• 한국정밀공학회지
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• 제20권11호
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• pp.79-90
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• 2003

In this paper, we propose a multisensor-based navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments using multi-ultrasonic sensor. Instead of using “sensor fusion” method which generates the trajectory of a robot based upon the environment model and sensory data, “command fusion” method by fuzzy inference is used to govern the robot motions. The major factors for robot navigation are represented as a cost function. Using the data of the robot states and the environment, the weight value of each factor using fuzzy inference is determined for an optimal trajectory in dynamic environments. For the evaluation of the proposed algorithm, we performed simulations in PC as well as experiments with IRL-2002. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제2권3호
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• pp.242-247
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• 2002

According to increase of the factory-automation(FA) in the field of production, the importance of the autonomous guided vehicle's(AGV) role has also increased. This paper is about an active and effective controller which can flexibly prepare for changeable circumstances. For this study, research about an behavior-based system evolving by itself is also being considered. In this Paper, we constructed an active and effective AGV fuzzy controller to be able to carry out self-organization. To construct it, we tuned suboptimally membership function using a genetic algorithm(GA) and improved the control efficiency by self-correction and the generation of control rules.

• 한국항행학회논문지
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• 제17권2호
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• pp.240-246
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• 2013

본 연구는 터치스크린 방식의 정보전달 기기인 DID 시스템에 Airtouch 기술을 융합하여 새로운 방식의 정보전달 시스템을 개발하는 것이다. 대학의 학내 공지사항, 교육정보 및 취업정보 등을 열람하고 활용 할 수 있는 시스템을 설계하고 Airtouch 기술을 구현하여 원격조작 및 공유 콘텐츠 스토어, 클라우드 서비스 개발을 통한 콘텐츠 동기화 기술 구현으로 스마트융합 DID 시스템을 개발하고자 한다. 키넥트는 USB 인터페이스를 가지고 있기 때문에 정보기기와 연결하여 사용 할 수 있으며, 저렴한 가격의 제품으로 키넥트 센서를 활용하여 Airtouch 기술을 구현한다. 논문에서는 유형의 입력장치 없이 사용자의 손동작만으로 정보기기와 상호작용이 가능한 시스템인 Airtouch 기술을 활용한 스마트융합 DID 시스템을 개발하여 사용자의 손 움직임을 추적하여 이를 바탕으로 마우스 포인터를 조작할 수 있고, 사용자의 손동작을 통해 정보기기에 명령을 내릴 수 있도록 하였다. Airtouch 기술을 활용한 스마트융합 DID 시스템 기술 활용으로 온라인 교육산업, 광고홍보, 정보화 산업 등 여타 산업에 파급효과를 증대시킨다. 또한, 폭넓은 범용성을 가지고 기존의 인터페이스 장치들을 대체기술 활용성이 무한 확장이 가능하다.

• 한국진공학회지
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• 제17권1호
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• pp.58-66
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• 2008

KSTAR 전류전송제어시스템은 네트워크기반의 실시간 분산제어시스템으로 EPICS (Experimental Physics and Industrial Control System)를 미들웨어로 채용하여 구축하였다. 전류전송제어시스템은 초전도자석시스템에 전류를 전송하기 위한 시스템으로서 전류전송과 동시에 초전도자석이 초전도상태를 유지하기 위한 냉매의 전송도 담당하고 있다. 주제어실에서의 원격운전을 위하여 EPICS IOC(Input Output Controller) 서버를 현장에 설치하였고 이를 통하여 전류전송제어시스템은 고유의 이름(PV)에 적절한 조작 및 감시 명령을 부여하여 주제어실의 운전화면을 통하여 시스템의 감시 및 조작이 가능하도록 하였다. EPICS와 PLC의 통신을 위하여 ether-ip 드라이버를 이용하여 EPICS IOC를 구축하였으며, 시험 결과 안정성 및 운용성 측면에서 만족할 만한 결과를 획득하였다.

• 전자공학회논문지SC
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• 제37권2호
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• pp.16-28
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• 2000

In this paper, we propose a navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments using an ultrasonic sensor. Instead of using "sensor fusion"method which generates the trajectory of a robot based upon the environment model and sensory data, "command fusion"method is used to govern the robot motions. The major factors for robot navigation are represented as a cost function. Using the data of the robot states and the environment, the weight value of each factor is determined for an optimal trajectory in dynamic environments. For the evaluation of the proposed algorithm, we peformed simulations in PC as well as real experiments with ZIRO. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.

