• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.3
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• pp.311-317
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• 2010

In the paper, we propose an improved mobility method of modular robots by physical docking in the uneven environments. The modular robot system consists of autonomous docking device, 3 DOF robotic arm, motion controller, and main controller. Real-time location and direction of the robot are estimated using inner GPS and they are used to control direction and path of each robot for physical docking between modular robots. We design a navigation algorithm of modular robot using physical docking and cooperative navigation in the environment with broken road and low stair. The proposed method is verified by navigation experiments of three developed modular robots in the uneven environments.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2003.11a
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• pp.325-328
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• 2003

Fierce competition in today's global markets, the heightened expectation of customers have forced business enterprises to invest in, and focus attentions on, their Supply Chains, Also Cross Docking is an essential part of SC, and integrating Cross Docking with vehicle routing scheduling is needed to smoothly link the physical flow of SC, However, there is no the mathematical model which focuses on Cross Docking with vehicle routing scheduling. Therefore, the integrating model considers Cross Docking and vehicle routing scheduling will be developed in this paper. And the solution based on Tabu algorithm to this model will be provided.

• Proceedings of the Safety Management and Science Conference
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• 2006.11a
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• pp.385-392
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• 2006

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.4
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• pp.470-477
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• 2009

Modular reconfigurable robots with physical docking capability easily adapt to a new environment and many studies are necessary for the modular robots. In this paper, we propose a vision-based fuzzy autonomous docking controller for the modular docking robots. A modular docking robot platform which performs real-time image processing is designed and color-based object recognition method is implemented on the embedded system. The docking robot can navigate to a subgoal near a target robot while avoiding obstacles. Both a fuzzy obstacle avoidance controller and a fuzzy navigation controller for subgoal tracking are designed. We propose an autonomous docking controller using the fuzzy obstacle avoidance and navigation controllers, absolute distance information and direction informations of robots from PSD sensors and a compass sensor. We verify the proposed docking control method by docking experiments of the developed modular robots in the various environments with different distances and directions between robots.

• Proceedings of the Korean Society for Bioinformatics Conference
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• 2004.11a
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• pp.210-218
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• 2004

Poly(ADP-ribose)polymerase-1 (PARP-1) is a nuclear enzyme involved in various physical functions related to genomic repair, and PARP inhibitors have therapeutic application in a variety of neurological diseases. Docking and the QSAR (quantitative structure-activity relationships) studies for 52 PARP-1 inhibitors were conducted using FlexX algorithm, comparative molecular field analysis (CoMFA), and hologram quantitative structure-activity relationship analysis (HQSAR). The resultant FlexX model showed a reasonable correlation (r$^{2}$ = 0.701) between predicted activity and observed activity. Partial least squares analysis produced statistically significant models with q$^{2}$ values of 0.795 (SDEP=0.690, r$^{2}$=0.940, s=0.367) and 0.796 (SDEP=0.678, r$^{2}$ = 0.919, s=0.427) for CoMFA and HQSAR, respectively. The models for the entire inhibitor set were validated by prediction test and scrambling in both QSAR methods. In this work, combination of docking, CoMFA with 3D descriptors and HQSAR based on molecular fragments provided an improved understanding in the interaction between the inhibitors and the PARP. This can be utilized for virtual screening to design novel PARP-1 inhibitors.

• Bioinformatics and Biosystems
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• v.1 no.2
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• pp.103-108
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• 2006

Computational prediction of protein-ligand binding has been widely used as a tool to discover lead compounds fur new drugs. Prediction accuracy is determined in part by the scoring function used in docking calculations. Diverse scoring functions are available, and these can be classified into force-field based, empirical, and knowledge-based functions depending upon the basic assumptions made in development. Among these, force-field based functions consider physical interactions the most in detail. However, the force-field based functions have the drawback of not including the entropic effect while considering only the energy contribution such as dispersion or electrostatic forces. In this article, a method to take into account of the entropic effect using the colony energy is suggested when force-field based scoring functions is used by extracting conformational information obtained from the pre-existing docking program. An improved result for decoy discrimination is illustrated when the method is applied to the DOCK scoring function, and this implies that more accurate docking calculation is possible.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.40 no.2
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• pp.144-148
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• 2004

Generally a ship in a port or canal is guided by tugboat(s), while the ship engine(s) and steering mechanism idle. The shortcomings of this method are insufficient in course keeping ability, danger of collision with waterside structures, time-consuming preparation for tugging, as well as the need to maintain tugboats. A new technology for ship guiding, based on the physical principle of interaction of a solid body with aerated liquids has been developed [1]. Model tests were carried out for the verification of system at slow speed by engine operating conditions and with an idle steering. The developed device has been proved to keep the ship on course safely.

• International Journal of Naval Architecture and Ocean Engineering
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• v.12 no.1
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• pp.184-198
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• 2020

Decisions of the design speed, MCR, and engine capacity have been empirically made by assuming the value termed the sea margin. Due to ambiguity regarding the effect of some factors on the sea margin, the value has been commonly decided based on experience. To evaluate the value from a new viewpoint, it is necessary to construct an approach to estimate the sea margin through an objective procedure based on a physical and mathematical model. In this paper, a framework to estimate the actual sea margin of an LNGC based on the maneuvering equations of motion is suggested by considering the hull, propeller, rudder, and given sea route under wind and waves. The fouling effect is additionally quantified as the increase of total resistance by considering the re-docking period. The operation data is reviewed to amend the increase of the total resistance considering the speed loss of a ship. Finally, the factor of how much the resistance increases due to fouling is newly obtained for the vessel. Based on the comparison of the estimated sea margin with the empirical range of the sea margin, the constructed framework is regarded as feasible.