• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2325-2330
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• 2005

A potential field method for solving the problem of path planning based on global and local information for a mobile robot moving among a set of stationary obstacles is described. The concept of various method used path planning is used design a planning strategy. A real human living area is constructed by many moving and imminence obstacles. Home service mobile robot must avoid many obstacles instantly. A path that safe and attraction towards the goal is chosen. The potential function depends on distance from the goal and heuristic function relies on surrounding environments. Three additional combined methods are proposed to apply to human living area, calibration robots position by measured surrounding environment and adapted home service robots. In this work, we proposed the application of various path planning theory to real area, human living. First, we consider potential field method. Potential field method is attractive method, but that method has great problem called local minimum. So we proposed intermediate point in real area. Intermediate point was set in doorframe and between walls there is connect other room or other area. Intermediate point is very efficiency in computing path. That point is able to smaller area, area divided by intermediate point line. The important idea is intermediate point is permanent point until destruction house or apartment house. Second step is move robot with sensing on front of mobile robot. With sensing, mobile robot recognize obstacle and judge moving obstacle. If mobile robot is reach the intermediate point, robot sensing the surround of point. Mobile robot has data about intermediate point, so mobile robot is able to calibration robots position and direction. Third, we gave uncertainty to robot and obstacles. Because, mobile robot was motion and sensing ability is not enough to control. Robot and obstacle have uncertainty. So, mobile robot planed safe path planning to collision free. Finally, escape local minimum, that has possibility occur robot do not work. Local minimum problem solved by virtual obstacle method. Next is some supposition in real living area.

• 전자공학회논문지
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• 제52권2호
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• pp.173-181
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• 2015

연구에서는 진단 및 수술 후 잔여병소의 검출을 위하여 방사선계수 방식의 무선 감마선 프로브를 개발하고, 교정선원과 팬텀을 이용하여 그 유용성을 평가 하였다. 반도체기반 방사선센서를 사용하여 프로브 설계 및 소형화 하였으며, 블루투스 원격통신 모듈을 사용하여 진단 및 검출 시스템의 무선화를 구현하였다. 또한 진단 및 수술 시 환부의 모니터링이 가능한 원격모니터링 시스템을 구현하였다. 개발된 프로브의 유용성 평가를 위해 교정선원 $^{57}Co$, $^{133}Ba$, $^{22}Na$, $^{137}Cs$과 닭 가슴살 팬텀을 사용하였다. 평가를 통해 감마선에 대한 프로브의 검출 반응성을 확인하였고, 감마선 세기에 따른 응답 선형성과 검출 방향성, 팬텀 내 선원 깊이에 따른 프로브의 검출효율을 평가를 통해 실증적인 임상에서의 적용 가능성을 확인하였다.

• 제어로봇시스템학회논문지
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• 제19권11호
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• pp.979-983
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• 2013

The three-dimensional measurement method of confocal systems is a spot scanning method which has a high resolution and good illumination efficiency. However, conventional confocal systems had a weak point in that it has to perform XY axis scanning to achieve FOV (Field of View) vision through spot scanning. There are some methods to improve this problem involving the use of a galvano mirror [1], pin-hole array, etc. Therefore, in this paper we propose a method to improve a parallel mode confocal system using a micro-lens and pin-hole array in a dual microscope configuration. We made an area scan possible by using a combination MLA (Micro Lens Array) and pin-hole array, and used an objective lens to improve the light transmittance and signal-to-noise ratio. Additionally, we made it possible to change the objective lens so that it is possible to select a lens considering the reflection characteristic of the measuring object and proper magnification. We did an experiment using 5X, 2.3X objective lens, and did a calibration of height using a VLSI calibration target.

