• Advances in robotics research
• /
• v.2 no.2
• /
• pp.113-127
• /
• 2018

Robotics and automation are rapidly growing in the industries replacing human labor. The idea of robots replacing humans is positively influencing the business thereby increasing its scope of research. This paper discusses the development of an experimental platform controlled by a robotic arm through Robot Operating System (ROS). ROS is an open source platform over an existing operating system providing various types of robots with advanced capabilities from an operating system to low-level control. We aim in this work to control a 7-DOF manipulator arm (Robai Cyton Gamma 300) equipped with an external vision camera system through ROS and demonstrate the task of balancing a ball on a plate-type end effector. In order to perform feedback control of the balancing task, the ball is designed to be tracked using a camera (Sony PlayStation Eye) through a tracking algorithm written in C++ using OpenCV libraries. The joint actuators of the robot are servo motors (Dynamixel) and these motors are directly controlled through a low-level control algorithm. To simplify the control, the system is modeled such that the plate has two-axis linearized motion. The developed system along with the proposed approaches could be used for more complicated tasks requiring more number of joint control as well as for a testbed for students to learn ROS with control theories in robotics.

• Proceedings of the Korean Society For Composite Materials Conference
• /
• 2001.05a
• /
• pp.74-77
• /
• 2001

The impact response and damage of CLAS panel was investigated experimentally. The facesheet material used was RO4003 woven-glass hydrocarbon/ceramic and the core material was Nomex honeycomb with a cell size of 3.2mm and a density of 96 kg/$\textrm{m}^{3}$. The shield plane used was RO4003 and 2024-T3 aluminum. Static indentation and impact test was conducted to characterize the type and extent of the damage observed in two CLAS panels, and the performance of antenna used in a wireless LAN system. Correlation of peak contact force, residual indentation and the delamination area shows impact damage of the panel with an aluminum shield plane is larger than that of the panel with RO4003 shield plane, although tile former is more penetration resistant. The damage was observed by naked eye, ultrasonic inspection and cross sectioning. The shape and size of delamination was estimated by ultrasonic inspection, and the area of delamination linearly increases as impact energy increases. The performance of impact damaged antenna was estimated by measuring return loss and radiation pattern.

• Child Health Nursing Research
• /
• v.11 no.2
• /
• pp.159-166
• /
• 2005

Purpose: The purpose of this study was to compare subjective symptoms of VDT between computer-addicted and non-addicted adolescents. Method: A descriptive survey design was used and 646 students in one middle and two high schools were selected as participants. Result: The VDT subjective symptoms and degree of severity differed according to whether the students were computer-addicted or not, and in all symptoms, general, musculoskeletal, eye and mental, the mean score for subjective symptoms was higher in the addicted group than in the non-addicted group. The score for VDT subjective symptoms was highest in the addicted group for girls and students who were not healthy. The most frequent physical symptom reported by students who visited the school health room for a health problem after using the computer was headache. The most frequent type of treatment at the school health room was treatment of the symptom. Conclusions: This study suggests that students must acquire correct habits in computer use and be careful not to be addicted to the computer in order to avoid VDT syndrome. For this, educational authorities should develop computer-related health education programs and start the programs from the lower grades of elementary school.

• Journal of the Korean Society for Precision Engineering
• /
• v.21 no.12
• /
• pp.92-99
• /
• 2004

The formation degree of sustain (ITO pattern) decides quality of PDP (Plasma Display Panel). For this reason, it makes efforts in searching defects more than 30 un as 100%. Now, the existing inspection is dependent upon naked eye or microscope in off-line PDP manufacturing process. In this study developed prototype inspection system of PDP 170 glass is based on line-scan mechanism. Developed system creates information that detects and sorts kinds of defect automatically. Designed inspection technology adopts multi-vision method by slip-beam formation for the minimum of inspection time and detection algorithm is embodied in detection ability of developed system. Designed algorithm had to make good use of kernel matrix that draws up an approach to geometry. A characteristic of defects, as pin hole, substance, protrusion, are extracted from blob analysis method. Defects, as open, short, spots and et al, are distinguished by line type inspection algorithm. In experiment, we could have ensured ability of inspection that can be detected with reliability of up to 95% in about 60 seconds.

• The Transactions of the Korean Institute of Electrical Engineers P
• /
• v.66 no.4
• /
• pp.252-257
• /
• 2017

In this paper for developing and implementing the HD level triple streaming hybrid security camera which output the three type of video outputs(HD-SDI, EX-SDI, Analog). We design the hardware and program the firmware supporting the main and sub functions. We use MN34229PL as image sensor, EN778, EN331 as image processor, KA909A as reset, iris, day&night function part, A3901SEJTR-T as zoom/focus control part. We request the performance test of developed security camera at the broadcasting and communication fusion testing department of TTA (Telecommunication Technology Association). We can get the three outputs (HD-SDI, EX-SDI, Analog) from the developed security camera, get the world best level at the jitter and eye pattern amplitude value and exceed the world best level at the signal/noise ratio, and minium illumination, power consumption part. The HD level triple streaming hybrid security camera in this paper will be widely used at the security camera because of the better performance and function.

