• The Journal of Korea Robotics Society
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• v.4 no.2
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• pp.105-111
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• 2009

In this paper, we provide experimental results and verification for obstacle avoidance algorithm 'ELA(Emergency Level Around)', which is applicable to rescue robots. ELA is a low level intelligence-based obstacle avoidance algorithm, so can be used in fast mobile robots requiringhigh speed in operation with little computational load. Constructed system for experiments consist of laptop, sensors, peripheral devices and mobile robot platform VSTR(Variable Single-tracked Robot) to realize predetermined scenarios. Finally, experiment was conducted in indoor surroundings including miscellaneous things as well as dark environment to show fitness and robustness of ELA for rescue, and it is shown that VSTR navigates endowed area well with real-time obstacle avoidance based on ELA. Therefore, it is concluded that ELA can be a candidate algorithm to increase mobility of rescue robots in real situation.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.235-241
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• 2016

Dual arm manipulators have been developed for the entertainment purpose such as humanoid type or the industrial application such as automatic assembly. Nowadays, there are some issues for applying the dual arm robot system into the various fields. Especially, robots can substitute human and perform the dangerous activity such as search and rescue in the battle field or disaster. In the paper, the dual arm manipulator which can be adapted to the rescue robot with the mobile platform was developed. The kinematic design was proposed for the rescue activity and the required specification was determined through the kinematic analysis and the dynamic analysis in the various conditions. The proposed dual arm manipulator was manufactured based on the vibration analysis result and its performance was proved by the experiment.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.4
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• pp.288-292
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• 2016

In this paper, we propose an infrared image based human victim recognition method for a search and rescue robot in dark environments, like general disaster situations. For recognizing a human victim, an infrared camera on a RGB-D camera, Microsoft Kinect, is used. The contrast and brightness of the infrared image are first improved by histogram equalization, and the noise on the image is removed by morphological operation and Gaussian filtering. For recognizing a human victim, the binarization and blob labeling methods are applied to the improved image. Finally, for verifying the effectiveness and feasibility of the proposed method, an experiment for human victim recognition is carried out in a dark environment.

• 한국전산유체공학회:학술대회논문집
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• 2008.03b
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• pp.163-167
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• 2008

In this study, the 1/35 reduced-scale model experiment were conducted to investigate designed ventilation effect on the smoke movement at rescue station fire in railway tunnel. A model tunnel with 2 mm thick, 10 m long, 0.19 m high and 0.26 m was made by using Froude number scaling law. The cross-passages installing escape door at the center were connected between incident tunnel and rescue tunnel. The n-heptane pool fires with heat release rate 698.97W were used as fire source. The fire source was located at the center and portal of incident tunnel as worst case. A operating ventilation system extracted smoke amount of 0.015 cms(cubic meters per second). The smoke temperature and CO gas concentration in cross-passage were measured to verify designed ventilation system. The result showed that, at center fire case without ventilation, smoke did not propagate to rescues station. In portal fire case, smoke spreaded to rescues station without ventilation. But smoke did not propagated to rescues station with designed ventilation.

• Journal of the Korean Society for Railway
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• v.12 no.1
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• pp.9-15
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• 2009

In this study, the l/35 reduced-scale model experiment were conducted to investigate designed ventilation system performance at rescue station in tunnel fire. A model tunnel with 2 mm thick of steel, 10 m long, 0.19 m high and 0.26m was made by using Froude number scaling law. The cross-passages installing escape door at the center. were connected between accident tunnel and rescue tunnel. The n-heptane pool fire, $4cm\times4cm$, with heat release rate 698.97W were used as fire source. The fire source was located in the center and portal of accident tunnel as Worst case.. An operating ventilation system extracted smoke amount of 0.015 cms. The smoke temperature and carbon monoxide. concentration in cross-passage were measured to verify designed ventilation system. The results showed that, in center fire case without ventilation in accident tunnel, smoke did not propagated to rescue station. In portal tire case, smoke spreaded to rescue station without ventilation. But smoke did not propagated to rescue station with designed ventilation.