• Journal of Biosystems Engineering
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• 제41권3호
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• pp.208-220
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• 2016

Purpose: Fusel oil is a potent volatile aroma compound found in many alcoholic beverages. At low concentrations, it makes an essential contribution to the flavor and aroma of fermented alcoholic beverages, while at high concentrations, it induced an off-flavor and is thought to cause undesirable side effects. In this work, we introduce Fourier transform near-infrared (FT-NIR) spectroscopy as a rapid and nondestructive technique for the quantitative determination of fusel oil in the Korean alcoholic beverage "soju". Methods: FT-NIR transmittance spectra in the 1000-2500 nm region were collected for 120 soju samples with fusel oil concentrations ranging from 0 to 1400 ppm. The calibration and validation data sets were designed using data from 75 and 45 samples, respectively. The net analyte signal (NAS) was used as a preprocessing method before the application of the partial least-square regression (PLSR) and principal component regression (PCR) methods for predicting fusel oil concentration. A novel variable selection method was adopted to determine the most informative spectral variables to minimize the effect of nonmodeled interferences. Finally, the efficiency of the developed technique was evaluated with two different validation sets. Results: The results revealed that the NAS-PLSR model with selected variables ($R^2_{\upsilon}=0.95$, RMSEV = 100ppm) did not outperform the NAS-PCR model (($R^2_{\upsilon}=0.97$, RMSEV = 7 8.9ppm). In addition, the NAS-PCR shows a better recovery for validation set 2 and a lower relative error for validation set 3 than the NAS-PLSR model. Conclusion: The experimental results indicate that the proposed technique could be an alternative to conventional methods for the quantitative determination of fusel oil in alcoholic beverages and has the potential for use in in-line process control.

• 한국물환경학회지
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• 제28권6호
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• pp.866-881
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• 2012

Han River is a complex water system consisting of many lakes. The water quality of Lake Paldang is significantly affected by incoming flows, which are the South and North branches of the Han River, and the Kyungan Stream. In order to manage the water quality of the Lake Paldang, we should consider the entire water body where the incoming flows are included. The objectives of this study are to develop an integrated river and lake modeling system for Han River system using a multidimensional dynamic model and evaluate the model's performance against field measurement data. The integrated model was calibrated and verified using field measurement data obtained in 2007 and 2008. The model showed satisfactory performance in predicting temporal variations of water level, flow rate and temperature. The Root Mean Square Error (RMSE) for water temperature simulation were $0.88{\sim}2.13^{\circ}C$ (calibration period) and $1.05{\sim}2.00^{\circ}C$ (verification period) respectively. And Nash-Sutcliffe Efficiency (NSE) for water temperature simulation were 1089~0.98 (calibration period) and 0.90~0.98 (verification period). Utilizing the validated model, we analyzed the spatial and temporal distributions of temperature within Han River system. The variations of temperature along the river reaches and vertical thermal profiles for each lakes were effectively simulated with developed model. The suggested modeling system can be effectively used for integrated water quality management of water system consisting of many rivers and lakes.

• 한국전자파학회논문지
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• 제24권1호
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• pp.47-54
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• 2013

본 연구는 국내 최초로 개발된 직접 비교법을 이용한 W-band 밀리미터파 전력 표준 전달 시스템에 대한 것이다. 이 시스템은 75~110 GHz 대역에서 W-band 도파관형 전력감지기의 실효 효율과 교정 인자를 측정하기 위하여 개발되었다. 전력 표준 전달 시스템 구성의 핵심 요소인 방향성 결합기의 반사 특성 평가 기법을 소개하고 실험 결과를 보인다. 구현된 시스템을 이용하여 측정하고자 하는 전력감지기의 교정 인자 측정 결과를 보이고, 불확도 요인에 대하여 고찰한다. 측정 결과를 기준값과 비교하여 W-band 밀리미터파 전력 표준 전달 시스템에 의한 측정의 유효성을 검증한다.

• 에너지공학
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• 제16권4호
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• pp.187-193
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• 2007

갑작스런 펌프 정지로 야기되는 수격현상은 과압이나 부압을 일으킬 수 있다. 과압을 줄이거나 부압을 방지하는 것은 계통설비의 피로를 피하고 작동효율을 향상시키기 위해 필요하다. 에어챔버가 설치된 펌프 관로 계에서 수격현상에 대한 현장시험을 수행하였다 또한 특성 곡선법을 사용하여 과도현상에 대한 수치해석을 수행하였다. 계통에 대한 헌장시험과 수치해석 결과를 비교하여 수치해석코드에 사용되는 주요 입력변수인 폴리트로픽 지수, 유량계수, 압력파의 속도에 대한 보정값 검증과 민감도 분석을 수행하였다. 수격현상을 최소화할 수 있는 에어챔버의 크기와 관련 변수의 영향이 현장시험과 수치해석을 통해 연구되었다.

• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2021년도 학술발표회
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• pp.137-137
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• 2021

In this study we aimed to enhance streamflow prediction skill of a land-surface hydrological model, WRF-Hydro, over one of the snow dominated catchments lies in Himalayan mountainous range, Astore. To assess the response of the Himalayan river flows to climate change is complex due to multiple contributors: precipitation, snow, and glacier melt. WRF-Hydro model with default glacier module lacks generating streamflow in summer period but recently developed WRF-Hydro-CROCUS model overcomes this issue by melting snow/ice from the glaciers. We showed that by implementing WRF-Hydro-CROCUS model over Astore the results were significantly improved in comparison to WRF-Hydro with default glacier module. To constraint the model with the observed streamflow we chose 17 sensitive parameters of WRF-Hydro, which include groundwater parameters, surface runoff parameters, channel parameters, soil parameters, vegetation parameters and snowmelt parameters. We used Dynamically Dimensioned Search (DDS) method to calibrate the daily streamflow with the Nash-Sutcliffe efficiency (NSE) being greater than 0.7 both in calibration (2009-2010) and validation (2011-2013) period. Based on the number of iterations per parameter, we found that the parameters related to channel and runoff process are most sensitive to streamflow. The attempts to address the responses of the streamflows to climate change are still very weak and vague especially northwest Himalayan Part of Pakistan and this study is one of a few successful applications of process-based land-surface hydrologic model over this mountainous region of UIB that can be utilized to have an in-depth understanding of hydrological responses of climate change.

• 한국전자파학회논문지
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• 제26권3호
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• pp.292-299
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• 2015

본 논문에서는 3-레벨 인코딩 기법을 적용하여 시스템의 효율과 선형성을 개선할 수 있는 새로운 구조의 EER 송신기를 제안하였다. 제안된 송신기는 첨두 전력 대 평균 전력비에 상관없이 동일한 크기의 신호만을 증폭하고, 채널대역 내의 양자화 노이즈를 감소시켜 높은 효율을 얻을 수 있으며, 포락선 신호와 위상 신호 간 시간 부정합 특성을 개선하여 높은 선형성을 가질 수 있도록 하였다. 130 nm CMOS 공정으로 제작된 송신기 칩은 8.5 dB의 첨두 전력 대 평균전력비를 갖는 LTE 20 MHz 신호에 대해 2.13 GHz의 반송주파수에서 3.7 %의 오류 벡터 크기와 37.5 dBc의 인접 채널 누설비 특성을 보인다.

• Journal of Radiation Protection and Research
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• 제42권1호
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• pp.48-55
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• 2017

Background: Simultaneous detection of neutrons and gamma rays have become much more practicable, by taking advantage of good gamma-ray discrimination properties using pulse shape discrimination (PSD) technique. Recently, we introduced a commercial CLYC system in Korea, and performed an initial characterization and simulation studies for the CLYC detector system to provide references for the future implementation of the dual-mode scintillator system in various studies and applications. Materials and Methods: We evaluated a CLYC detector with 95% $^6Li$ enrichment using various gamma-ray sources and a $^{252}Cf$ neutron source, with validation of our Monte Carlo simulation results via measurement experiments. Absolute full-energy peak efficiency values were calculated for gamma-ray sources and neutron source using MCNP6 and compared with measurement experiments of the calibration sources. In addition, behavioral characteristics of neutrons were validated by comparing simulations and experiments on neutron moderation with various polyethylene (PE) moderator thicknesses. Results and Discussion: Both results showed good agreements in overall characteristics of the gamma and neutron detection efficiencies, with consistent ~20% discrepancy. Furthermore, moderation of neutrons emitted from $^{252}Cf$ showed similarities between the simulation and the experiment, in terms of their relative ratios depending on the thickness of the PE moderator. Conclusion: A CLYC detector system was characterized for its energy resolution and detection efficiency, and Monte Carlo simulations on the detector system was validated experimentally. Validation of the simulation results in overall trend of the CLYC detector behavior will provide the fundamental basis and validity of follow-up Monte Carlo simulation studies for the development of our dual-particle imager using a rotational modulation collimator.