• Journal of Navigation and Port Research
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• v.33 no.5
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• pp.323-330
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• 2009

We have been developing an underwater robot for harbour construction using a parallel mechanism The robot is attached to the rope of a crane, which curries a large stone into the undersea The robot's yaw and pitch are controlled by hydraulic cylinders but its roll is uncontrollable. We mount propellers in both side of the robot to generate the roll motion This paper studies on the control for the roll motion of a underwater robot. A gyro-sensor is used to measure the angle in a roll motion We develop the dynamic model to describe the robot's roll motion by a second order non-linear system and identify the model parameters by recursive least square and adaptive identifier. PD control, recursive model based control and adaptive model based control are applied with the dynamic model which computes the control input to compensate disturbances. This paper introduces the underwater robot system and presents the simulated and experimental results of the proposed controller.

• Proceedings of the KIEE Conference
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• 2006.07c
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• pp.1637-1638
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• 2006

HVAC 시스템은 쾌적하고 깨끗한 운전환경을 만들어 줌으로써 운전자에게 향상된 안락성과 안전성을 제공한다. 이때 센서는 시시각각으로 변화하는 차실 내외의 환경변화에 대한 정보를 검출하여 HVAC 제어 유니트에 제공한다. 현재 HVAC 시스템에 사용되고 있는 후막 가스센서는 소자 크기와 소비전력이 크고, 제작공정이 까다로워 생산성이 낮은 단점이 있다. 이와 같은 문제점을 해결하기 위해서 최근에는 초소형화, 저소비전력, 대량생산에 의한 저가격화가 가능한 MEMS 가스센서의 연구개발이 활발히 진행되고 있다. 본 연구에서는 MEMS 구조체를 이용한 마이크로 가스센서를 설계 및 제작하였고, 감도특성을 고찰하였다. 가스 감지막은 금속산화물 페이스트를 스크린 프린팅 하는 종래의 방법 대신 MEMS 구조체에 적용 가능한 sol-gel 프로세스에 의해 형성하였다. 또 가스 감지전극과 micro-heater를 동일 평면상에 제작, 공정을 간소화하여 저가화를 시도하였다. MEMS 구조체 위에 제작된 Pt 박막 micro-heater의 인가전압에 따른 발열특성을 조사한 결과, 발열온도가 인가전압에 비례하는 이상적인 선형성을 나타내었으며, $300^{\circ}C$의 동작 온도에 도달하기 위해 65mW 이하의 저전력 동작이 가능하였다. 가스 센서의 감도특성 확인 실험은 CO 가스 10ppm, NO 가스 0.3ppm을 기준으로 수행되었으며, CO 및 NO에 대해 Rs(sensitivity, 가스반응저항/초기저항) 값은 각각 0.753 과 2.416로 우수한 성능을 나타내었다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.10a
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• pp.942-943
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• 2016

Stereo gamma ray detection system generates a two-dimensional image of the gamma ray by using the position values and the gamma ray signal. And the device will overlap with the visible light image shows the actual distribution of the gamma-ray space. The gamma ray detection device is a stereo configuration to a motion controller for controlling the signal measurement unit and the position detection portion for detecting the detection portion and the gamma-ray signal comprising a gamma-ray detection sensor. In this paper, we developed a system operation management algorithm for each module individually configured efficiently. We confirmed the imaged and distribution information output for the gamma rays from gamma-ray irradiation test site by using these results.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.35 no.1
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• pp.38-50
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• 2013

Purpose: The aim of this study is to evaluate the effect and potential of electron beam (E-beam) irradiation treatment to the synthetic bony mixtures composed of hydroxyapatite (HA; Bongros$^{(R)}$, Bio@ Co., Korea) and tricalcium phosphate (${\beta}$-TCP, Sigma-Aldrich Co., USA), mixed at various ratios and of type I collagen (Rat tail, BD Biosciences Co., Sweden) as an organic matrix. Methods: We used 1.0~2.0 MeV linear accelerator and 2.0 MeV superconductive linear accelerator (power 100 KW, pressure 115 kPa, temperature $-30{\sim}120^{\circ}C$, sensor sensitivity 0.1~1.2 mV/kPa, generating power sensitivity 44.75 mV/kPa, supply voltage $5{\pm}0.25$ V) with different irradiation dose, such as 1, 30 and 60 kGy. Structural changes in this synthetic bone material were studied in vitro, by scanning electron microscopy (SEM), elementary analysis and field emission scanning electron microscope (FE-SEM), attenuated total reflection (ATR), and electron spectroscopy for chemical analysis (ESCA). Results: The large particular size of HA was changed after E-beam irradiation, to which small particle of TCP was engaged with organic collagen components in SEM findings. Conclusion: The important new in vitro data to be applicable as the substitutes of artificial bone materials in dental and medical fields will be able to be summarized.