• International Journal of Industrial Entomology and Biomaterials
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• v.15 no.2
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• pp.131-135
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• 2007

Open reading frame 4 of Bombyx mori nucleopolyhedrovirus (BmNPV), designated as Bm4, is a gene whose function is completely unknown. With the recently developed BmNPV bacmid and a modified pFastBac1 whose polyhedrin promoter was replaced with ie1 promoter, a recombinant bacmid expressing Bm4-EGFP fusion protein under the control of ie1 promoter in BmN cells was successfully constructed. The result not only showed that the polyhedrin promoter can be replaced efficiently with other promoters to direct the expression of foreign gene in BmN cells by using Bac-to-Bac/BmNPV baculovirus expression system but also laid the foundation for rescue experiment of Bm4 deletion mutant due to the ability of ie1 promoter to direct gene expression throughout the infection cycle.

• Journal of the Korea Institute of Information Security & Cryptology
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• v.9 no.4
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• pp.49-60
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• 1999

In this paper we introduce the definition and historical overviews of computer virus program and review their side-effect and ways of infections. We describe the feature of CIH virus which damaged lots of PC systems in Asian countries recently and propose new methods how to rescue against destruction under the operating system of the Microsoft's Windows 95/98. Our experiment results can fix hard disk having FAT32 file system structure and show some popular program cases of having recovered by commercial vaccine program.

• Journal of Navigation and Port Research
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• v.34 no.5
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• pp.349-354
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• 2010

Cheonan, Republic of Korea Navy patrol ship sank had happened by an unknown incident in the vicinity of Baekryeongdo southwest 1.6km(1 mile) sea at 21:45 on March 26, 2010. In terms of coastal researcher's point of view, it is meaningful to provide the sea condition of basic data necessary for search and rescue, more detailed predictions and inference data through the numerical simulations. Thus, in this study, we investigated the weather, wave, tide, tidal current, bottom soil conditions, and suspended sediment are investigated at the coast of Baekryeong-Daechung islands. And based on these data, the characteristics of sea conditions were analyzed. The tidal period at the time of incident corresponds between neap tide to mean tide. Until April 3-4 after March 26, the date of incident, the strongest velocity was progressed towards the spring tide. Thus, it was considered to be difficult to search and rescue operations. Also, because the ebb tide was in progress during 21:00 to 22:00, mass transport seems to be prevailed to the southeast. In particular, as the sudden turbulence due to the irregular topography existed was anticipated, we had carried out particle tracking experiment. From this experiment, depending on the situation of flow, the initial movement of the particles were directed to the southeast but it turned out moving towards the offshore based on the long term prediction. Through this result, it is considered that the scope of the search operation should be expanded towards the open sea.

• Journal of the Korean Society of Marine Environment & Safety
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• v.3 no.1
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• pp.85-92
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• 1997

To understand the dynamics of a drifting object, an analysis based on fluid dynamics theory is presented. A simplified analysis shows a consistency with the linear formula currently used for search and rescue mission. Also an experiment using miniatured human models has been conducted to study the drift characteristics of Person-in-Water. The tests were carried out at the water channel facility and the models were tested in different positions and styles. The measured drag coefficients for human body ranged over 0.4-1.2.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2002.11a
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• pp.1-6
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• 2002

To provide an easy operation of drift prediction model in SAR(search and rescue) mission a GUI program running on Window environment has developed. Users can make choice of input data on the screen by just clicking the mouse and the prediction results of datum points and trajectories of vessels are drawn on the map. The program contains both Leeway Equation model and mathematical model. The FORTRAN language was used in programming and Lehay Winteracter 4.0 software was utilized for graphic presentation. The result of May, 2001 Busan field experiment was plotted with that of model prediction for demonstration purpose.