• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.4
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• pp.438-444
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• 2004

The intelligent robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, robots need to recognize their position and posture in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for a robot to estimate of his position by solving uncertainty for mobile robot navigation, as one of the best important problems. In this paper, we describe a method for the localization of a mobile robot using image information of a moving object. This method combines the observed position from dead-reckoning sensors and the estimated position from the images captured by a fixed camera to localize a mobile robot. Using the a priori known path of a moving object in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a moving object and the estimated robot's position. Since the equations are based or the estimated position, the measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot. The Kalman filter scheme is applied for this method. its performance is verified by the computer simulation and the experiment.

• Nuclear Engineering and Technology
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• v.28 no.2
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• pp.137-149
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• 1996

The present study is to analyze an integral test, BETHSY test 6.9c, which represent loss of RURS accident under mid-loop operation. Both the pressurizer manway and the steam generator outlet plenum manway are opened as vent paths in order to prevent the system from pressurization by removing the steam generated in the core. The main purposes are to gain insights into the physical phenomena and identify sensitive parameters. Assessment of capability of CATHARE2 prediction can be established the effective recovery procedures using the code in an actual plant. Most of important physical phenomena in the experiment could be predicted by the CATHARE2 code. The peak pressure in the upper plenum is predicted higher than experimental value by 7 kPa since the differential pressure between the pressurizer and the surge line is overestimated. The timing of core uncovery is delayed by 500 seconds mainly due to discrepancy in the core void distribution. It is demonstrated that openings of the pressurizer manwey and the steam generator manway can prevent the core uncovery using only gravity feed injection. Although some disagreements are found in the detailed phenomena, the code prediction is considered reasonable for the overall system behaviors.

• Journal of the Korean Society for Marine Environment & Energy
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• v.15 no.1
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• pp.1-8
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• 2012

To arrange effectively artificial reefs for marine afforestation, tidal currents were analyzed by numerical experiments, and particle tracking based upon tidal currents were carried out to clarify the path of algae spore. The experiments were carried out by EFDC (Environmental Fluid Dynamics Code), and water column was vertically divided 10 layers. Tidal current patterns showed to be affected by main current at outside of study area, and circle currents of two were observed from analysis of residual currents. Particle tracking were experimented for 15 days at 2 installation places in which artificial reefs for marine afforestation would be deployed. According to the results of particle tracking experiment, particle movement at St.1 showed belt type along coastal line, and St.2 showed ellipse type at 300~500 m distant from coastal line. It suggest that artificial reefs for marine afforestation should be installed belt zone at station of St.1 and ellipse zone at St.2. Modelling algae transport was also tested to account for local dispersion of algae spore due to the suspended materials.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.5
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• pp.444-450
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• 2015

The accuracy of small and low cost CCD camera is insufficient to provide data for precisely tracking unmanned aerial vehicles(UAVs). This study shows how UAV can hover on a human targeted tracking object by using CCD camera rather than imprecise GPS data. To realize this, UAVs need to recognize their attitude and position in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for an UAV to estimate of his attitude by environment recognition for UAV hovering, as one of the best important problems. In this paper, we describe a method for the attitude of an UAV using image information of a maker on the floor. This method combines the observed position from GPS sensors and the estimated attitude from the images captured by a fixed camera to estimate an UAV. Using the a priori known path of an UAV in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a marker on the floor and the estimated UAV's attitude. Since the equations are based on the estimated position, the measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the UAV. The Kalman filter scheme is applied for this method. its performance is verified by the image processing results and the experiment.

• Journal of Korean Society of Environmental Engineers
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• v.31 no.7
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• pp.531-540
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• 2009

In this study, thermo-gravimetric analysis(TGA) was used to investigate the effect of urea concentration and heating rate on the ammonia($NH_3$) formation process from urea solution. A newly designed pipe nozzle was inserted through a 1,000 N${\ss}$(C)/h oil firing boiler to compare the DeNOx efficiencies between the upward and downward nozzle. This experiment reveals the effect of path which an urea droplet goes through. Urea solution showed the same TGA graph without regard to the presence of oxygen. Heating rate had a great influence on the weight loss trend. But the concentration of urea solution between 10% and 40% did not affect so much the thermal decomposition temperature. Therefore, heating rate is more important factor on the thermal decomposition of urea than the concentration of urea solution. Three nozzles located at different positions showed similar DeNOx efficiencies such as 68.1%, 71.8%, 70.8% at the same temperature. Even though urea solution was injected for the same zone, the injection direction made much difference in DeNOx efficiency. A upward nozzle showed 68.1% and downward nozzle 9.5%. This results illustrate the importance of heating rate.

