• Journal of Information Technology Services
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• v.10 no.4
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• pp.259-268
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• 2011

A robot education system by emulation based on Web can be efficiently used for understanding concept of robot assembly practice and control mechanism of robot by control programming. It is important to predict the path of the line tracer robot which has to be decided by the robot. Shortest Path Algorithm is a well known algorithm which searches the most efficient path between the start node and the end node. There are two related typical algorithms. Dijkstra Algorithm searches the shortest path tree from a node to the rest of the other nodes. $A^*$ Algorithm searches the shortest paths among all nodes. The delay time caused by turning the direction of navigation for the line tracer robot at the crossroads can give big differences to the travel time of the robot. So we need an efficient path determine algorithm which can solve this problem. Thus, It is necessary to analyze the overhead of changing direction of robot at multi-linked node to determine the next direction for efficient routings. In this paper, we reflect the real delay time of directional changing from the real robot. A speed based Dijkstra algorithm is proposed and compared with the previous ones to analyze the performance.

• Proceedings of the KSAR Conference
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• 2003.06a
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• pp.21-21
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• 2003

Male germ cell apoptosis has been extensively explored in rodent. In contrast, very little is known about their susceptibility to apoptosis stimuli of developing germ cell stages at the time when germ cell depletion after busulfan treatment occurs. Furthermore, it is still unanswered how spermatogonial stem cells are resistant to busulfan treatment. We examined the change of gene expression in detail using cDNA microarray analysis of mouse testis treated with busulfan. A subtoxic dose of busulfan (40mg/kg of body weight) transiently increased 228 mRNA levels among of the 8000 genes analyzed. TagMan analysis confirmed that the mRNA levels such as defensive protein, support protein, enzymatic protein, transport protein, and hormonal protein were rapidly increased. These results were re-confirmed by real-time PCR analysis. However, the expression levels of these genes induced by busulfan treatment were significantly reduced in control testis, indicating that both of male germ cells and somatic cells after busulfan treatment induces self-defense mechanism for protection of testicular cell death. Among them, we conclude that defense proteins play a key role in testis injury induced by busulfan.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.57-61
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• 2005

This paper presents a new colonoscopy training simulator that includes a specialized haptic device and graphics algorithms to transfer haptic sensation through a long and flexible tube, and manage large number of polygons. The developed haptic device makes the colonoscope tube move along the two guiding rods in the translational direction. The torque of the roll motion is transferred by a timing belt and pulleys. A special guide is developed, which allows the force and torque from the motors to be transmitted to the user without loss. The haptic device is evaluated by physicians. One of the important skills of the colonoscopy, jiggling is incorporated for the first time by the developed sensor mechanism using photo-sensors. A colonoscope handle that shares the look, feel, and functions with the actual colonoscope, is developed with the necessary electronics inside. The number of polygons is reduced by an edge-collapse algorithm for real-time simulation. The algorithms to import CT data, to segment the colon image, to extract centerline of the colon, and to construct the colon surface, are integrated into a Colon Modeling Kit system that performs all these processes in real-time.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.10a
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• pp.1010-1012
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• 2015

Interest in fossil fuels, alternative energy development in the world has increased significantly. That interest in solar systems increase significant and technology for efficiency and effective operation of PV technology, we expect to continue. This section provides the necessary information to users, and introduce the client system for mobile monitoring real-time solar system information, without the constraints of location or time, and leverage real-time information transmitted tell me about the expected effects that you can get to evaluate.

• Journal of the Society of Naval Architects of Korea
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• v.60 no.4
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• pp.288-295
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• 2023

This paper deals with the dynamic simulation method for analysis of driving characteristics of aircraft and towing vehicles (TUG) on carrier vessel in wave motions. For prompt deployment in a short period of time, optimization of the movement of carrier aircraft becomes a major issue. In this regards, strategy studies using real-time simulation technology and optimal decision-making technologies are being conducted. In the present work, the dynamic characteristics of carrier aircraft and TUG connected by towbar or towbarless mechanism were investigated by means of multi-body dynamics model. Meanwhile, for real-time simulation, Dugoff's model of tire loads calculation was adopted. Through comparative analysis it was confirmed that the similarity of results between the multi-body contact model and the tire load calculation model can be achieved by coefficients tuning.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.7
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• pp.3100-3116
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• 2016

With the rapid development of urban traffic system and fast increasing of vehicle numbers, the traditional centralized ways to generate the source-destination shortest path in terms of travel time(the optimal path) encounter several problems, such as high server pressure, low query efficiency, roads state without in-time updating. With the widespread use of smart cameras in the urban traffic and surveillance system, this paper maps the optimal path finding problem in the dynamic road network to the shortest routing problem in the smart camera networks. The proposed distributed optimal path generation algorithm employs the delay routing and caching mechanism. Real-time route update is also presented to adapt to the dynamic road network. The test result shows that this algorithm has advantages in both query time and query packet numbers.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1137-1147
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• 2004

In this paper, we proposed two types of adaptive control mechanism which is named HIA(Humoral Immune Algorithm) PID and CMIA(Cell-Mediated Immune Algorithm) controller based on biological immune system under engineering point of view. The HIA PID which has real time control scheme is focused on the humoral immunity and the latter which has the self-tuning mechanism is focused on the T-cell regulated immune response. To verify the performance of the proposed controller, some experiments for the control of AGV which is used for the port automation to carry container without human are performed. The experimental results for the control of steering and speed of an AGV system illustrate the effectiveness of the proposed control scheme. Moreover, in that results, proposed controllers have better performance than other conventional PID controller and intelligent control method which is the NN(neural network) PID controller.

• Nuclear Engineering and Technology
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• v.29 no.2
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• pp.167-174
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• 1997

The method that the operating condition of Control Rod Drive Mechanism (CRDM) can be monitored without mounting sensors within CRDM housing was developed, and by using this developed method the closed-loop controller for the CRDM was designed which can optimize the performance and maximize the reliability of CRDM operation. Neural network is utilized as pattern recognition engine in detecting CRDM actuation. In this paper, most problems in previous open loop system are resolved. The control algorithms for closed-loop system ore developed and implemented within the hardware of timing controller based on microprocessor. All functions in the timing controller ore verified by means of real time CRDM simulator. The results show that the timing controller performs its intended functions properly.

• Journal of Korea Multimedia Society
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• v.13 no.2
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• pp.205-215
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• 2010

It is necessary to provide a fast and secure handover for seamless real-time multimedia services based on IEEE 802.11. In this paper, we propose FMIPv6 handoff protocol integrating L2/L3 layer based on IEEE 802.11 WLAN environment. In that, we propose a hierarchical key management scheme and authentication mechanism for protecting the handover signaling messages. The number of connections with AAA server is minimized for the fast handover. It is also compared and analyzed the handover cost with previous method.

• Journal of Advanced Marine Engineering and Technology
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• v.36 no.1
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• pp.133-140
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• 2012

In this study, a reliable control scheme with PID combined controller will be considered. The combined controller in this study is PID algorithm with parameters tuned by using ILC (iterative learning control) approach. The controller was applied to the vibration isolator using an induction motor which works as an actuator. This isolator is developed to eliminate the influence of vibration from rotating machineries on the small ship. The NI cRIO real time controller with FPGA is loaded to get or generate control signals. Crank mechanism which converts rotating energy into translational force is adopted and the relation between control force and torque generated from actuator is also analyzed. A Labview program is composed for controlling practice. Experimental results will be described to show the effectiveness of the proposed control schemes.