• Journal of Korean Ophthalmic Optics Society
• /
• v.9 no.2
• /
• pp.391-396
• /
• 2004

For the prevention of amblyopia, early discover and treatment is very important. Therefore we evaluated the type and the degree of refractive errors of 39 children with anisometropic and refractive amblyopia aged 3 to 12 years, and studied the relationship of astigmatism and amblyopia. Astigmatism was found in 35 of 39 eyes. Of these 35 eyes, with the rule astigmatism was found in 30 eyes. The cylinderical power was distributed mostly from 0.50D to 6.50D and astigmatism did not appear to influence on the initial and final corrected visual acuity.

• Asian-Australasian Journal of Animal Sciences
• /
• v.14 no.1
• /
• pp.123-135
• /
• 2001

Application of growth promoters by means of implantation or supplementation to the diets has been routine in the beef cattle industry of many countries for the better performance in growth and improvement of feed efficiency. Anabolic implants (zeranol, trenbolone acetate, and estradiol with testosterone or progesterone) have generated various positive effects. Zeranol implantation, in general, improved average daily gain (ADG), feed conversion (FC), dressing percentage (DP) and yield grade (YG) of cattle, and increased dry matter intake (DMI). Trenbolone acetate with or without estradiol also increased mean values of ADG and loin eye area (LEA) but reduced DMI and improved FC of cattle. Estradiol with testosterone or progesterone increased ADG and DMI. Anabolic implants, however, had minimal or negative effects on marbling or quality grade. The magnitude of the response to these anabolic implants in performance of beef cattle has varied depending on the type of implants, amount and duration of exposure, age of animals and combination of implants. Administration of bovine somatotropin improved ADG and FC, and decreased fat deposition. Ionophores improved FC in cattle from reduced DMI without great response to ADG. Supplementation of monensin and lasalocid reduced molar proportion of propionate. Monensin and lysocellin increased apparent absorption and retention of some minerals in cattle. Despite the improved cattle performance in growth and FC, results in beef quality from the application of the growth promoters appeared to vary or in conflict under a variety of environmental conditions.

• Structural Engineering and Mechanics
• /
• v.17 no.3_4
• /
• pp.347-356
• /
• 2004

In order to extend the lifetime of buildings and civil infrastructure, patch type fibrous composite retrofitting materials are widely used. Retrofitted concrete columns and beams gain stiffness and strength, but lose toughness and show brittle failure. Usually, the cracks in concrete structures are visible to the naked eye and the status of the structure in the life cycle is estimated through visual inspections. After retrofitting of the structure, crack visibility is blocked by retrofitted composite materials. Therefore, structural monitoring after retrofitting is indispensable and self diagnosis method with optical fiber sensors is very useful. In this paper, we try to detect the peel out effect and find the strain difference between the main structure and retrofitting patch material when they separate from each other. In the experiment, two fiber optic Bragg grating sensors are applied to the main concrete structure and the patching material separately at the same position. The sensors show coincident behaviors at the initial loading, but different behaviors after a certain load. The test results show the possibility of optical fiber sensor monitoring of beam structures retrofitted by the composite patches.

• Proceedings of the KAIS Fall Conference
• /
• 2012.05a
• /
• pp.182-186
• /
• 2012

human tyrosinase (hTyr) catalyzes first and the rate limiting step in the synthesis of polymerized pigment, melanin which determines skin, hair and eye colors. Mutation of hTyr often brings about decrease of melanin production and further albinism. Meanwhile, a number of cosmetic companies providing skincare products for woman in Asia-Pacific region have tried to develop inhibitors to bright skin color for several decades. In this study, we built a 3D structure by comparative modeling technique based on the crystal structure of tyrosinase from bacillus megaterium as a template to serve structural information of hTyr. According to our model and sequence analysis of type 3 copper protein family proteins, two copper atoms of active site located deep inside are coordinated with six strictly conserved histidine residues coming from four-helix-bundle. Cavity which accommodates substrates was like funnel shape of which entrance was wide and expose to solvent. In addition, protein-substrate and protein-inhibitor complex were modeled with the guide of van der waals surface generated by in house software. Our model suggested that only phenol group or its analogs can fill the binding site near nuclear copper center because inside of binding site has narrow shape relatively. In conclusion, the results of this study may provide helpful information for designing and screening new anti-melanogensis agents.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.7 no.3
• /
• pp.567-571
• /
• 2012

To design the long-haul optical communication system, we need to decide the type of optical fiber and optical amplifier, span length of optical amplifier, dispersion compensation method, optical signal power, etc. Therefore, we need to predict the performance of optical communication system when we change one of the system parameters. In this paper, we investigate the method of predicting the maximum transmission length of the designed optical communication system and finding the optimum optical signal power to obtain the maximum transmission length.