• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.8
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• pp.1-8
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• 2020

Air ducts installed for ventilation inside buildings accumulate contaminants during their service life. Robots are installed to clean the air duct at low cost, but they are still not fully automated and depend on manpower. In this study, an intersection detection algorithm for autonomous driving was applied to an air duct cleaning robot. Autonomous driving of the robot was achieved by calculating the distance and angle between the extracted point and the center point through the intersection detection algorithm from the camera image mounted on the robot. The training data consisted of CAD images of the duct interior as well as the cross-point coordinates and angles between the two boundary lines. The deep learning-based CNN model was applied as a detection algorithm. For training, the cross-point coordinates were obtained from CAD images. The accuracy was determined based on the differences in the actual and predicted areas and distances. A cleaning robot prototype was designed, consisting of a frame, a Raspberry Pi computer, a control unit and a drive unit. The algorithm was validated by video imagery of the robot in operation. The algorithm can be applied to vehicles operating in similar environments.

• Journal of Korean Neurosurgical Society
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• v.56 no.1
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• pp.5-10
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• 2014

Objective : When the pedicle screw insertion technique is failed or not applicable, C7 intralaminar screw insertion method has been used as an alternative or salvage fixation method recently. However, profound understanding of anatomy is required for safe application of the bilaterally crossing laminar screw at C7 in clinic. In this cadaveric study, we evaluated the anatomic feasibility of the bilateral crossing intralaminar screw insertion and especially focused on determination of proper screw entry point. Methods : The C7 vertebrae from 18 adult specimens were studied. Morphometric measurements of the mid-laminar height, the minimum laminar thickness, the maximal screw length, and spino-laminar angle were performed and cross-sectioned vertically at the screw entry point (spino-laminar junction). The sectioned surface was equally divided into 3 parts and maximal thickness and surface area of the parts were measured. All measurements were obtained bilaterally. Results : The mean mid-laminar height was 13.7 mm, mean minimal laminar thickness was 6.6 mm, mean maximal screw length was 24.6 mm, and mean spinolaminar angle was $50.8{\pm}4.7^{\circ}$. Based on the measured laminar thickness, the feasibility of 3.5 mm diameter intralaminar screw application was 83.3% (30 sides laminae out of total 36) when assuming a tolerance of 1 mm on each side. Cross-sectional measurement results showed that the mean maximal thickness of upper, middle, and lower thirds was 5.0 mm, 7.5 mm, and 7.3 mm, respectively, and mean surface area for each part was $21.2mm^2$, $46.8mm^2$, and $34.7mm^2$, respectively. Fourteen (38.9%) sides of laminae would be feasible for 3.5 mm intralaminar screw insertion when upper thirds of C7 spino-laminar junction is the screw entry point. In case of middle and lower thirds of C7 spino-laminar junction, 32 (88.9%) and 28 (77.8%) sides of laminae were feasible for 3.5 mm screw insertion, respectively. Conclusion : The vertical cross-sectioned area of middle thirds at C7 spinolaminar junction was the largest area and 3.5 mm screw can be accommodated with 77.8 % of feasibility when lower thirds were the screw entry point. Thus, selection of middle and lower thirds for each side of screw entry point in spino-laminar junction would be the safest way to place bilateral crossing laminar screw within the entire lamina. This anatomic study result will help surgeons to place the screw safely and accurately.

• Geomechanics and Engineering
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• v.13 no.6
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• pp.1045-1055
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• 2017

Tensile strength is considered key properties for characterizing rock material in engineering project. It is determined by direct and indirect methods. Point load test is a useful testing method to estimate the tensile strengths of rocks. In this paper, the effects of rock shape on the point load index of gypsum are investigated by PFC2D simulation. For PFC simulating, initially calibration of PFC was performed with respect to the Brazilian experimental data to ensure the conformity of the simulated numerical models response. In second step, nineteen models with different shape were prepared and tested under point load test. According to the obtained results, as the size of the models increases, the point load strength index increases. It is also found that the shape of particles has no major effect on its tensile strength. Our findings show that the dominant failure pattern for numerical models is breaking the model into two pieces. Also a criterion was rendered numerically for determination of tensile strength of gypsum. The proposed criteria were cross checked with the results of experimental point load test.

• The Magazine of the IEIE
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• v.23 no.12
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• pp.115-125
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• 1996

This paper presents a new algorithm for the self-localization of a mobile robot using one degree perspective Invariant(Cross Ratio). Most of conventional model-based self-localization methods have some problems that data structure building, map updating and matching processes are very complex. Use of a simple cross ratio can be effective to the above problems. The algorithm is based on two basic assumptions that the ground plane is flat and two locally parallel sloe-lines are available. Also it is assumed that an environmental map is available for matching between the scene and the model. To extract an accurate steering angle for a mobile robot, we take advantage of geometric features such as vanishing points. Feature points for cross ratio are extracted robustly using a vanishing point and intersection points between two locally parallel side-lines and vertical lines. Also the local position estimation problem has been treated when feature points exist less than 4points in the viewed scene. The robustness and feasibility of our algorithms have been demonstrated through real world experiments In Indoor environments using an indoor mobile robot, KASIRI-II(KAist Simple Roving Intelligence).

