• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.431-437
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• 2022

This paper deals with a study on the automatic depalletizing robot for parcels loaded in rolltainer of domestic postal distribution centers. Specifically, we proposed a robot system that detect parcels loaded in a rolltainer with a 3D camera and perform de-palletizing using a cooperative robot. In addition, we developed the task flow chart for parcel de-palletizing and the method of retreat motion generation in the case of collision with rolltainer. Then, we implemented the proposed methods to the robot's controller by developing robot program. The proposed robot system was installed at the Anyang Post Distribution Center and field tests were completed. Field tests have shown that the robotic system has a success rate of over 90% for depalletizing task. And it was confirmed that the average tact time per parcel was 7.3 seconds.

• Journal of The Korean Association For Science Education
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• v.22 no.1
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• pp.93-101
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• 2002

This study investigated the effect of small group discussion for science concept learning in cooperative learning environments that encourage verbal interaction with peers upon students' understanding of the concepts at the particulate level, application abilities, perceptions of students' negotiation, and communication apprehension. Two classes of 7th grade at a coed middle school were assigned to the control and the treatment groups. They were taught about change of states and motion of molecules for 7 class periods. Two-way ANCOVA results revealed that the scores of a conceptions test for the treatment group were significantly higher than those for the control group, and that the low-achievers in the treatment group performed better than those in the control group. However, the scores of two groups did not differ significantly in an application test. The perceptions of students' negotiation for the treatment group were more positive, but the scores of the communication apprehension for two groups were not significantly different.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.24 no.5
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• pp.566-573
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• 2013

Inverse synthetic aperture radar(ISAR) images have been widely used in non-cooperative target recognition(NCTR). One of the most important issues in ISAR imaging is the improvement of the image smeared by target motion. In this paper, we propose the discrete Gabor representation(DGR) in an oversampling scheme for efficient acquisition of high-quality ISAR images. The DGR compartmentally assigns the Gabor coefficients to unit cells of the time-frequency grid related to the given Gabor logons. Thus, it can show an excellent time-frequency concentration and effectively discriminates the Doppler components from point-scatterers. The simulation results demonstrated that the DGR not only obtained high-quality ISAR images but also retained computational efficiency.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.3
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• pp.311-317
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• 2010

In the paper, we propose an improved mobility method of modular robots by physical docking in the uneven environments. The modular robot system consists of autonomous docking device, 3 DOF robotic arm, motion controller, and main controller. Real-time location and direction of the robot are estimated using inner GPS and they are used to control direction and path of each robot for physical docking between modular robots. We design a navigation algorithm of modular robot using physical docking and cooperative navigation in the environment with broken road and low stair. The proposed method is verified by navigation experiments of three developed modular robots in the uneven environments.

• Investigative Magnetic Resonance Imaging
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• v.21 no.2
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• pp.71-81
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• 2017

Purpose: To compare three, motion-resistant, T1-weighted MR sequences on the hepatobiliary phase for gadoxetic acid-enhanced MR imaging of the liver. Materials and Methods: In this retrospective study, 79 patients underwent gadoxetic acid-enhanced, 3T liver MR imaging. Fifty-nine were examined using a standard protocol, and 20 were examined using a motion-resistant protocol. During the hepatocyte-specific phase, three MR sequences were acquired: 1) gradient recalled echo (GRE) with controlled aliasing in parallel imaging results in higher acceleration (CAIPIRINHA); 2) radial GRE with the interleaved angle-bisection scheme (ILAB); and 3) radial GRE with golden-angle scheme (GA). Two readers independently assessed images with motion artifacts, streaking artifacts, liver-edge sharpness, hepatic vessel clarity, lesion conspicuity, and overall image quality, using a 5-point scale. The images were assessed by measurement of liver signal-to-noise ratio (SNR), and tumor-to-liver contrast-to-noise ratio (CNR). The results were compared, using repeated post-hoc, paired t-tests with Bonferroni correction and the Wilcoxon signed rank test with Bonferroni correction. Results: In the qualitative analysis of cooperative patients, the results for CAIPIRINHA had significantly higher ratings for streak artifacts, liver-edge sharpness, hepatic vessel clarity, and overall image quality as compared to, radial GRE, (P < 0.016). In the imaging of uncooperative patients, higher scores were recorded for ILAB and GA with respect to all of the qualitative assessments, except for streak artifact, compared with CAIPIRINHA (P < 0.016). However, no significant differences were found between ILAB and GA. For quantitative analysis in uncooperative patients, the mean liver SNR and lesion-to-liver CNR with radial GRE were significantly higher than those of CAIPIRINHA (P < 0.016). Conclusion: In uncooperative patients, the use of the radial GRE sequence can improve the image quality compared to GRE imaging with CAIPIRINHA, despite the data acquisition methods used. The GRE imaging with CAIPIRINHA is applicable for patients without breath-holding difficulties.

