• Journal of the Korean Society for Nondestructive Testing
• /
• v.23 no.5
• /
• pp.464-474
• /
• 2003

Ultrasonic imaging of 3-D structures for nondestructive evaluation must provide readily recognizable images with enough details to clearly show various flaws that may or may not be present. Typical flaws that need to be detected are miniature cracks, for instance, in metal pipes having aged over years of operation in nuclear power plants; and these sub-millimeter cracks or flaws must be depicted in the final 3-D image for a meaningful evaluation. As a step towards improving conspicuity and thus detection of flaws, we propose a pulse-echo ultrasonic imaging technique to generate various 3-D views of the 3-D object under evaluation through strategic scanning and processing of the pulse-echo data. We employ a 2-D Wiener filter that filters the pulse-echo data along the plane orthogonal to the beam propagation so that ultrasonic beams can be sharpened. This three-dimensional processing and display coupled with 3-D manipulation capabilities by which users are able to pan and rotate the 3-D structure improve conspicuity of flaws. Providing such manipulation operations allow a clear depiction of the size and the location of various flaws in 3-D.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.11 no.10
• /
• pp.3873-3879
• /
• 2010

Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

• Journal of Korean Society of Coastal and Ocean Engineers
• /
• v.25 no.4
• /
• pp.207-218
• /
• 2013

This study is based on a series of numerical modeling experiments to understand the circulation and its change in the Chunsu Bay (CSB), Yellow Sea of Korea. A skill analysis was performed for the tidal height and tidal current of the observation data using the amplitude and phase of the 4 major tidal constituents respectively for verification of modeling experimental results. As a result, most of the skill score was seen to be over 90%, so numerical model experiment results can be said to be in good agreement with the observed tidal height and tidal current. Tidal wave proceeded from the entrance of the CSB towards inside, and the tidal range gradually increased to the north. It took about 10 to 30 minutes for the tidal wave to reach to northern end. The tidal wave showed a characteristic to rotate counter-clockwise in the southern part. The tidal current flowed to the north-south direction along the bottom topography; the angle of the major axis appeared alongside the isobath. It showed the characteristics of reversing tidal current with the minor axis less than 10% of the major axis. The strength of the tidal residual current that is influenced by geographical factors including bathymetry and coastline showed the range of 1~30 cm/sec, greater in the south channel and smaller in northern Bay. Two pairs of cyclonic/anti-cyclonic eddies around Jukdo and 3~4 pairs of strong eddies at the southern part of CSB in hundreds of m to a few km size by relative vorticity derived from the tidal residual current.

• Korean Journal of Crystallography
• /
• v.6 no.2
• /
• pp.141-157
• /
• 1995

Single crystals of TeO2 with large diameter were grown by Czochralski technique with auto-diameter control system. The ratio of crystal to crucible was 60-70%. The effect of critical pulling and rotation rate on the crystal quality was studied. Optimum growth parameters for high quality crystal pulling rate was less than 1.2 mm/hr. The solid-liquid interface was convex at the rotation rate of 10-23 rpm and concave at the rotation rate of more than 25 rpm, depending on the size of crystal and crucible. The platinum concentration in the melts is one of the main factors of the constitutional supercooling and thus the bubble entrapment in the growing crystal. Growth axis was confirmed to {110} direction during the whole growth procedure. Infrared spectrometric study and dislocation density measurment by chemical etching method on the grown crystal were performed. Finally, the reasons of cooperation of striations, inclusions, and optical inhomogeneities were discussed.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.41 no.10
• /
• pp.1247-1255
• /
• 2016

The safety and autonomous flight function of micro UAV or drones is crucial to its commercial application. The requirement of own building stable drones is still a non-trivial obstacle for researchers that want to focus on the intelligence function, such vision and navigation algorithm. The paper present a GCS using commercial drone and hardware platforms, and open source software. The system follows modular architecture and now composed of the communication, UI, image processing. Especially, lane-keeping algorithm. are designed and verified through testing at a sports stadium. The designed lane-keeping algorithm estimates drone position and heading in the lane using Hough transform for line detection, RANSAC-vanishing point algorithm for selecting the desired lines, and tracking algorithm for stability of lines. The flight of drone is controlled by 'forward', 'stop', 'clock-rotate', and 'counter-clock rotate' commands. The present implemented system can fly straight and mild curve lane at 2-3 m/s.

