• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.10
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• pp.3873-3879
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• 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 the Korea Computer Graphics Society
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• v.23 no.3
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• pp.105-113
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• 2017

This paper presents a novel on-line trajectory optimization framework based on automatic time warping, which performs the time warping of a reference motion while optimizing character motion control. Unlike existing physics-based character animation methods where sampling times for a reference motion are uniform or fixed during optimization in general, our method considers the change of sampling times on top of the dynamics of character motion in the same optimization, which allows the character to effectively respond to external pushes with optimal time warping. In order to do so, we formulate an optimal control problem which takes into account both the full-body dynamics and the change of sampling time for a reference motion, and present a model predictive control framework that produces an optimal control policy for character motion and sampling time by repeatedly solving the problem for a fixed-span time window while shifting it along the time axis. Our experimental results show the robustness of our framework to external perturbations and the effectiveness on rhythmic motion synthesis in accordance with a given piece of background music.

• Journal of the Korea Society of Computer and Information
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• v.19 no.12
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• pp.143-152
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• 2014

This paper introduces Database security to prevent the rapidly increasing issue of private information leakage. The Database security examined in the paper separates into DB access control area and DB encryption area which further leads the paper to analyze the factors of the two areas and suggest necessary elements for creating stable Database security. In addition, the paper examines previous DB security programs by areas and analyzes pros and cons from the tested result. The experiment indicated that while DB access control presents less degradation and reduced the need to modify the existing DBMS since the access control operates at the end point of the network, DB encryption presented strength in protecting the data from unauthorized access. On the other hand, DB access control is less useful in preventing the attack in advance which leaves the log to enable tracking afterward while DB encryption can only be operated by limited types of Database and causes degradation due to system load and shows higher percentage of failure when creating the system. This paper examines characteristics of Database security areas in order to be used as a reference for institutions or companies seeking stable Database security.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.16 no.1
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• pp.139-145
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• 2016

Dumbbell is the most basic topology that can be used in almost all kind of network experiment within it or just by little expansion. While Transmission Control Protocol TCP is the basic protocol that is used for the connectivity among networks and stations. TCP major and basic goal is to provide path and services to different applications for communication. For that reason TCP has to transfer a lot of data through a communication medium that cause serious congestion problem. To calculate the congestion problem, different kind of pre-cure solutions are developer which are Loss Based Variant and Delay Based Variant. While LBV keep track of the data that is going to be passed through TCP protocol, if the data packets start dropping that means congestion occurrence which notify as a symptom, TCP CUBIC use LBV for notifying the loss. Similarly the DBV work with the acknowledgment procedure that is used in when data ACK get late with respect to its set data rate time, TCP COMPOUND/VAGAS are examples of DBV. Many algorithms have been purposed to control the congestion in different TCP variants but the loss of data packets did not completely controlled. In this paper, the congestion control algorithms are implemented and corresponding results are analyzed in Dumbbell topology, it is typically used to analyze the TCP traffic flows. Fairness of throughput is evaluated for different TCP variants using network simulator (NS-2).

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.10
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• pp.291-298
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• 2020

The power generation of a PV system changes according to the weather variables, such as solar radiation and temperature. In particular, the output characteristics of photovoltaic systems, which are sensitive to changes in solar radiation, can be produced effectively and reliably in various weather conditions through MPPT (Maximum Power Point Tracking) control. This paper proposes a fuzzy-based MPPT control method to improve the efficiency and stability of the power production from a solar system. To verify the performance of the proposed method, under the same weather environment, the efficiency and stability of the newly proposed fuzzy logic were compared and evaluated empirically with P&O (Perturb and Observe), a representative algorithm of MPPT control. Furthermore, the circuits designed to improve the reliability and reliability of the hardware were manufactured from Printed Circuit Boards (PCB) to conduct experiments. Based on the results of the experiment during a certain period, the fuzzy-based MPPT proposed in this paper improved the efficiency by more than 4.4% compared to the MPPT based on the existing P&O algorithm and decreased the fluctuation width by more than 39.7% at the maximum power point.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.9 no.2
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• pp.360-369
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• 2008