• Journal of Korean Tunnelling and Underground Space Association
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• v.24 no.2
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• pp.153-170
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• 2022

Waterjet has been comprehensively used in urban areas owing to a suitable technique for cutting concrete and rock, and low noise and vibration. Recently, the abrasive waterjet technique has been adopted and applied by the Korea Atomic Energy Research Institute to demolish concrete plugging without disturbing and damaging In-situ Demonstration of Engineered Barrier System in the disposal research tunnel. In this study, the use of abrasive waterjet in the tunnel was evaluated for practical applicability and the existing cutting model was compared with the experimental results. As a variable for waterjet cutting, multi-cutting, water flow rate, abrasive flow rate, and standoff distance were selected for the diversity of analysis. As regarding the practical application, the waterjet facilitated path selection for cutting the concrete plugging and prevented additional disturbances in the periphery. The pump's noise at idling was 64.9 dB which is satisfied with the noise regulatory standard, but it exceeded the standard at ejection to air and target concrete because the experiment was performed in the tunnel space. The experimental result showed that the error between the predicted and measured cutting volume was 12~13% for the first cut and 16% for second cut. The standoff distance had a significant influence on the cutting depth and width, and the error tended to decrease with decrement of standoff distance.

• Journal of Conservation Science
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• v.25 no.1
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• pp.101-114
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• 2009

Potsherds and kilns of the AD 3th century excavated from Gundong and Majeon sites, Korea were studied to investigate the production techniques and provenance of potsherds and kilns on the pastes. For potsherds, kilns blocks and in-situ paleo-soils, provenance of raw materials were estimated through mineralogy and geochemistry, while production technique and thermal feature of kilns were investigated through observation of textures and compositions as well as firing experiment on paleo-soils. As a result of study, potsherds and kilns were found to have similar mineralogical compositions as the neighboring paleo-soils and to have same evolution path with that of geochemistry. The potsherds were divided into 3 groups according to firing temperature and production technique. Group 1 consists of reddish stamped pattern pottery with loose textures, which has many pores and contains many iron oxides. Its temper is less than about 0.5mm, and was probably fired between 700 to $800^{\circ}C$. Group 2 contains ash to grayish blue stamped pattern pottery, which has vitrified texture and few pores. Its temper is less than about 0.5mm, and was probably fired from 900 to $1,000^{\circ}C$. However, some potsherd belongs to the group 2 in terms of features for temper and pastes, but it was probably fired over $1,100^{\circ}C$. Group 3 contains reddish and grayish stamped pattern pottery. It has vitrified matrix, few pores and temper consists of polycrystalline quartz and feldspar over 2mm, and it was probably fired around $1,000^{\circ}C$. The kiln had experienced temperature from 600 to $700^{\circ}C$ on the wall, from 900 to $1,000^{\circ}C$ on the bottom, suggesting the function of high temperature firing.

• Journal of Intelligence and Information Systems
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• v.26 no.4
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• pp.149-171
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• 2020

The period at university is to make decision about getting an actual job. As our society develops rapidly and highly, jobs are diversified, subdivided, and specialized, and students' job preparation period is also getting longer and longer. This study analyzed the log data of college students to see how the various activities that college students experience inside and outside of school might have influences on employment. For this experiment, students' various activities were systematically classified, recorded as an activity data and were divided into six core competencies (Job reinforcement competency, Leadership & teamwork competency, Globalization competency, Organizational commitment competency, Job exploration competency, and Autonomous implementation competency). The effect of the six competency levels on the employment status (employed group, unemployed group) was analyzed. As a result of the analysis, it was confirmed that the difference in level between the employed group and the unemployed group was significant for all of the six competencies, so it was possible to infer that the activities at the school are significant for employment. Next, in order to analyze the impact of the six competencies on the qualitative performance of employment, we had ANOVA analysis after dividing the each competency level into 2 groups (low and high group), and creating 6 groups by the range of first annual salary. Students with high levels of globalization capability, job search capability, and autonomous implementation capability were also found to belong to a higher annual salary group. The theoretical contributions of this study are as follows. First, it connects the competencies that can be extracted from the school experience with the competencies in the Human Resource Management field and adds job search competencies and autonomous implementation competencies which are required for university students to have their own successful career & life. Second, we have conducted this analysis with the competency data measured form actual activity and result data collected from the interview and research. Third, it analyzed not only quantitative performance (employment rate) but also qualitative performance (annual salary level). The practical use of this study is as follows. First, it can be a guide when establishing career development plans for college students. It is necessary to prepare for a job that can express one's strengths based on an analysis of the world of work and job, rather than having a no-strategy, unbalanced, or accumulating excessive specifications competition. Second, the person in charge of experience design for college students, at an organizations such as schools, businesses, local governments, and governments, can refer to the six competencies suggested in this study to for the user-useful experiences design that may motivate more participation. By doing so, one event may bring mutual benefits for both event designers and students. Third, in the era of digital transformation, the government's policy manager who envisions the balanced development of the country can make a policy in the direction of achieving the curiosity and energy of college students together with the balanced development of the country. A lot of manpower is required to start up novel platform services that have not existed before or to digitize existing analog products, services and corporate culture. The activities of current digital-generation-college-students are not only catalysts in all industries, but also for very benefit and necessary for college students by themselves for their own successful career development.