• Analytical Science and Technology
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• v.26 no.1
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• pp.42-50
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• 2013

This paper describes the electrocatalytic activity for the oxidation of small biomolecules on the surface of Pt-Ru nanoparticles supported by $TiO_2$-hollow sphere prepared for use in sensor applications or fuel cells. The $TiO_2$-hollow sphere supports were first prepared by sol-gel reaction of titanium tetraisopropoxide with poly(styrene-co-vinylphenylboronic acid), PSB used as a template. Pt-Ru nanoparticles were then deposited by chemical reduction of the $Pt^{4+}$ and $Ru^{3+}$ ions onto $TiO_2$-hollow sphere ($Pt-Ru@TiO_2-H$). The prepared $Pt-Ru@TiO_2-H$ nanocomposites were characterized by transmission electron microscopy (TEM), X-ray diffraction (XRD), and elemental analysis. The electrocatalytic efficiency of Pt-Ru nanoparticles was evaluated via ethanol, methanol, dopamine, ascorbic acid, formalin, and glucose oxidation. The cyclic voltammograms (CV) obtained during the oxidation studies revealed that the $Pt-Ru@TiO_2-H$ nanocomposites showed high electrocatalytic activity for the oxidation of biomolecules. As a result, the prepared Pt-Ru catalysts doped onto $TiO_2$-H sphere nanocomposites supports can be used for non-enzymatic biosensor or fuel cell anode electrode.

• KOREAN JOURNAL OF PACKAGING SCIENCE & TECHNOLOGY
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• v.20 no.2
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• pp.29-33
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• 2014

Active air flushing mini-pumps were installed in a rigid polypropylene container ($32cm{\time}23cm{\time}18cm$) containing 900 g of fresh green peppers for effectively controlling its $O_2$ concentration on real time basis to preserve the product quality. The performance of the constructed system was compared to that of the modified atmosphere (MA) container system with gas diffusion tube controlled in close/open cycles responding to real time $O_2$ concentration at 10 and $20^{\circ}C$. In the control logic, the $O_2$ concentration was programmed to be located exactly at 13% or stay in the range of 13-15%. The active air flushing system could control the $O_2$ concentration in the desired level or range at both temperatures, while the passive diffusion system could work only under the low temperature condition of $10^{\circ}C$. At higher temperature of $20^{\circ}C$, the passive diffusion system could not manage the produce respiration increased more highly than the gas transfer through the diffusion tube, resulting in too low $O_2$ concentration and too high $CO_2$ concentration which would be injurious to the green pepper. When tested at $20^{\circ}C$, the MA container system could preserve the green pepper better than the perforated air package in terms of weight loss, ascorbic acid and chlorophyll contents and firmness.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2004.03a
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• pp.802-806
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• 2004

For the protection of the local air quality and the global atmosphere, the emissions of trace species including nitric oxides (NO and NO$_2$) from gas turbines are regulated by local governments and by the International Civil Aviation Organization. In-situ measurements of such species are needed not only for the development of advanced low-emission combustion concepts but also for providing emissions data required for the sound assessment of the effects of the emissions on environment. We have been developing a laser absorption system that has a capability of simultaneous determination of NO and NO$_2$concentrations in the exhaust jets from aero gas turbines. A diode laser operating near 1.8 micrometer is used for the detection of NO while a separated visible tunable diode laser operating near 676 nanometers is used for NO$_2$. The sensitivities at elevated temperature conditions were determined for simulated gas mixtures heated up to 500K in a heated cell of a straight 0.5 m optical path. Sensitivity limits estimated as were 30 ppmv-m and 3.7 ppmv-m for NO and NO$_2$, respectively, at a typical exhaust gas temperature of 800K. Experiments using the simulated exhaust flows have proven that $CO_2$ and $H_2O$ vapor - both major combustion products - do not show any interference in the NO or NO$_2$ measurements. The measurement system has been applied to the NO/NO$_2$ measurements in NO and NO$_2$ doped real combustion gas jets issuing from a rectangular nozzle having 0.4 m optical path. The lower detection limits of the system were considerably decreased by using a multipass optical cell. A pair of off-axis parabola mirrors successfully suppressed the beam steering in the combustion gas jets by centralizing the fluctuating beam in sensor area of the detectors.

