• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.4
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• pp.1824-1832
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• 2011

In this paper, a smart home service robot McBot II is newly developed in much more practical and intelligent system than McBot I which we had developed a few years ago. Thus far, vacuum-cleaners have lightened the burden of household chores but the operational labor that vacuum-cleaners entail has been very severe. Recently, a cleaning robot was commercialized to solve but it also was not successful because it still had the problem of mess-cleanup, which pertained to the clean-up of large trash and the arrangement of newspapers, clothes, etc. Hence, we develop a new home mess-cleanup robot McBot II to completely overcome this problem on real environments. The mechanical design and the basic control of McBot II, which performs mess-cleanup function etc. in house, is actually focused in this paper. McBot II is mechanically modeled in the same method that the human works in door by using the waist and the hands. The big-ranged vertical lift and the shoulder joints to be able to forward move are mechanically designed for the operating function as the human's waist when the robot works. The mobility of McBot II is designed in the holonomic mobile robot for the collision avoidance of obstacle and the high speed navigation on the small area in door. Finally, good performance of McBot II, which has been optimally desinged, is confirmed through the experimental results for the control of the robotic body, mobility, arms and hands in this paper.

• Proceedings of the Korean Vacuum Society Conference
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• 2000.02a
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• pp.87-87
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• 2000

이온빔 증착에 있어서 전자의 조사가 이온빔 증착기구에 미치는 영향에 대한 연구는 지금까지 보고 되어지지 않았다. 특히 전자의 조사가 증착층의 물성에 영향을 미칠 수 있느지에 대하여 정량적인 결과를 실험을 통하여 제시한 보고는 내가 아는 한 존재하지 않는다. 한편 이와같이 박막 증착에 있어서 전하가 증착되어지는 박막의 물성에 미칠 수 있는 영향에 대해서는 많은 과학자들의 관심사이기도 하다. 본 실험에서는 kaufman ion gun을 이용하여 질소 양이온을, 그리고 Cs+ ion gun을 이용하여 탄소 음이온을 조사하고 이들을 이용하여 CN 박막을 증착하였다. 질소 양이온의 에너지는 100eV, 이온밀도는 70$\mu$A/$\textrm{cm}^2$로 고정하고, 탄소 이온빔(80$\mu$A/$\textrm{cm}^2$)의 에너지를 200cV까지 변화시켜가며 증착하였다. 이때 증착층의 특성에 음 전하의 효과를 유발하기 위하여 350~360$\mu$A/$\textrm{cm}^2$의 전자빔을 이온빔 증착과 동시에 추가로 조사하였고 이의 특성을 전자빔을 조사하지 않고 증착한 CN 박막의 특성과 서로 비교하였다. 또한 증착 표면의 전하 축적에 의한 입사 이온빔의 에너지 감소에 의한 영향을 방지하기 위하여 증착되는 Si 기판에 HF (300kHz, 3.5V) bias를 가하여 주었다. 전자빔의 조사와 동시에 이루어진 CN 박막의 증착은 입사하는 탄소 음 이온빔의 에너지가 80eV에서 180eV 사이일때 원자밀도의 향상과 질소함량의 증가, 그리고 sp2C-N 결합대비 sp3C-N 결합의 향상이 이루어졌음을 확인하였다. 이는 이온빔 충돌에 의하여 피코쵸 정도의 시간대에 이루어지는 박막내의 collision cascade 영역에 이에 의하여 생긴 결함부위에 유입된 음 전하가 위치하면 전하주위의 원자와 polarization을 형성하고 이에 의하여 탄소와 질소의 결합을 형성하는데 필요한 자유에너지의 감소를 수반하는 방향으로 원자의 배열이 이루어지기 때문으로 사료된다. 이와같이 이온빔 에너지가 이온빔 증착 기구의 주요한 인자로 널리 인식되고 있는 kinetic bonding process에 있어서 이온 에너지에 의하여 activation energy barrier를 넘은후, 전자의 조사가 자유에너지를 낮추는 방향으로 최종 결합경로를 조절할 수 있기 때문에 이온빔 증착을 조절할 수 있는 또 하나의 주요한 인자로 받아들여질 수 있으리라 판단된다. 이온빔 프로세스에 의한 DLC 혹은 탄소관련 필름을 형성하는데 있어서 입사 이온빔의 에너지에 의하여 수반되는 thermal spike 혹은 외부 열원에 의한 가열은 박막층의 흑연화를 수반하기 때문에 박막의 sp3 특성을 향상시키기 위하여 회피하여야 할 요소이지만 thermal spike에 의한 국부 영역의 가열과 같은 불가피한 인자가 존재하는 상황에서 전자에 의한 추가 전하의 조사에 의한 최종결합경로의 선택적 조절은 박막의 화학적 결합과 물리적 특성을 향상시킬 수 있는 중요한 방법이 될 수 있다고 판단된다.