• Transactions of the Korean Society of Automotive Engineers
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• v.24 no.3
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• pp.294-301
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• 2016

This paper discusses about analyzing in-wheel vehicle's dynamic motion and load torque. Since in-wheel vehicle controls each left and right driving wheels, it is dangerous if vehicle's wheels are not in a cooperative control. First, this study builds the main wheel control logic using PID control theory and evaluates the stability. Using Carsim-Matlab/Simulink, vehicle dynamic motion is simulated in virtual 3D driving road. Through this, in-wheel vehicle's driving performance can be analyzed. The target vehicle is a rear-wheel drive in D-class sedan. Second, by using the first In-wheel vehicle's performance results, it derivate the drive motor's dynamic load torque for applying the dynamometer. Extracted load torque impute to dynamometer's load motor, linear experiment in dynamometer can replicated the 3-D road driving status. Also it, will be able to evaluate the more accurate performance analysis and stability, as a previous step of actual vehicle experiment.

• Journal of the Korea Convergence Society
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• v.11 no.1
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• pp.25-31
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• 2020

In this study, a real time image integrating system which can reconstruct two images from a surface camera and an under water camera into one new image was developed to support Korea artistic swimming team. The developed system consists of four USB cameras (two USB 2.0 and two USB 3.0) sealed in water proof case and one note book computer, and a LabVIEW based real time image merging program was developed. During field test, problem in cooperative motion of acrobatic formation was found, and it was proved that correction of motion to improve skill of the player could be possible in real time with aid of the developed system. After the filed test, the developed system has been being used to support Korea artistic swimming team.

• Journal of the Korean Society of Radiology
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• v.14 no.7
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• pp.957-964
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• 2020

T2 FLAIR sequence of MRI in Acute Ischemic Stroke patients is meaningful to those who have the diagnosis of cerebral hemorrhage and neurological deficiency, including the detection of cerebral infarction around Cerebrospinal fluid. However, because of the long acquisition time and mutative motion artifacts caused by movement, It is difficult to take the MRI image acquisition for non-cooperative patients who need to apply a rapid image acquisition. In this study, we applied the EPI-FLAIR sequence, which is one of the fastest pulse sequences in use, which is a combination of EPI sequence and T2 FLAIR sequence, to patients with acute ischemic cerebral infarction. Based on the qualitative and quantitative evaluation results of the EPI-FLAIR and T2 FLAIR image, we will evaluate the diagnostic usefulness of the EPI-FLAIR sequence.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.18 no.7
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• pp.717-722
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• 2007

Inverse synthetic aperture radar(ISAR) images represent two-dimensional(2-D) spatial distribution of electromagnetic scattering phenomenology against a target. Hence, they are usually used in the areas of automatic target recognition (ATR) or non-cooperative target recognition(NCTR), identifying a target using radar in a long distance. This paper makes use of Korea Miniature Synthetic Aperture Radar(KOMSAR) to generate ISAR images of a real and maneuvering aircraft. The data obtained from KOMSAR are processed to eliminate phase errors due to motion of a target, with the use of entropy-based ISAR autofocusing technique. Results show that we can successfully obtain ISAR images of a real aircraft, and the success of experiments implies that a significant step toward ATR using radar has been established.

• Journal of the Korea Institute of Military Science and Technology
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• v.17 no.5
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• pp.680-687
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• 2014

PGA(phase gradient autofocus) has been widely used to remove motion induced phase errors in the ISAR(inverse synthetic aperture radar) imaging. The critical process for the processing time and image quality is windowing stage in PGA. In this paper, the new method to determine window size based on polynomial least square approximation is proposed. Moreover, dominant range bins are selected for efficient phase error estimation, which improve image quality and speed up convergence. The simulation results show that the proposed algorithm provides high quality ISAR images while computational efficiency of inherent PGA is retained.