• Korean Chemical Engineering Research
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• v.46 no.2
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• pp.233-247
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• 2008

Process monitoring technology is able to detect the faults and the process changes which occur in a process unpredictably, which makes it possible to find the reasons of the faults and get rid of them, resulting in a stable process operation, high-quality product. Statistical process monitoring method based on data set has a main merit to be a tool which can easily supervise a process with the statistics and can be used in the analysis of process data if a high quality of data is given. Because a real process has the inherent characteristics of nonlinearity, non-Gaussianity, multiple operation modes, sensor faults and process changes, however, the conventional multivariate statistical process monitoring method results in inefficient results, the degradation of the supervision performances, or often unreliable monitoring results. Because the conventional methods are not easy to properly supervise the process due to their disadvantages, several advanced monitoring methods are developed recently. This review introduces the theories and application results of several remarkable monitoring methods, which are a nonlinear monitoring with kernel principle component analysis (KPCA), an adaptive model for process change, a mixture model for multiple operation modes and a sensor fault detection and reconstruction, in order to tackle the weak points of the conventional methods.

• Journal of the Korea Society of Computer and Information
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• v.27 no.11
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• pp.181-190
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• 2022

In this paper, we use a LiDAR sensor and an image camera to detect a left-turning waiting vehicle in two ways, unlike the existing image-type or loop-type left-turn detection system, and a left-turn traffic signal corresponding to the waiting length of the left-turning lane. A system that can efficiently assign a system is introduced. For the LiDAR signal transmitted and received by the LiDAR sensor, the left-turn waiting vehicle is detected in real time, and the image by the video camera is analyzed in real time or at regular intervals, thereby reducing unnecessary computational processing and enabling real-time sensitive processing. As a result of performing a performance test for 5 hours every day for one week with an intersection simulation using an actual signal processor, a detection rate of 99.9%, which was improved by 3% to 5% compared to the existing method, was recorded. The advantage is that 99.9% of vehicles waiting to turn left are detected by the LiDAR sensor, and even if an intentional omission of detection occurs, an immediate response is possible through self-correction using the video, so the excessive waiting time of vehicles waiting to turn left is controlled by all lanes in the intersection. was able to guide the flow of traffic smoothly. In addition, when applied to an intersection in the outskirts of which left-turning vehicles are rare, service reliability and efficiency can be improved by reducing unnecessary signal costs.

• Journal of Radiopharmaceuticals and Molecular Probes
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• v.8 no.2
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• pp.63-70
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• 2022

The development of myocardial perfusion imaging (MPI) agents has been motivated because coronary artery disease has been one of the leading causes of death worldwide since the 1960s. Several positron emission tomography (PET) MPI agents were developed, and ¹⁸F-labeled phosphonium cations were reported actively among them. In this study, we synthesized novel ¹⁸F-labeled phosphonium cations, (5-[¹⁸F]fluoropentyl)diphenyl(pyridin-2-yl)phosphonium and (2-(2-[¹⁸F]fluoroethoxy)ethyl)diphenyl(pyridin-2-yl)phosphonium, and evaluated potential as MPI agents. Two labeled compounds were synthesized via nucleophilic substitution reactions of ¹⁸F-fluoride with the appropriate tosylate precursor in the presence of Kryptofix 2.2.2 and K₂CO₃. MicroPET studies were performed in normal rats to evaluate in vivo distribution of radiolabeled phosphonium cations for 60 min. The radiolabeled compounds were synthesized with 5%-10% yield. The radiochemical purity of labeled compounds was > 98% by analytical HPLC, and the specific activity was > 11.8 GBq/µmol. The result of microPET studies of these labeled compounds in rats showed intense uptake in the myocardium at 30 and 60 min. The results suggest that these ¹⁸F-labeled novel phosphonium cations would have potential as promising candidates for myocardial perfusion imaging.