The solar cells should be operated at the maximum power point because its output characteristics were greatly fluctuated on the variation of insolation, temperature and load. It is necessary to install an inverter among electric power converts by means of the output power of solar cell is DC. The inverter is operated supply a sinusoidal current and voltage to the load and the interactive utility line. In this paper, the proposes a photovoltaic system is designed with a step up chopper and single phase PWM voltage source inverter. Synchronous signal and control signal was processed by one-chip microprocessor for stable modulation. The step up chopper is operated in continuous mode by adjusting the duty ratio so that the photovoltaic system tracks the maximum power point of solar cell without any influence on the variation of insolation and temperature for solar cell has typical dropping character. The single phase PWM voltage source inverter is consists of complex type of electric power converter to compensate for the defect, that is, solar cell cannot be develop continuously by connecting with the source of electric power for ordinary using. It can be cause the efect of saving electric power, from 10 to 20%. The single phase PWM voltage source inverter operates in situation, that its output voltage is in same phase with the utility voltage. The inverter are supplies an ac power with high factor and low level of harmonics to the load and the utility power system.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.28 no.3B
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• pp.323-334
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• 2008

Present study examined the functionality of the solitary wave (tsunami) control of the two-rowed porous submerged breakwater by numerical experiments, using a numerical wave tank which is based on the Navier-Stokes equation to explain fluid fields and uses a Volume of Fluid (VOF) method to capture the free water surface. Solitary wave was generated by the internal wave source installed within the computational zone in the numerical wave tank and its wave transformations by structure were compared with those in the previous study. Comparisons with the precious numerical results showed a good agreement. Based on these results, several tow-dimensional numerical modeling investigations of the water fields, including wave transformations, reflection, transmission and energy flux, by the one- and two-rowed permeable submerged breakwater under solitary waves were performed. Even if, it is a research of the limited scope, in case of two-rowed permeable submerged breakwater with $h_0/h=0.925$ ($h_0$ is height of submerged breakwater and h is water depth), the wave height damping in range of $l/L_{eff}>0.4$($L_{eff}$ is effective distance of solitary wave) can reach nearly 60% of the incident wave height. In addition, it is found that reflection coefficient increases nearly 47% and transmission coefficient decreases nearly 18% than one-rowed one. The numerical results revealed that the tow-rowed submerged breakwater can control the incident solitary wave economically and more efficiently than the one-rowed one.

• Radiation Oncology Journal
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• v.21 no.1
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• pp.19-26
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• 2003

Purpose : Maxillary sinus cancers are usually locally advanced, and involve the structures around sinus, but the regional lymphatic spread is uncommon. Therefore, the local control of these cancers is important for their cure. We reviewed our experience of 55 patients with squamous cell carcinomas of the maxillary sinus, treated with radiation therapy, and looked for the role of radiation therapy in maxillary sinus cancers. Materials and Methods : Between November 1982 and October 1999, 55 patients with squamous cell carcinomas of the maxillary sinus underwent either radiation therapy only, or combined with surgery or with concurrent chemoradlation therapy. All patients were restaged according to the 1997 AJCC staging systems. The T classifications of the tumors of the patients were as follows 1.8$\%$ (1/55) for 72, 81.8$\%$ (45/55) for 73 and 16.4$\%$ (9/55) for 74. Thirteen patients were diagnosed with lymph node involvement. With the surgical procedures, 12 patients were managed by biopsy only, 21 were resected by FESS (funclienal endoscopic sinus surgery) and 22 by partial/medical/total rnaxillectomies. The details of the treatments were as follows 8 patients were treated with radiation therapy only, 17 with a combination of FESS and radiation therapy, 22 with a combination of a maxillectomy and radiation therapy, 4 with a combination of preoperative radiation therapy and surgery, and 4 with concurrent chemoradiation therapy. The mean follow-up for all patients was 25 months, ranging from 2.8 to 125 months. Results : The 4-year local control and survival rates for all Patients were 45.5 and 33.3$\%$, respectively. The 4-year local control and suHival rates, due to the extent of surgery, were as follows 32.1, and 21.4$\%$ for biopsy; 41.9, and 31.7$\%$ for FESS; and 56.8, and 52.7$\%$ for maxillectomy, respectively. Twenty-nine (52.7$\%$) patients were not cured, and of these 29 patients, 23 (79.3$\%$) patients had a iocal recurrence following treatment. Conclusions :This study has shown that the major failure sites following treatment to be the local regions, and that the completeness of surgery was important for improving the local control and survival of patients with squamous cell carcinoma of the maxillary sinus.

