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.3
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• pp.181-189
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• 2001

The software components of embedded control systems get extremely complex as they are designed into distributed systems get extremely complex as they are designed into distributed systems consisting of a large number of inexpensive microcontrollers interconnected by low-bandwidth real-time networks such as the controller area network (CAN). While recently emerging middleware technologies such as CORBA and DCOM address the complexity of distributed programming, they cannot be directly applied to distributed control system design due to their excessive resource demand and inadequate communication models. In this paper, we propose a CORBA-based middleware design for CAN-based distributed embedded control systems. Our design goal is to minimize its resource need and make it support group communication without losing the IDL (interface definition language) level compliance to the OMG standards. To achieve this, we develop a transport protocol on the CAN and a group communication scheme based on the well-known publisher/subscriber model. The protocol effectively realizes subject-based addressing and supports anonymous publisher/subscriber communication. We also customize the method invocation and message passing protocol, referred to as the general inter-ORB protocol (GIOP), of CORBA so that CORBA method invocations are efficiently serviced on a low-bandwidth network such as the CAN. This customization includes packed data encoding and variable-length integer encoding for compact representation of IDL data types. We have implemented our CORBA-based middleware on the mArx real-time operating system we have developed at Seoul National University. Our experiments clearly demonstrate that it is feasible to use CORBA in developing distributed embedded control systems possessing severe resource limitations. Our design clearly demonstrates that it is feasible to use a CORBA-based middleware in developing distributed embedded systems on real-time networks possessing severe resource limitations.

• Computational Structural Engineering
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• v.10 no.3
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• pp.233-240
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• 1997

The study presents the linear dynamic analysis of multi-girder steel bridges under vehicular movement to examine the performance characteristics due to the various structural and loading conditions. The road surface roughness and bridge-vehicle interactions are considered. The road surface profiles for the approaching roadway and bridge decks are generated from power spectral density functions for different road roughness conditions. A new filtering method using the wheel trace is proposed to obtain the more rational bridge-vehicle interactions from the randomly generated road surface. The possible settlement condition between the bridge deck and approaching roadway is also included. The dynamic responses of various bridges designed according to current design practice are examined, in which important structural parameters(such as span length, girder spacing, etc.) are considered systematically. In addition to the basic loading conditions due to a single truck passing on the bridge, the traffic conditions of multi-truck traveling either consecutively on the same lane or side-by-side on the adjacent lanes are also evaluated.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.46 no.11
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• pp.92-100
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• 2009

In this paper, we analyze the hardware architecture of Low Density Parity Check (LDPC) decoder using Log Likelihood Ration-Belief Propagation (LLR-BP) decoding algorithm. Various design issues that affect the decoding performance and the hardware complexity are discussed and the tradeoffs between the hardware complexity and the performance are analyzed. The message data for passing error probability is quantized to 7 bits and among them the fractional part is 4 bits. To maintain the decoding performance, the integer and fractional parts for the intrinsic information is 2 bits and 4 bits respectively. We discuss the alternate implementation of $\Psi$(x) function using piecewise linear approximation. Also, we improve the hardware complexity and the decoding time by applying overlapped scheduling.