• Journal of the Institute of Electronics Engineers of Korea SC
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• v.42 no.5 s.305
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• pp.1-12
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• 2005

A Mobile manipulator - a serial connection of a mobile robot and a task robot - is a very useful system to achieve various tasks in dangerous environment. because it has the higher performance than a fixed base manipulator in regard to the size of it's operational workspace. Unfortunately the use of a mobile robot introduces non-holonomic constraints, and the combination of a mobile robot and a manipulator generally introduces kinematic redundancy. In this paper, first a method for estimating the position of object at the cartesian coordinate system acquired by using the geometrical relationship between the image captured by 2-DOF active camera mounted on mobile robot and real object is proposed. Second, we propose a method to determine a optimal path between current the position of mobile manipulator whose mobile robot is non-holonomic and the position of object estimated by image information through the global displacement of the system in a symbolic way, using homogenous matrices. Then, we compute the corresponding joint parameters to make the desired displacement coincide with the computed symbolic displacement and object is captured through the control of a manipulator. The effectiveness of proposed method is demonstrated by the simulation and real experiment using the mobile manipulator.

• Bulletin of the Society of Naval Architects of Korea
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• v.27 no.2
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• pp.55-62
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• 1990

In this paper, another method for system reliability analysis, called the extended incremental load method, is introduced. The method is an extension of the conventional incremental load method and has been developed aiming at evaluating the probability of system failure(or system reliability) of continuous structures such as floating offshore structures under the multiple loading condition, more realistically considering the post-ultimate behaviour of failed components and directly using the strength formulae of principle components in a structure with employing the modified safety margin equation proposed herein in the system analysis. The method has been applied to the Hutton TLP operated in the Hutton field in the North Sea and a certain variant of the design using the TLP Rule Case Committee type improved strength models. System failure probability and corresponding system reliability indices are derived for a more economical and efficient design. The redundancy characteristics are also addressed. The TLP forms are shown to possess high reserve strength and system safety.

• Journal of the Korean Electrochemical Society
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• v.5 no.1
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• pp.27-29
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• 2002

We report a fuel cell power supply unit for mobile phone which operates at room temperature and ambient pressure using liquid methanol and air. The unit consists of a direct methanol fuel cell (DMFC) and a back-up battery connected parallely to the fuel cell. DMFC supplies half of the required power and the back-up battery supplies the other half during talk mode. In standby mode, DMFC covers $100\%$ of the required power and charges the back-up battery as well, Eight unit cells, each having $9 cm^2$ of active area, were connected in series in order to raise the output volotage to $2.5\~3.9V$, which is typical for most mobile phones.

• KOREAN JOURNAL OF CROP SCIENCE
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• v.42 no.4
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• pp.392-402
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• 1997

The morphological traits of different types of primary trisomics(2n=28＋1) in durum wheat, Triticum durum var. hordeiforme(2n=28 AABB) were compared with disomics (2n=28) through the examination of reciprocal gene action on the extra chromosomes. However it was not easy to distinguish morphologically the trisomies containing A genome from those containing B genome. These results suggested that the chromosomal location of the major genes for some morphological traits exists on homoeologous chromosome. It is important that these results revealed the homoeology and linkage groups of both A and B genomes in durum wheat. These primary trisomies will be valuable materials for the trisomic analysis and genetic mapping on the chromosome of both A and B genomes in durum wheat. Furthermore, it must be useful for the evolutionary study of Triticum durum(AABB) and Triticum squarrosa(DD) by way of the ancester species of Triticum aesitivum(AABBDD).

• Journal of the Korean Wood Science and Technology
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• v.10 no.3
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• pp.200-200
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• 1982

1. 전국의 산림은 산림개발의 유행에 따라 마음과 같이 3개권역으로 구분한다. 가. 용재림 개발권 주요산맥을 연하는 오지대(奧地帶) 나. 풍치림 개발권 고속도변(좌우 4km범위) 도시주변 공원지구, 기타 토지대 다. 농용림 개발권 전 가, 나 속에 속하지 않는 야산지대 2. 3대 개발권별로 우선 개발할 지역을 연차적으로 지정한다. 3. 개발지역을 지정시는 미리 산림의 용도를 구분하여 시정 고시한다. 4 개발지역내의 산주는 개발우도에 따라 개발의무를 진다. 5. 산주가 개발의무 불이행시는 대집행(代執行)으로 개발을 수행한다. 6. 대집행(代執行)은 가. 산림개발공단 나. 산림 경영을 하고 있는 능력있는 개인 또는 법인 다. 산림조합(산련, 산림포함)으로 하며, 산림청장이 지정한다. 13. 개발지역 내에서의 확정된 개발계획은 기존영림 계획에 우선한다. 14. 개발지역 내에서의 개발사업 수속절차는 이 법으로 일원화 한다. 7. 산주가 대집행자에 대하여 비용변상이 없는 한 이 양자간에는 수익(收益) 분배를 하여야 하며, 본계약의 장기 보장을 위하여 저당권 설정을 한다. 8. 산림개발의 중추적 대집행자인 동시에 경영자로서 시범적이며, 집단적인 산림개발과 임도시설 관리를 전담하는 산림개발 공단을 설립한다. 9. 장기처리와 융자지원을 위하여 산림개발 자금을 200억원 한도로 설치하고 이의 관리 운영을 전담할 산림개발 금고를 별도 법율로서 설립한다. 10. 산림개발 기금은 다음 재원으로 조성한다. 가. 국유임야 관리 특별회계의 잉여금 나. 임목의 벌채자 및 원목 수입이용 가공 판매자에 과하는 기금부담금 다. 매년 정부 예산에서 정하는 재원 11. 개발지역내에서는 취득세, 소득세, 등록세, 상속세, 양여세, 기타 공과금의 감면등 세제상의 특전을 부여한다. 12. 개발지역내에서의 산림도벌 무허가벌채등 산림 사범은 가중 처벌한다.