• Journal of KIISE:Databases
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• v.33 no.1
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• pp.69-85
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• 2006

Broadcast has been often used to disseminate the frequently requested data efficiently to a large volume of mobile clients over a single or multiple channels. Conventional concurrency control protocols for mobile transactions are not suitable for the wireless broadcast environments due to the limited bandwidth of the up-link communication channel. In wireless broadcast environments, the server often broadcast different data items with different frequency to incorporate the data access patterns of mobile transactions. The previously proposed concurrency control protocols for mobile transactions in wireless broadcast environments are focused on the mobile transactions with uniform data access patterns. However, these protocols perform poorly when the data access pattern of update mobile transaction are not uniform but skewed. The update mobile transactions with skewed data access patterns will be frequently aborted and restarted due 4o the update conflict of the same data items with a high access frequency. In this paper, we propose an energy-efficient concurrence control protocol for mobile transactions with skewed data access as well as uniform data access patterns. Our protocol use a random back-off technique to avoid the frequent abort and restart of update mobile transactions. We present in-depth experimental analysis of our method by comparing it with existing concurrency control protocols. Our performance analysis show that it significantly decrease the average response time, the amount of upstream and downstream bandwidth usage over existing protocols.

• Journal of the Korean Society of Marine Environment & Safety
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• v.20 no.6
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• pp.677-684
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• 2014

In response to possible HNS (Hazardous and Noxious Substance) spill accident, HNS spill accident scenario and response scenario were developed. The accident area listed in scenarios is the coastal area of Busan, and scenario for possible accident in the designated area and strategies to respond the accident were developed, respectively. The scenario for accident was developed by designating HNS spill according to risk evaluation of HNS and analysis of HNS spill probability along the coastal area of Busan, and then estimating possible and potential impact from the accident. The scenario for response has been suggested as a systematical responding operations in order to effectively reduce the estimated impact from the accident. The possible HNS spill accident on the seas around Busan, has been designated by the spillage of 1,000ton of xylene due to collision accident in Gamcheon Port, and the possible impacts occurred by the accident has been simulated with the help of the atmospheric and oceanic dispersion model of xylene. In the responding scenario for the accident, a phased strategies regarding emergency rescue of peoples, protection and recovery of xylene, protective measures for the responders, and post management of the accident have been suggested.

• Journal of the Korean Society of Marine Environment & Safety
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• v.23 no.6
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• pp.603-612
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• 2017

Accidents associated with hazardous materials, including oil and HNS, in maritime transportation show increasing trend. Therefore, preventive countermeasures for such accidents should be provided. The purpose of this study is to analyze level of risk on human loss and potential damage to environment, using data on domestic marine accidents carrying hazardous materials (2002~2014), and identify high-risk accident types for urgent risk management which needs findings of accident causes and proper mitigation measures. High-risks on human loss are explosion and suffocation, occurred in process of ship maintenance and tank cleaning. On the other hand, high-risk on environmental damage is spill caused by ship accidents (collision, grounding and etc.). Especially, spill occurs during loading operation of oil and HNS onboard a ship. Strict operation supervision/management and safety education/training on a regular basis could prevent accidents, because human factors such as not wearing safety gear and careless cargo handling cause most of the marine accidents.

• Journal of Aerospace System Engineering
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• v.15 no.5
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• pp.24-32
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• 2021

Personal Air Vehicle (PAV), Cargo UAS (Cargo UAS), and existing manned and unmanned aircraft are key vehicles for urban air mobility (UAM), and should demonstrate compatibility for the design of aircraft systems. The safety assessment required by for certification to ensure safety and reliability should be systematically performed throughout the entire cycle from the beginning of the aircraft development process. However, with the increasing complexity of safety critical aviation systems and the application of state-of-the-art systems, conventional experience-based and procedural-based safety evaluation methods make ir difficult to objectively assess safety requirements and system safety. Therefore, Model-Based Safety Assessment (MBSA) using modeling and simulation techniques is actively being studied at domestic and foreign countries to address these problems. In this paper, we propose a Model-Based Safety Evaluation framework utilizing modeling and simulation-based integrated flight simulators. Our case studies on the Traffic Collision Availability System (TCAS) and Wheel Brake System (WBS) confirmed that they are practical for future safety assessments.

