• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.04a
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• pp.530-537
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• 2004

Development of a versatile nanomanipulation tool is an overarching theme in nanotechnology. Such a tool will likely revolutionize the field given that it will enable fabrication and operation of a wealth of interesting nanodevices. This study seeks funding to create a novel nanomanipulation system with the ultimate goal of using this system for nanomanufacturing at the molecular level. The proposed design differs from existing approaches. It is based on a nanoscale ion trap integrated to a scanning prove microscope (SPM) tip. In this design, molecules to be assembled will be ionized and collected in the nanoscale ion trap all in an ultra high vacuum (UHV) environment. Once filled with the molecular ions, the nanoscale ion trap-SPM tip will be moved on a substrate surface using scanning probe microscopy techniques. The molecular ions will be placed at their precise locations on the surface. By virtue of the SPM, the devices that are being nanomanufactured will be imaged in real time as the molecular assembly process is carried out. In the later stages, automation of arrays of these nanomanipulators will be developed.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.37-42
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• 2005

This paper presents an autonomous system for reconstruction of three-dimensional indoor environments using a mobile robot. The system is composed of a mobile robot, a three-dimensional scanning system, and a notebook computer for registration, observation planning and real-time three-dimensional data transferring. Three-dimensional scanning system obtains three-dimensional environmental data and performs filtering of dynamic objects. Then, it registers multiple three-dimensional scans into one coordinate system and performs observation planning which finds the next scanning position by using the layered hexahedral-map and topological-map. Then, the mobile robot moves to the next scanning position, and repeats all procedures until there is no scanning tree in topological-map. In concurrence with data scanning, three-dimensional data can be transferred through wireless-LAN in real-time. This system is experimented successfully by using a mobile robot named KARA.

• IEMEK Journal of Embedded Systems and Applications
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• v.12 no.1
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• pp.43-62
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• 2017

Mobile pulse scanning Light Detection And Ranging (LIDAR) are essential components of intelligent vehicles capable of autonomous travel. Obstacle detection functions of autonomous vehicles require very low failure rates. With the increasing number of autonomous vehicles equipped with scanning LIDARs to detect and avoid obstacles and navigate safely through the environment, the probability of mutual interference becomes an important issue. The reception of foreign laser pulses can lead to problems such as ghost targets or a reduced signal-to-noise ratio. This paper will show the probability that any two scanning LIDARs will interfere mutually by considering spatial and temporal overlaps. We have conducted four experiments to investigate the occurrence of the mutual interference between scanning LIDARs. These four experimental results introduced the effects of mutual interference and indicated that the interference has spatial and temporal locality. It is hard to ignore consecutive mutual interference on the same line or the same angle because it is possible the real object not noise or error. It may make serious faults because the obstacle detection functions of autonomous vehicle rely on heavily the scanning LIDAR.

• Journal of Korean Society on Water Environment
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• v.22 no.1
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• pp.66-73
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• 2006

The purpose of this study was done to evaluate degradation characteristics of non-biodegradable organic matters including aromatic compounds in livestock wastewater using CFZ process. The CFZ process is consisted of coagulation/sedimentation, Fenton oxidation and zeolite adsoption process. degradation charateristics of each treatment water including livestock wastewater were analyzed by UV scanning, FT-IR and GC/MS. After coagulation/sedimentation process as 1st treatment, non-biodegradable matters remained after 1st treatment were removed by using OH radical produced in Fenton oxidation process. As a result of treatment using these processes, NBDCOD removal efficiency was over 90%. Increase of $E_2/E_3$ ratio (absorbance at 250 and 365 nm) in each treatment water means that aromaticity of livestock wastewater decreased. In case of GC/MS, most aromatics or polynuclear aromatics like benzene, phenol and scatol in livestock wastewater almost wasn't detected after oxidation using OH radical.