• Journal of Korean Society of Water and Wastewater
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• v.28 no.3
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• pp.299-304
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• 2014

The need of reusing sewage sludge is highly increasing as the amount of domestic sewage sludge is growing and sewage management strategies were reinforced. Accordingly, in this research, we studied the composting possibility of sludge in sewage treatment plant J, using dryer facility with indirect system by conducting component analysis of dried sludge and experiment on cultivating crops. It was observed from the component analysis, that the dried sludge is appropriate for both decomposed manure standard of Ministry of Environment and fertilizer standard of Rural Development Administration. Besides, in the experiment on cultivating lettuce, the experimental group(soil + dried sludge) was superior to the control group(soil + bed soil) in apparent condition of leaves tensity and damage by disease and pest. In case of cultivating tomato, the experimental group showed stronger durability of fruits dangling on stems compared to the control group after 9 weeks. Consequently, the excess sludge dried by indirect heating system in the sewage treatment plant J is appropriate for the standard of both Ministry of Environment and Rural Development Administration and show good result in experiment on cultivating crops therefore it can be reused for composting.

• The Journal of the Acoustical Society of Korea
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• v.13 no.6
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• pp.91-97
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• 1994

In speech processing, the waveform codings are concerned with simply preserving the waveform of signal through a redundancy reduction process. In the case of speech synthesis, the waveform codings with high quality are mainly used to the synthesis by analysis. Because the parameters of this coding are not classified as both excitation and vocal tract, it is difficult to apply the waveform coding to the synthesis by rule. Thus, in order to apply the waveform coding to synthesis by rule, it is necessary to alter the pitches. In this paper, we proposed a new pitch alteration method that can change the pitch period in waveform coding by dividing the speech signals into the vocal tract and excitation parameters. This method is a time-frequency domain method preserving the phase component of the waveform in time domain and the magnitude component in frequency domain. Thus, it is possible that the waveform coding is carried out the synthesis by rule in speech processing. In case of using the algorithm, we can obtain spectrum distortion with $2.94\%$. That is, the spectrum distortion is decreased more $5.06\%$ than that of the pitch alteration method in time domain.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.11 no.1
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• pp.45-53
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• 2018

The proliferation of distributed power sources such as renewable energy sources drives the changes of consumers to prosumers who actively want to deal with energy. The prosumer is a new type of consumer that can sell surplus energy or additionally generated energy to electric power companies, other energy service providers, or other consumers. To implement such a concept, a new technology and platform that can support the transaction of the prosumers are required. However, the study in the area is limited since it is in the early stage. This work examines the state-of-the-art transaction-based energy management technology through comparative analysis of representative technologies to show the future trends. Although, technologies and standards for transaction based energy are not much matured yet. related new research will be continued via competitions.

• Journal of Korea Multimedia Society
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• v.14 no.1
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• pp.76-84
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• 2011

Embedded Systems need to ensure real-time of the task response time depending on the applied fields of it. And task could be faulty due to various reasons in real time systems. Therefore in this paper, we design a task scheduler that guarantees deadlines of periodic tasks and considers a fault tolerance of defective task in embedded system with a single processor. In order to provide real-time, we classify tasks with periodic/aperiodic tasks and applies RMS(Rate Monotonic Scheduling) method to schedule periodic tasks and can guarantees execution of aperiodic tasks by managing surplus times obtained after analyzing the execution time of periodic tasks. In order to provide fault tolerance, we manage backup times and reexecute a fault task to restore it's conditions.

• Journal of Advanced Navigation Technology
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• v.20 no.4
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• pp.265-274
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• 2016

In this study, the system was composed of the booster chopper and the power converter, which is a pulse width modulation (PWM) voltage inverter using a hybrid power generation system solar cell energy and wind force, Furthermore, in order to compensate the PWM voltage type inverter was linked with the general commercial power source, and through a normal operation of energy storage system (ESS), the system operated the LED Taxi Light by Wavelength according to Meteorological Changes at the airport in an efficient manner. The performance of the system was compared with the solar cell characteristics specification. In addition, for phase synchronization with the PWM voltage type inverter, the grid voltage was detected so as to operate the grid voltage and inverter output in the same phase and to connect the surplus electric power with the system. Finally, by developing a control circuit at the same time from which an excellent dynamic characteristics can be obtained through applying to the airport runway taxi light, it was concluded that a variety of taxi light can be pursued.