• Proceedings of the Korea Water Resources Association Conference
• /
• 2009.05a
• /
• pp.1807-1811
• /
• 2009

홍수기 유량측정에 있어서 가장 큰 어려움이었던 유속측정의 정확성을 확보하고 실무자의 안전성을 보장하기 위한 기본 취지에서 1993년 시작된 "대하천 유량 자동측정 설비개발"이라는 연구 주제하에 비접촉식 유속측정 기법에 대한 연구를 수년간 연구개발을 거듭한 결과물인 전자파표면유속계를 1999년도에 상품화하여 현재 국내에서 홍수유속측정 설비로 이용되어지고 있다. 현장에서 유량측정업무에 종사하는 실무자들은 홍수유량측정에 비하여 훨씬 간편함을 몸소 느끼게 되었고, 상품화보급이 시작된지 수년이 지난 상태에서는 더욱 성능이 개선된 전자파표면유속계가 개발되기를 기대하였다. 무엇보다도 홍수기에 유량측정시 기존의 유속측정 방법과 같은 방식으로 각 측선마다 전자파표면유속계를 설치해야하는 번거로움을 피력하였다. 기존의 전자파표면유속계는 하천을 가로지르는 교량위에서 흐름방향에 나란히 측정하는 조건을 고려하였기 때문에 이와 같은 편각인 상태의 유속측정은 검토하지 않았다. 이와 같은 사용자의 요구에 대하여 한국수자원공사에서는 홍수기 유량측정시의 사용자 편의성을 증대하기 위하여 성능개선 작업에 착수하여 편각측정용 전자파표면유속계를 개발하였다. 편각측정의 주된 목적은 전자파표면유속계를 모든 측선에 설치하지 않고 한 지점에서 편각(oblique angle)으로 여러 측선의 유속을 측정함으로써 유속측정의 효율성을 증대시키는 것이다. 전자파표면 유속계에서의 편각 측정은 하천의 유속 방향을 기준으로 정면에서 측정하면 수평 편각이 0도가 되며 좌우로 안테나를 회전하여 움직인 각도가 측정 편각으로 결정된다. 전자파의 물리적 특성 때문에 편각이 증가하면 반사된 신호의 수신 크기가 감소하여 측정이 불가능하게 된다. 이러한 문제를 최대한 극복하는 것이 본 연구의 중점 개선사항이다. 이를 통하여 전자파표면유속계를 교량의 임의 지점에 설치하여 좌우로 편각 $20^{\circ}$에 이르는 범위의 유속을 측정하고자 목표로 하였다. 홍수시의 현장 측정 환경은 열악하기 때문에 정확한 측정을 조건으로 측정자에게 최대한의 편리함과 신속한 측정 환경을 제공해야 효과적인 업무수행이 가능하다. 이러한 편각 측정을 가능토록 하기 위해서는 유속측정시 송신되는 전자파의 출력을 기존의 시스템보다 보다 높게 발사하여야 하며 안테나의 수신감도 및 지향성이 개선되어야 한다. 이를 위해서 안테나 형태에 있어 기존 전자파표면유속계와의 차이점은 기존안테나는 파라볼릭 형상이었으나 신규 제작된 안테나는 평면안테나로 이러한 형태의 개선를 통해 안테나 특성 및 구조적인 차이를 유도하였다. 두 가지 안테나 사양 각각 장단점이 있으나 가장 큰 차이점은 빔폭 특성에서 평면 안테나가 우수하며 수신 감도를 향상시킬 수 있다는 강점이 있다. 특히 Tx/Rx 분리의 평면안테나 구조는 파라볼릭 안테나에서 불가능한 기능으로서 편각측정으로 인한 수신감도의 저하의 문제를 해결하기 위한 개선조치이었다. 성능개선 제작된 편각측정용 전자파표면유속계를 이용하여 일반하천의 홍수유속에 대한 편각측정 실험을 안성천에서 실시한 결과 유속 약 1.7 m/s 인 상황에서 편각 $20\;^{\circ}$ 까지 편각 $0\;^{\circ}$일때와 유사한 측정 성능을 보였다.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
• /
• v.10 no.6
• /
• pp.609-616
• /
• 2017