• Journal of Microbiology and Biotechnology
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• 제25권1호
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• pp.119-126
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• 2015

Among the various human growth factors, epidermal growth factor (hEGF, consisting of 53 amino acids) has various effects on cell regeneration, stimulation of proliferation, migration of keratinocytes, formation of granulation tissues, and stimulation of fibroblast motility, which are important for wound healing. Owing to their multiple activities, EGFs are used as pharmaceutical and cosmetic agents. However, their low productivity, limited target specificity, and short half-life inhibit their application as therapeutic agents. To overcome these obstacles, we fused the collagen-binding domain (CBD) of Vibrio mimicus metalloprotease to EGF protein. About 18 or 12 amino acids (aa) (of the 33 total amino acids), which were essential for collagen-binding activity, were combined with the N- and C-termini of EGF. We constructed, expressed, and purified EGF (53 aa)-CBD (18 aa), EGF (53 aa)-CBD (12 aa), CBD (18 aa)-EGF (53 aa), and CBD (12 aa)-EGF (53 aa). These purified recombinant proteins increased the numbers of cells in treated specimens compared with non-treated specimens and control hEGF samples. The collagen-binding activities were also evaluated. Furthermore, CBD-hybridized hEGF induced phosphorylation of the EGF receptor. These results suggested that these fusion proteins could be applicable as small therapeutic agents in wound tissue healing.

• 한국의류학회지
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• 제16권2호
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• pp.189-195
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• 1992

Buddhism as one of alien thoughts has been developed conflicting and fusing with Korean Cultural bases. From these fusion process Korean Kasa (i.e, sacerdotal robe for Buddhist monk) also came into possession of different features from original Kasa which Buddhist Command- ment regulates or Kasa of South Asia which is the birthplace of Buddhism. 1. Original kasa was Pamsukula (i.e., a shabby, abandoned, muddy cloth), which did not permit special ornament or luxurious materal. However, we can find splendid colors, letters and embroideries in Korean Kasa. 2. These phenomenon originated from Three Treasures Faith, that is to say, the faith for three treasures, such as Buddha, Buddhist Commandment and Buddhist monk, which was formed by the fusion of Buddhism and conventional Shamanism. 3. Such letters as 천(Heaven), 왕(God). 영(om) stand for what shaped Guardian Deities protecting buddhist Sanctum. 4. The rmbroideries of three-legged bird, such as rabbit and toad, which symbolyze 일(sun) and 월(moon) stand for what shaped conventional divinities. 5. After Kasa possessing originally practical significance, such as Kasa Charity, was penetrated into Korea, it became the object of faith, possessing symbolical significance in addition.

• 로봇학회논문지
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• 제4권4호
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• pp.289-297
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• 2009

This paper presents the development and control of a two wheeled car-like mobile robot using balancing mechanism whose heading control is done by turning the handle. The mobile inverted pendulum is a combined system of a mobile robot and an inverted pendulum system. A sensor fusion technique of low cost sensors such as a gyro sensor and a tilt sensor to measure the balancing angle of the inverted pendulum robot system accurately is implemented. Experimental studies of the trajectory following control task has been conducted by command of steering wheel while balancing.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2019-2023
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• 2005

In this paper, an autonomous omni directional cleaning robot which recognizes an obstacle and a battery charger is introduced. It utilizes a robot vision, ultra sonic sensors, and infrared sensors information along with appropriate algorithm. Three omni-directional wheels make the robot move any direction, enabling a faster maneuvering than a simple track typed robot. The robot system transfers command and image data through Blue-tooth wireless modules to be operated in a remote place. The robot vision associated with sensor data makes the robot proceed in an autonomous behavior. An autonomous battery charger searching is implemented by using a map-building which results in overcoming the error due to the slip on the wheels, and camera and sensor information.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.53.2-53
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• 2002

NARO Space Center is being developed as a national project for the Korea Space Development Program. Among the major missions of the Space Center, the Range Control System is the focal point for all command and control operation of the Space Center. The acquired data from the Tracking Stations and the on-site facilities is processed and distributed in the Control Center. Data processing or data fusion is needed for the exact tracking of the Launch Vehicle from several tracking systems. The first phase, which is the best telemetry source is selected among data streams that are received from each telemetry stations using some pre-defined criterion. Trajectory data and major telemetry parameters...