• Journal of the Korean Society of Manufacturing Process Engineers
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• v.12 no.6
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• pp.132-141
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• 2013

Robotic Drilling Systems(RDSs) set the standard for the factory automation systems in aerospace manufacturing. With the benefits of cost effective drilling and predictive maintenance, RDSs can provide greater flexibility in the manufacturing process. The system can be easily adopted to manage very complex and time-consuming processes, such as automated fastening hole drilling processes of large aircraft sections, where it would be difficult accomplished by workers following teaching or conventional guided methods. However, in order to build an RDS based on a CAD model, the precise calibration of the Tool Center Point(TCP) must be performed in order to define the relationships between the fastening-hole target and the End Effector(EEF). Based on the kinematics principle, the robot manipulator requires a new method to correct the 3D errors between the CAD model of the reference coordinate system and the actual measurements. The system can be called as a successful system if following conditions can be met; a. seamless integration of the industrial robot controller and the IO Level communication, b. performing pre-defined drilling procedures automatically. This study focuses on implementing a new technology called iGPS into the fastening-hole-drilling process, which is a critical process in aircraft manufacturing. The proposed system exhibits better than 100-micron 3D accuracy under the predefined working space. Based on the proposed EEF fastening-hole machining process, the corresponding processes and programs are developed, and its feasibility is studied.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.7
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• pp.2693-2701
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• 2010

Coastal Zone is a integrated space including both coastal waters and inland. C.Z.M is a strategic practice system which can integrate and coordinate the coastal zone for preserving and making use of coastal resources. Through foreign and domestic C.Z.M Cases, this study analyzes the operating mechanism in the three aspects: role sharing among the administrative agencies, mediation and cooperation among the interested parties, and inducements of voluntary participation. And it achieves the common characteristics of C.Z.M: building the assessment system for establishing desirable policy directions, the stable support system for sustainable coastal management, the mediation system for cooperation of stakeholder, and the education system for reinforcing the management ability and inducing the voluntary participation. Finally it suggests the implications to build the coastal zone management system properly on the basis of common values in this mechanism.

• Journal of the Korean Society of Radiology
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• v.13 no.5
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• pp.801-809
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• 2019

Existing Gamma Knife Radiosurgery(GKRS) for large lesions is often conducted in stages with volume or dose partitions. Often in case of volume division the target used to be divided into sub-volumes which are irradiated under the determined prescription dose in multi-sessions separated by a day or two, 3~6 months. For the entire course of treatment, treatment informations of the previous stages needs to be reflected to subsequent sessions on the newly mounted stereotactic frame through coordinate transformation between sessions. However, it is practically difficult to implement the previous dose distributions with existing Gamma Knife system except in the same stereotactic space. The treatment area is expanding because it is possible to perform the multistage treatment using the latest Gamma Knife Platform(GKP). The purpose of this study is to introduce the image-coregistration based on the stereotactic spaces and the strategy of multistage GKRS such as the determination of prescription dose at each stage using new GKP. Usually in image-coregistration either surgically-embedded fiducials or internal anatomical landmarks are used to determine the transformation relationship. Author compared the accuracy of coordinate transformation between multi-sessions using four or six anatomical landmarks as an example using internal anatomical landmarks. Transformation matrix between two stereotactic spaces was determined using PseudoInverse or Singular Value Decomposition to minimize the discrepancy between measured and calculated coordinates. To evaluate the transformation accuracy, the difference between measured and transformed coordinates, i.e., ${\Delta}r$, was calculated using 10 landmarks. Four or six points among 10 landmarks were used to determine the coordinate transformation, and the rest were used to evaluate the approaching method. Each of the values of ${\Delta}r$ in two approaching methods ranged from 0.6 mm to 2.4 mm, from 0.17 mm to 0.57 mm. In addition, a method of determining the prescription dose to give the same effect as the treatment of the total lesion once in case of lesion splitting was suggested. The strategy of multistage treatment in the same stereotactic space is to design the treatment for the whole lesion first, and the whole treatment design shots are divided into shots of each stage treatment to construct shots of each stage and determine the appropriate prescription dose at each stage. In conclusion, author confirmed the accuracy of prescribing dose determination as a multistage treatment strategy and found that using as many internal landmarks as possible than using small landmarks to determine coordinate transformation between multi-sessions yielded better results. In the future, the proposed multistage treatment strategy will be a great contributor to the frameless fractionated treatment of several Gamma Knife Centers.

• Journal of KIISE:Computing Practices and Letters
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• v.7 no.5
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• pp.467-474
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• 2001

When user wants to animate more than one character, some unexpected motion animation like a collision between characters may occur. Therefore, this problem must be resolved using a proper control mechanism. Therefore, this problem must be resolved using a proper control mechanism. This paper proposes an agent-based system that controls the motion animation of the character for representing animation scenario reflecting user\`s intention. This system provides a method that coordinates a type of motion and avoids collision between characters according to the moving path of a character in three-dimensional space. Agent communicates with others for motion synchronization. Agent is extended into several intelligent agents that coordinate character\`s motion. Agent system enables not only an intended motion animation, but also the scheduling of motion to an entire character animation. It designs automata model using Petri-net analysis tool for the agent\`s interaction as a method that passes the agent\`s information and infers the current state of agents. We implement this agent system to control the motion of character using agent technology and show an example of controlling the motion of human character model to prove the possiblity of motion control.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1080-1087
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• 2009

This paper presents an algorithm to acquire 3D geometric information using a virtual plane method. The method to measure 3D information on the plane is easy, because it's not concerning value on the z-axis. A plane can be made by arbitrary three points in the 3D space, so the algorithm is able to make a number of virtual planes from feature points on the target object. In this case, these geometric relations between the origin of each virtual plane and the origin of the target object coordinates should be expressed as known homogeneous matrices. To include this idea, the algorithm could induce simple matrix formula which is only concerning unknown geometric relation between the origin of target object and the origin of camera coordinates. Therefore, it's more fast and simple than other methods. For achieving the proposed method, a regular pin-hole camera model and a perspective projection matrix which is defined by a geometric relation between each coordinate system is used. In the final part of this paper, we demonstrate the techniques for a variety of applications, including measurements in industrial parts and known patches images.