In this paper, we propose an algorithm to obtain more stable and high recognition rate by using left and right rotation information of input image in order to obtain a stable recognition rate in face recognition. The proposed algorithm uses the facial image as the input information in the web camera environment to reduce the size of the image and normalize the information about the brightness and color to obtain the improved recognition rate. We apply Principal Component Analysis (PCA) to the detected candidate regions to obtain feature vectors and classify faces. Also, In order to reduce the error rate range of the recognition rate, a set of data with the left and right $45^{\circ}$ rotation information is constructed considering the directionality of the input face image, and each feature vector is obtained with PCA. In order to obtain a stable recognition rate with the obtained feature vector, it is after scattered in the eigenspace and the final face is recognized by comparing euclidean distant distances to each feature. The PCA-based feature vector is low-dimensional data, but there is no problem in expressing the face, and the recognition speed can be fast because of the small amount of calculation. The method proposed in this paper can improve the safety and accuracy of recognition and recognition rate faster than other algorithms, and can be used for real-time recognition system.

• Journal of radiological science and technology
• /
• v.33 no.4
• /
• pp.379-386
• /
• 2010

This study evaluated the motion of tumors during the entire period of therapy and the accuracy of radiosurgery among forty eight lung tumor patients who were underwent radiosurgery using the CyberKnife Synchrony Respiratory Tracking System. The motion of lung tumor was measured by the coordinates of a gold acupuncture needle inserted into the tumor or the area around the tumor using the CyberKnife image guided system. Then the accuracy of radiosurgery was evaluated based on the error of correlation computed with the motion tracking system. The lung tumor motion is Cranio-Caudal direction by an average of $2.63{\pm}1.87\;mm$, moved left-right direction by $1.13{\pm}0.71\;mm$, and anterior-posterior direction by $1.74{\pm}1.16\;mm$. The degree of rotational movement was $1.66{\pm}1.66^{\circ}$ on X axis, $1.20{\pm}0.97^{\circ}$ on Y axis, and $1.18{\pm}0.73^{\circ}$ on Z axis. The vector of translation movement was measured to be $3.78{\pm}2.00\;mm$ on the average. The results show that directions of Cranio-Caudal(p < 0.001), anterior-posterior direction(p < 0.029), and three dimensional vector value(p < 0.002) showed statistical significance, because the lower side of tumor showed more intensive movement compared to the upper side of tumor. The radiosurgery was carried out by compensating the motion of tumor after accurate investigation of the correlation error with the average of $0.95{\pm}0.62\;mm$ during the lung tumor radiosurgery with the CyberKnife Synchrony Respiratory Tracking System.