• Radiation Oncology Journal
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• v.18 no.2
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• pp.85-91
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• 2000

Purpose : The aim of this study is to look for the possible efficacy of postoperative external irradiation for incompletely resected meningiomas. Methods and Materials : From August 198: to January 1997, forty-four patients with intracranial meningioma were treated by postoperative external irradiation. Of the 44 meningiomas, 18 transitional, 13 meningotheliomatous, 6 hemangiopericytic, 4 atypical, 2 fibroblastic and 1 malignant meningioma were identified. We classified all patients into two groups by the histology. The benign group was consisted of the meningotheliomatous, transitional and fibroblastic types. The malignant group was consisted of the atypical, hemangiopericytic and malignat types. In the means of surgery, 37 patients were resected incompletely and 7 patients were managed by biopsy only. After surgery, all patients were received postoperative external irradiation. Radiotherapy was deliverd using Co-60 or 4 MV photon beam to a total dose of 50 to 65 Gy (mean dose 57.4 Gy) with a 1.8 to 2 Gy per fraction. The median follow-up was 48 months (range : 21 $\~$ 101 months). Multivariate analysis of the Influence by age, sex, location, histology and radiation dose on local control has been done using Cox's proportional hazard model. Results : 5-year local control rate was 93.8$\%$ for the benign histology and 51.8$\%$ for the malignant histology (p=0.0110) and overall local control rate at 5 years was 87.4$\%$. The analysis of the prognostic factors, such as age, sex, location, and radiation dose were not significant except for the histology. Conclusion : Adjuvant postoperative external irradiation appears to be significantly improved local control in the patients with incompletely resected meningiomas.

• Radiation Oncology Journal
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• v.13 no.2
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• pp.163-171
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• 1995

Purpose: Primary radiation therapy following breast-conserving surgery has been an accepted alternative to mastectomy during the past 2 decades. In this country, however, the practice of conservative therapy for early invasive breast cancer has not been generalized yet. The purpose of this report was to evaluate the results and complications of breast conservation therapy in Korean Cancer Center Hospital(KCCH). Materials and Methods: From January 1987 to December 1989. 45 Patients with early breast cancer treated with conservative treatment in KCCH were studied retrospectively Median follow up was 54 months(range, 4 to 82 months) . All patients received partial mastectomy (biopsy, tumorectomy. or quadrantectomy) and radiation therapy. Twenty eight patients received axillary dissection The breast was treated with two opposing tangential fields (total 50 Gy or 50.4 Gy in 5 weeks with daily target dose of 2 Gy or 1.8 Gy) Thirty patients received chemotherapy before and after radio-therapy Eleven patients received hormonal therapy. Results: Five-year survival rate, 5-rear disease free survival rate and 5-year local control rate were 87.2%, 86.5% and 97.6%,$ respectively. Administration of systemic Therapy (chemotherapy or hormonal therapy) correlated with good prognosis but statistically not significant (0.05 < p < 0.1). The severe late complication rate was 8.9% Conclusion: Primary radiation therapy following breast-conserving surgery for early breast cancer is an alternative treatment comparing to radical treatment. Long term follow-up and more patients collection is needed to evaluate the Prognostic factor and cosmetic outcome.