• Journal of the Korean Home Economics Association
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• v.40 no.6
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• pp.159-171
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• 2002

Today, many people seek for their own personal character which is distinguished from another people and they utilize fashion coordination as the was of expression their own image. In addition, interest in electronic commerce and cuber shopping mall on the internet is increasing. For this reason, visual and interesting virtual fashion coordination system is needed. The purpose of this study is to propose possibility of fashion coordination by virtual 3D model. For this study, 1. We make a 3D standard body model by automatic generation. 2. We make 3D fashion item (sleeveless top and flare skirt) by automatic generation. 3. We combine 3D body model with fashion item by special point, grouping and gap being between body and clothes. 4. We make textile palettes and textile DB for texture mapping and rendering. As a effect of this study, 1. It can give the chance to coordinate clothes suitable for their own character and bodyshape on the cuber space more speedily and variously. 2. It can help fashion internet shopping mall company can save a time, expenses and tries to advertise their new products, offer service for customers and lead customers to purchasing. 3. It can accumulate a database of design and textile for using by fashion and textile industry.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.8A
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• pp.784-789
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• 2006

In this paper, we propose a bitwise information decomposition algorithm for an M-PSK signal based on the Max-Log-MAP algorithm. In order to obtain the algorithm, we use a coordinate transformation from M-PSK to M-PAM signal space. Using the proposed algorithm, we analyze the performance of a Turbo iterative decoding method. The proposed algorithm can be applicable not only for a communication with PSK and iterative decoding method but for adaptive modulation and coding system.

• Journal of Computing Science and Engineering
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• v.4 no.3
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• pp.207-224
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• 2010

This paper presents a compression scheme for mesh geometry, which is suitable for mobile graphics. The main focus is to enable real-time decoding of compressed vertex positions while providing reasonable compression ratios. Our scheme is based on local quantization of vertex positions with mesh partitioning. To prevent visual seams along the partitioning boundaries, we constrain the locally quantized cells of all mesh partitions to have the same size and aligned local axes. We propose a mesh partitioning algorithm to minimize the size of locally quantized cells, which relates to the distortion of a restored mesh. Vertex coordinates are stored in main memory and transmitted to graphics hardware for rendering in the quantized form, saving memory space and system bus bandwidth. Decoding operation is combined with model geometry transformation, and the only overhead to restore vertex positions is one matrix multiplication for each mesh partition. In our experiments, a 32-bit floating point vertex coordinate is quantized into an 8-bit integer, which is the smallest data size supported in a mobile graphics library. With this setting, the distortions of the restored meshes are comparable to 11-bit global quantization of vertex coordinates. We also apply the proposed approach to compression of vertex attributes, such as vertex normals and texture coordinates, and show that gains similar to vertex geometry can be obtained through local quantization with mesh partitioning.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.10
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• pp.1023-1030
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• 2015

The purpose of this paper is to present the basic mathematical modeling of a hexacopter, which could be used to develop proper methods for stabilization and trajectory control. A hexacopter consists of six rotors with three pairs of counter-rotating fixed-pitch blades. This mechanism is an under-actuated, dynamically unstable, six-degrees-of-freedom system. The whole motion of this object consists of translational and rotational motion in three dimensions, where the translational motion is created by changing the direction and magnitude of the upward propeller thrust. The hexacopter is controlled by adjusting the angular velocities of the rotors, which are spun by electric motors. It is assumed to be a rigid body; thus, the differential equation of the hexacopter dynamics can be derived from the Newton-Euler equation. The Euler-angle parametrization of the three-dimensional rotations contains singular points in the coordinate space that can cause failure of both the dynamical model and control. In order to avoid singularities, the rotations of the hexacopter are parametrized in terms of quaternions. This choice has been made considering the linearity of the quaternion formulation and their stability and efficiency. Further, control simulation of a hexacopter applying cascaded-PID control is also presented in this paper.

• Nuclear Engineering and Technology
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• v.40 no.6
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• pp.477-488
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• 2008

The objective of the paper is to analyze the thermally induced density wave oscillations in water cooled boiling water reactors. A transient thermal hydraulic model is developed with a characteristics-based implicit finite-difference scheme to solve the nonlinear mass, momentum and energy conservation equations in a time-domain. A two-phase flow was simulated with a one-dimensional homogeneous equilibrium model. The model treats the boundary conditions naturally and takes into account the compressibility effect of the two-phase flow. The axial variation of the heat flux profile can also be handled with the model. Unlike the method of characteristics analysis, the present numerical model is computationally inexpensive in terms of time and works in a Eulerian coordinate system without the loss of accuracy. The model was validated against available benchmarks. The model was extended for the purpose of studying the flow-induced density wave oscillations in forced circulation and natural circulation boiling water reactors. Various parametric studies were undertaken to evaluate the model's performance under different operating conditions. Marginal stability boundaries were drawn for type-I and type-II instabilities in a dimensionless parameter space. The significance of adiabatic riser sections in different boiling reactors was analyzed in detail. The effect of the axial heat flux profile was also investigated for different boiling reactors.