• Nuclear Engineering and Technology
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• v.33 no.6
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• pp.596-604
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• 2001

This paper quantitatively presents the effects of important factors of the probabilistic safety assessment (PSA) of safety-critical digital systems. The result which is quantified using fault tree analysis methodology shows that these factors remarkably affect the system safety. In this paper we list the factors which should be represented by the model for PSA. Based on the PSA experience, we select three important factors which are expected to dominate the system unavailability. They are the avoidance of common cause failure, the coverage of fault tolerant mechanisms and software failure probability. We Quantitatively demonstrate the effect of these three factors. The broader usage of digital equipment in nuclear power plants gives rise to the safety problems. Even though conventional PSA methods are immature for applying to microprocessor-based digital systems, practical needs force us to apply it because the result of PSA plays an important role in proving the safety of a designed system. We expect the analysis result to provide valuable feedback to the designers of digital safety- critical systems.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.907-913
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• 1999

For an automated transportation system like PRT(Personal Rapid Transit) system or IVHS, an efficient vehicle-merging algorithm is required for smooth operation of the network. For management of merging, collision avoidance between vehicles, ride comfort, and the effect on traffic should be considered. This paper proposes an unmanned vehicle-merging algorithm that consists of two procedures. First, a longitudinal control algorithm is designed to keep a safe headway between vehicles in a single lane. Secondly, 'vacant slot and ghost vehicle' concept is introduced and a decision algorithm is designed to determine the sequence of vehicles entering a converging section considering energy consumption, ride comfort, and total traffic flow. The sequencing algorithm is based on fuzzy rules and the membership functions are determined first by an intuitive method and then trained by a learning method using a neural network. The vehicle-merging algorithm is shown to be effective through simulations based on a PRT model.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1073-1078
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• 2012

This paper deals with the trajectory planning of multi agent robots using complex potential theory for robot soccer. The complex potential theory is introduced, then the circle theorem is used to avoid obstacles, and the vortex pair is used to make precise kicking direction of robot. Various situations of robot soccer are simulated and the effect of vortex strength and the speed of robots are discussed and the better way to avoid obstacles and to kick the precise direction is found. The feasibilities of complex potential theory to apply for the multi agent robots are successful.

• International Journal of Automotive Technology
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• v.7 no.3
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• pp.303-307
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• 2006

This paper presents the enhancement of vehicle stability by active geometry control suspension(AGCS) system as the world-first, unique and patented chassis technology, which has more advantages than the conventional active chassis control systems in terms of the basic concept. The control approach of the conventional systems such as active suspensions(slow active, full active) and four wheel steering(4WS) system is directly to control the same direction with acting load to stabilize vehicle behavior resulting from external inputs, but AGCS controls the cause of vehicle behaviors occurring from vehicle and thus makes the system stable because it works as mechanical system after control action. The effect of AGCS is the remarkable enhancement of avoidance performance in abrupt lane change driving by controlling the rear bump toe geometry.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.2
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• pp.170-177
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• 1993

In robotic arc welding, the roll (rotation) of the torch about its direction vector does not have any effect on the welding operation. Thus we could use this redundant degree of greedom for the motion control of the robot manipulator. This paper presents an algorithm for the pseudo- inverse kinematic motion control of the 6-axis robot, which utilizes the above mentioned redunancy. The prototype welding operation and the tool path are also graphically simulated. Since the proposed algorithm requires only the position and normal vector of the weldine as an input data, it is useful for the CAD-based off-line programming of the arc welding robot. In addition, it also has the advantages of the redundant manipulator motion control, like singularity avoidance and collision free motion planning, when compared with the other motion control method based on the direct inverse kinematics.

• CELLMED
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• v.13 no.14
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• pp.14.1-14.9
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• 2023

Administration of Scopolamine can be considered a psychopharmacological model of Alzheimer's disease (AD). We made an animal model of Alzheimer's disease (AD) by administering Scopolamine to Blab/c mice. In this study, we investigated the effects of Resplex Alpha on memory impairment and cognitive function in mice in a mouse animal model of Scopolamine-induced memory impairment. Through Y-mazed and passive avoidance behavioral assays, we observed that Resplex Alpha recovered Scopolamine-induced short-term memory and cognitive functions. The results of our study imply that Resplex Alpha may be beneficial in the prevention of Alzheimer's disease (AD).

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2007.12a
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• pp.365-372
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• 2007

The function of navigational aids are to be coincided with the development of navigational equipment and increase of traffics on the sea fairway. Supplementary function or side effect of wharf-edge illumination would be effective to indicate fairway indirectly and collision avoidance between ships and bridge against background light in port area at night also a serious-view light on the bridge posts would be effective to ensure the drifting ships by wind and current force adjacent bridge area.

• Journal of the Korean Society of Safety
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• v.14 no.4
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• pp.120-125
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• 1999

This study evaluated the effect of the accidents caused by fire, explosion, and toxic gas release by using SuperChems, quantitative hazardous material release modeling software, which estimates the potential area of damage. According to the loss severity, the appropriate risk management principles can be applied. Risk management is divided into the two methods which are risk control and risk financing. Risk control includes risk avoidance, risk spreading and diversification, and risk reduction. Risk financing includes risk retention and risk transfer. The results of this study can help the related company determine the appropriate reserve fund and the amount to be insured against the third party losses according to the estimated loss severity.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.415-415
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• 2000

The functions of a mobile robot such as obstacle knowledge and collision avoidance for in-door cleaning are necessary features, as has been much studied in the field of industrial automatic guided vehicle or general mobile robot. A mobile robot, in order to avoid collision with obstacles, has to gather data with environment knowledge sensors and recognize environment and the shape of obstacles from the data. In the study, a wall-following algorithm was suggested as a autonomous moving algorithm in which a mobile robot can recognize obstacles in indoor like environment and do cleaning work in effect. The system suggested in the study is for cleaning of nuclear material dusts generated in the process of nuclear fuel manufacturing and decontamination of devices in disorder which is performed in M6 radioactive ray shield hot-cell in IMEF(Irradiated Material Examination Facility) in the Korea Atomic Energy Research Institute.

• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.197-202
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• 2006

We present the synergy effect of humanoid robot walking down on a slope and support vector machines in this paper. The biped robot architecture is highly suitable for the working in the human environment due to its advantages in obstacle avoidance and ability to be employed as human substitutes. But the complex dynamics in the robot and ground makes robot control difficult. The trajectory of the zero moment point (ZMP) in a biped walking robot is an important criterion used for the balance of the walking robots. The ZMP trajectory as dynamic stability of motion will be handled by support vector machines (SVM). Three kinds of kernels are also employed, and each result from these kernels is compared to one another.