• Journal of the Korea institute for structural maintenance and inspection
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• v.25 no.6
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• pp.19-26
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• 2021

The seismic isolation system have been applied in order to protect the collapse of bridge by seismic load and the vertical load transmitted from the superstructure. However, the failure and damages of non-shrinkage mortar, isolator and wedge in total 12 bridge were reported by Pohang Earthquake. In this study, the damage mechanism and behavior characteristics of elastomeric bearing by an earthquake were evaluated to consider the seismic isolation system including non-shrinkage mortar and the seat concrete of pier. To discuss the effect of installed wedge and damage mode of elastomeric bearing, the compressive-shear tests were carried out. Also, the mechanical behaviors and damage mechanism for each component of elastomeric bearing were evaluated by using finite element analysis. From the test results, the cracks were created at boundary between non-shrinkage mortar and seismic isolator and the shear loads were rapidly increased after bump into wedge. The cause for damage mechanism of seismic isolation system was investigated by comparing stress distribution of anchor socket and non-shrinkage mortar depending on wedge during earthquake.

• Journal of the Korean Society of Marine Environment & Safety
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• v.24 no.7
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• pp.858-862
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• 2018

The purpose of this study is to improve the current vessel departure control regulations to prevent traffic congestion after the lifting of vessel departure controls due to restricted visibility. AIS data was collected to analyze the traffic volume of normal traffic flow and after departure control. A statistical test was conducted to confirm the difference in traffic volume at peak hours according to whether or not departure control was used. The results of the t-test showed that there was a significant difference in traffic volume among groups of less than 10,000 tons in gross tonnage. However, the Mann-Whitney test showed no difference in traffic volume regardless of vessel control. Small and medium-sized vessels of less than 10,000 tons after departure control increased in traffic volume by 142% over normal traffic, and it was concluded that traffic congestion resulted as these small and medium-sized vessels were departing at the same time as large vessels of more than 10,000 tons. In order to prevent vessel collision accidents due to traffic congestion, it is suggested that the navigability of vessels less than 160 m or less than 10,000 tons should be improved.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.23 no.2
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• pp.179-192
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• 2019

Additional frequencies are allocated in maritime digital data exchange to alleviate overload of the VHF data link. The shipborne ad-hoc network (SANET) for this frequencies was subsequently proposed, which provides various IP-based services to ships on behalf of satellite communications. In SANET, a ship should determine its own IP address to achieve IP connectivity to the shore. Accordingly, this paper proposes a SANET configuration (SANETconf) protocol as an IP configuration protocol. SANETconf propagates non-overlapping IP addresses across the network from the shore to ships. A ship obtains its IP address by exchanging Request and Response messages with its neighbors. Therefore, SANETconf eliminates the process of DAD and managing the movement of ships. Extensive simulations were performed to verify the applicability of SANETconf. Based on results, 85% of the ships can determine their own IP address within one frame. Also, SANETconf has a high resource efficiency by using 0.024 percent of resources for IP configuration.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.6
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• pp.1-10
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• 2021

The interest in underwater acoustic sensor networks (UWASNs), along with the rapid development of underwater industries, has increased. To operate UWASNs efficiently, it is important to adopt well-designed medium access control (MAC) protocols that prevent collisions and allow the sharing of resources between nodes efficiently. On the other hand, underwater channels suffer from a narrow bandwidth, long propagation delay, and low data rate, so existing terrestrial node pairing schemes for non orthogonal multiple access (NOMA) cannot be applied directly to underwater environments. Therefore, a multi-dimensional node pairing scheme is proposed to consider the unique underwater channel in UWASNs. Conventional NOMA schemes have considered the channel quality only in node pairing. Unlike previous schemes, the proposed scheme considers the channel gain and many other features, such as node fairness, traffic load, and the age of data packets to find the best node-pair. In addition, the sender employs a list of candidates for node-pairs rather than path loss to reduce the computational complexity. The simulation results showed that the proposed scheme outperforms the conventional scheme by considering the fairness factor with 23.8% increases in throughput, 28% decreases in latency, and 5.7% improvements in fairness at best.