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.10
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• pp.1972-1977
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• 2011

The mechanical integrity of generator stator windings is one of the critical point because the electric power is generated and conducted to power system through these windings. To cool down the heat emitted from generator winding during its operation, a majority of generators use de-mineralized water characterized by high cooling efficiency. Contrary to such the excellent cooling efficiency, however, the damaged bar insulations attributed to the absorption of cooling water in the generator stator winding lead to highly time- and cost consuming efforts as well as to service deterioration due to unexpected forced outage of generator. It is described that the new design of water absorption sensor using cross capacitance for generator in power plant in order to increase the reliability of water absorption diagnostics for generator stator bar insulation.

• Steel and Composite Structures
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• v.2 no.3
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• pp.223-236
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• 2002

An analytical procedure based on the transfer matrix method to estimate not only the natural frequencies but also vibration mode shapes of the thin-walled members composed of interconnected cylindrical shell panels is presented. The transfer matrix is derived from the differential equations for the cylindrical shell panels. The point matrix relating the state vectors between consecutive shell panels are used to allow the transfer procedures over the cross section of the members. As a result, the interactions between the shell panels of the cross sections of the members can be considered. Although the transfer matrix method is naturally a solution procedure for the one-dimensional problems, this method is well applied to thin-walled members by introducing the trigonometric series into the governing equations of the problem. The natural frequencies and vibration mode shapes of the thin-walled members composed of number of interconnected cylindrical shell panels are observed in this analysis. In addition, the effects of the number of shell panels on the natural frequencies and vibration mode shapes are also examined.

• JSTS:Journal of Semiconductor Technology and Science
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• v.7 no.1
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• pp.56-65
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• 2007

This paper describes physical meanings of various influences of cavity (or pillar) shape and filling factor of dielectric material on band structures in two-dimensional photonic crystals. Influences of circular and rectangular cross-sections of cavity (or pillar) arrays on photonic band structures are considered theoretically, and significant aspects of square and triangular lattices are compared. It is shown that both averaged dielectric constant of the photonic crystal and distribution profile of photon energy play important roles in designing optical properties. For the triangular lattice, especially, it is shown that cavity array with a rectangular cross-section breaks the band structure symmetry. So, we discuss this point from the band structure and address optical properties of lattice with a circular cross-section cavity.

• Bulletin of the Korean Chemical Society
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• v.35 no.6
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• pp.1754-1758
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• 2014

The nucleophilic substitution reactions of bis(Y-aryl) chlorothiophosphates (1) with X-pyridines are investigated kinetically in acetonitrile at $35.0^{\circ}C$. The free energy relationships with both X and Y are biphasic concave upwards with a break point at X = 3-Ph and Y = H, respectively. The sign of cross-interaction constants (CICs; ${\rho}_{XY}$) is positive with all X and Y. Proposed mechanism is a stepwise process with a rate-limiting leaving group departure from the intermediate with all X and Y. The kinetic results of 1 are compared with those of Y-aryl phenyl chlorothiophosphates (2). In the case of Y = electron-withdrawing groups, the cross-interaction between Y and Y, due to additional substituent Y, is significant enough to change the sign of ${\rho}_{XY}$ from negative with 2 to positive with 1, indicative of the change of mechanism from a rate-limiting bond formation to bond breaking.

• International journal of advanced smart convergence
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• v.6 no.3
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• pp.17-21
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• 2017

In this paper, the service execution accuracy was compared by ontology based rule inference method and machine learning method, and the amount of data at the point when the service execution accuracy of the machine learning method becomes equal to the service execution accuracy of the rule inference was found. The rule inference, which measures service execution accuracy and service execution accuracy using accumulated data and pattern matching on service results. And then machine learning method measures service execution accuracy using cross validation data. After creating a confusion matrix and measuring the accuracy of each service execution, the inference algorithm can be selected from the results.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.53 no.10
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• pp.542-549
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• 2004

The conventional fault location algorithms based on the travelling waves have an inherent problem. In cases of the close-up faults occurring near the relaying point and of the faults having zero degree inception angle of voltage signals, the conventional algorithms can not estimate an accurate fault distance. It is because the shapes of travelling waves are near sinusoidal in those cases. A new method solving this problem is presented in this paper. An FIR(Finite Impulse response) filter which makes high frequency components prominent and makes the power frequency component and dc-offset attenuated is used. With this method, the cross-correlation peak is to be very clear when a close-up fault or a fault having near zero-degree inception angle occurs. The cross-correlation peaks can be clearly distinguished and accurate fault location is practically possible consequently. A series of simulation studies using EMTP(Electromagnetic Transients Program) show that the proposed algorithm can calculate an accurate fault distance having maximum 2% or less error.