• Korean Journal of Applied Biomechanics
• /
• v.12 no.2
• /
• pp.279-293
• /
• 2002

In the study the subjects who 10 university golfers act, and the kinetic factors were analyzed by the ground reaction system. the conclusion are as follows. 1) In the golf putting swing, the ground reaction factors of sagital plane in aspect are showen that the left and right foot sufficient difference, in the level of p <.05. 2) In the golf putting swing, the ground reaction factors of frontal plane in aspect is showen that the left foot has no significant difference in AD BS in the level of p < .05. In success, IP, FS. It can show significant difference. In addition, the right foot is shown the success, There is significant difference. 3) In the golf putting swing, the ground reaction factors of the vertical plane in aspect are shown that the left foot has no significant difference in BS, FS in the level p < .05. In success, AD, IP. It can show significant difference. In addition, the right foot is shown the success, There is significant difference. 4) In the golf putting swing, the ground reaction factors of torque in aspect are shown that the left foot had no significant difference in BS in the level p < .05. In success, AD, IP, FS. It can show significant difference. In addition, the right foot has no significant difference in IP in the level p < .05. AD, BS, FS. There is significant difference. The summarized conclusions are as follows. The first that the power of sagital plane needs the motion which can get the good power change in the stabilized pose. The second is that the small motion can make good putting in stabilized pose. The third is that the body weight move to the direction of the ball. The fourth is that the putting which looks perfect oscillation is good motion.

• Proceedings of the Korean Vacuum Society Conference
• /
• 1998.02a
• /
• pp.107-107
• /
• 1998

GaN 에피택시 층의 전기적, 광학적 특성 및 표면 형상의 향상을 위한 전처리 공 정으로서 사파이어 기판의 질화 처리가 많이 행해지고 있는데 이는 표면에 질화 충올 형성시킴으로서 GaN 충과의 계면에너지 및 격자상수 불일치를 줄여 GaN 충의 성장을 촉진시킬 수 있기 때문이다 본 실험에서는 고 진공 하에서 유도 결합 플라즈마를 이용하여 사파이어 기판의 질화 처리를 행한 후 XPS와 AFM을 이용하여 기판 표면의 질소 조성과 표면 형상을 관찰하였다. 기판 표면의 질소 조성은 질소 가스의 유입량과 기판의 온도보다 칠화 시 간 및 RF-power에 의해 크게 좌우되나 표면 형상은 기판의 온도에 크게 영향올 받는 것으로 나타났다. 따라서 본 실험에서는 기판의 온도를 낮춤으로서 protrusion이 없는 매끈한 표면의 질화 충을 얻올 수 있었다. 핵생성 충의 성장 없이 450 oC의 저온에서 GaN 충올 성장시킨 결과 육방 대청성 의 wurtzite구조를 가지며 bas허 plane이 사파이어 기판과 in-plane에서 300 회전된 관계 를 갖고 있는 것올 XRD -scan으로 관찰하였다. 또한 GaN 충의 성장이 진행됩에 따라 결정성이 향상되고 있는 것이 뼈S ali맹ed channeling 실험올 통해 관찰되었으며 이는 G GaN 충의 두께 중가에 따라 결정성이 향상된다는 것올 의미한다 사파이어 기판의 질 화 처 리 시 간이 증가함에 따라 후속 성 장된 GaN 층의 bas외 pI뻐e에 대 한 XRD -rocking c curve의 반치폭이 감소하는 것으로 나타났는데 이는 기판의 표면이 질화 충으로 전환 됨에 따라 각 GaN island의 c-축이 잘 정렬됨올 의미한다. 또한 AFM으로 ~이 충의 표 면 형상올 관찰한 결과 기판의 질화 처리가 선행될 경우 lateral 방향으로의 G뼈 충의 성장이 촉진되어 큰 islands로 성장이 일어나는 것으로 관찰되었는데 이는 질화 처리가 선행될 경우 Ga과 N의 표면 확산에 대한 활성화 에너지가 감소되기 때문인 것으로 생 각된다 일반적으로 GaN 에피택시 충의 결정성의 향상과 lateral 생장올 도모하기 위하여 성장 온도를 증가시키지만 본 실험에서는 낮은 성장 온도에서도 결정성의 향상 및 l later빼 성장을 촉진시킬 수 있었으며 이는 저온 성장법에 의한 고품위의 GaN 에피택시 충 성장에 대한 가능성올 제시하는 것이다.