• Nuclear Engineering and Technology
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• v.54 no.3
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• pp.1016-1023
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• 2022

In proton therapy, a highly conformal proton dose can be delivered to the tumor by means of the steep distal dose penumbra at the end of the beam range. The proton beam range, however, is highly sensitive to range uncertainty, which makes accurately locating the proton range in the patient difficult. In-vivo range verification is a method to manage range uncertainty, one of the promising techniques being prompt gamma imaging (PGI). In earlier studies, we proposed gamma electron vertex imaging (GEVI), and constructed a proof-of-principle system. The system successfully demonstrated the GEVI imaging principle for therapeutic proton pencil beams without scanning, but showed some limitations under clinical conditions, particularly for pencil beam scanning proton therapy. In the present study, we upgraded the GEVI system in several aspects and tested the performance improvements such as for range-shift verification in the context of line scanning proton treatment. Specifically, the system showed better performance in obtaining accurate prompt gamma (PG) distributions in the clinical environment. Furthermore, high shift-detection sensitivity and accuracy were shown under various range-shift conditions using line scanning proton beams.

• Korean Journal of Construction Engineering and Management
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• v.25 no.3
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• pp.68-82
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• 2024

The planning stage of laser scanning is crucial for acquiring high-quality 3D source data. It involves assessing the target space's environment and formulating an effective measurement strategy. However, existing practices often overlook on-site conditions, with decisions on scanner deployment and scanning locations relying heavily on the operators' experience. This approach has resulted in frequent modifications to scanning locations and diminished 3D data quality. Previous research has explored the selection of optimal scanner locations and conducted preliminary reviews through simulation, but these methods have significant drawbacks. They fail to consider scanner inaccuracies, do not support the use of multiple scanners, rely on less accurate 2D drawings, and require specialized knowledge in 3D modeling and programming. This study introduces an optimization technique for laser scanning planning using 3D simulation to address these issues. By evaluating the accuracy of scan data from various laser scanners and their positioning for scanning a retaining wall structure in a small-scale building, this method aids in refining the laser scanning plan. It enhances the decision-making process for end-users by ensuring data quality and reducing the need for plan adjustments during the planning phase.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2010.04a
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• pp.69-71
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• 2010

In this paper, we focus on the accuracy estimation of laser scanning mobile mapping system using Lynx Mobile Mapper. For this, we surveyed checkpoints(181 points) in study areas. A method to estimate the accuracy of laser scanning mobile mapping system based on the measurement range, interval of control points and gps signal environments. As a result, to ensure reliable measurement results, we must be made a plan considering Measure range(60m or under) and operation. The estimation results showed the need for improving accuracy using control points about 150m interval according to environment error source.

• Journal of the Korean Association of Geographic Information Studies
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• v.8 no.4
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• pp.61-70
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• 2005

Airborne laser scanning system needs preprocessing which removes some objects such as buildings from the raw DSM data to construct DEM in building area because the laser pulse can't penetrate into the buildings. This study applied the mean filtering method which has various size filter to the DSM data constructed by airborne laser scanning system and decided the optimal filter size as $39{\times}39$ by analyzing the standard deviation change ratio. Also, this study could get the ${\pm}0.065m$ standard error by comparing the optimal filtering DEM and DSM raw data of airborne laser scanning. Therefore, it could know that the mean filtering method, which is presented in this study, is very effective to extract DEM in the urban area which has a low relief.

• Proceedings of the Korean Society of Soil and Groundwater Environment Conference
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• 2005.10a
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• pp.193-194
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• 2005

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.51 no.3
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• pp.155-160
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• 2002

This paper focuses on the problem of local obstacle avoidance of mobile robots. To solve this problem, the safety direction section search algorithm is suggested. This concept is mainly composed with non-collision section and collision section from the detecting area of laser scanning sensor. Then, we will search for the most suitable direction in these sections. The proposed local motion planning method is simple and requires less computation than others. An environment model is developed using the vector space concept to determine robot motion direction taking the target direction, obstacle configuration, and robot trajectory into account. Since the motion command is obtained considering motion dynamics, it results in smooth and fast as well as safe movement. Using the mobile base, the proposed obstacle avoidance method is tested, especially in the environment with pillar, wall and some doors. Also, the proposed autonomous motion planning and control algorithm are tested extensively. The experimental results show the proposed method yields safe and stable robot motion through the motion speed is not so fast.