• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.5
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• pp.460-465
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• 2013

In this paper, we describe a security robot system to control human's behavior in the security area. In order to achieve these goals, we present a method for representing, tracking and human blocking by laserscanner systems in security area, with application to pedestrian tracking in a crowd. When it detects walking human who is for the security area, robot calculates his velocity vector, plans own path to forestall and interrupts him who want to head restricted area and starts to move along the estimated trajectory. While moving the robot continues these processes for adapting change of situation. After arriving at an opposite position human's walking direction, the robot advises him not to be headed more and change his course. The experimental results of estimating and tracking of the human in the wrong direction with the mobile robot are presented.

• The Transactions of the Korean Institute of Power Electronics
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• v.9 no.2
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• pp.142-149
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• 2004

PMLSM(Permanent Magnet linear Synchronous Motor) has widely applied to industrial automations, machine tools and semiconductor equipments due to the merit on the reduction of noise, vibration and the superior dynamic characteristics in comparison to the conventional method, which uses mechanical transfer equipments. Especially, in the case of applying to Z-axis operation structure, control system needs the method of an initial angle setting and the improvement of up/down operation characteristics. This paper proposes an initial angle setting algorithm and a variable gain schedule using real speed and moving direction to improve up/down operation characteristics. The effectiveness of proposed algorithms Is demonstrated by comparing to a conventional gain system via 4-point absolute positions profile with each velocity, acceleration and deceleration.

• Asian-Australasian Journal of Animal Sciences
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• v.19 no.12
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• pp.1716-1721
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• 2006

The present study was conducted to observe the effect of osmolality of glycerolated TEST-yolk glycerol extenders on post-thawing sperm kinematics of ram spermatozoa of the native Malpura breed maintained in a semi-arid tropical environment. Good quality semen obtained from adult rams was pooled, split and diluted to 1,000 million spermatozoa per ml in complete TEST-yolk-glycerol extenders of 900, 1,200, 1,500 and 1,800 mOsm/kg osmolality. Diluted semen samples were loaded in 0.25 ml straws and cooled down to $-125^{\circ}C$ freezing temperature at the rate of $-25^{\circ}C$ per minute under controlled conditions before plunging into liquid nitrogen for storage. The thawing of straws was performed at $50^{\circ}C$ in a water bath for 10 seconds and sperm kinematics of the frozen-thawed spermatozoa were assessed by a computer-assisted sperm analysis technique. Osmolality of diluent had no significant effect on post-thawing % motility, % rapid, % medium and % slow moving frozen-thawed spermatozoa but significantly (p< 0.05) affected the % linearity and % straightness. The post-thawing % motility and % rapid motile spermatozoa were highest in samples extended in diluent of 1,500 mOsm/kg osmolality and lowest in 900 mOsm/kg. The curvilinear velocity of spermatozoa was significantly (p<0.05) higher for samples extended in 1,800 mOsm/kg, compared to those in 900 and 1,200 mOsm/kg, but the effect was not significantly different to those extended in diluent of 1,500 mOsm/kg osmolality. The study indicated that ram spermatozoa could tolerate a wide osmolality range for dilution in the complete TEST-yolk-glycerol extender for their cryosurvival. The highest recovery of motile spermatozoa following thawing was achieved in samples extended in the TEST-yolk-glycerol diluent of 1,500 mOsm/kg osmolality.

• Journal of Biosystems Engineering
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• v.30 no.3 s.110
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• pp.135-140
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• 2005

Vegetable transplanting operation has been wholly depended on human labor that needs 18.4 hrs per 10 acres in Korea. Since periods of vegetable transplanting operations are limited, their mechanization has been strongly demanded. This study was conducted to develop a transplanting device that was the core technology for vegetable transplanter. In order to find out transplanting track and velocity of transplanting device, a kinematic analysis software was employed. Evaluation of prototype was carried out in the circular soil bin with high speed camera. Rotary type transplanting device produced an elliptic loci when two links of different lengths were moving to the opposite direction. The length of two links was 75mm and 44mm, respectively. Maximum displacement of rotary type transplanting device was 238mm. It seemed that the transplanting elliptic loci of transplanting device were identical between the simulation output generated by kinematic analysis software and the circular soil bin test result with a high speed camera. The rotary type transplanting device can be suitable fur transplanting short height vegetable, less than 20 cm length vegetables such as Chinese cabbage and cabbage, etc.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.1
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• pp.99-106
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• 2013

DME (Di-Methyl Ether) is synthetic product that is produced through dehydration of methanol or a direct synthesis from syngas. And it is able to save fossil fuel and reduce pollutants of emission such as PM and $CO_2$. In spite of its advantages it is difficult to design DME fuelled engine system because DME fuel may cause to severely generate cavitation and corrosion in fuel delivery system due to physical properties of DME. Therefore, in this study three-dimensional internal flow characteristics with consideration of cavitation were predicted in the DME injector using diesel and DME fuel. Moving grid technique was employed to describe needle motion and 1-D hydraulic simulation of injector was also simulated to obtain transient needle motion profiles. The results of simulation show that cavitations was generated at the inlet of nozzle near high velocity region both diesel and DME. And mass flow rate of DME is reduced by 4.73% compared to that of diesel at maximum valve lift because cavitation region of DME is much more larger. To increase flow rate of DME injector, internal flow simulation has been conducted to investigate the nozzle hole inner R-cut effect. The flow rates of diesel and DME increase as R-cut increases, and flow coefficient of DME fuel injector was increased by 6.3% on average compared with diesel fuelled injector. Finally, optimum shape of DME injector nozzle is suggested through the comparison of flow coefficient with variation of nozzle hole inner R-cut.

• Journal of Biomedical Engineering Research
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• v.10 no.2
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• pp.117-124
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• 1989

The intelligent trajectory control method that controls moving direction and average velocity for a prosthetic arm is proposed by pattern recognition and force estimations using EMG signals. Also, we propose the real time trajectory planning method which generates continuous accelleration paths using 3 stage linear filters to minimize the impact to human body induced by arm motions and to reduce the muscle fatigue. We use combination of MLP and fuzzy filter for pattern recognition to estimate the direction of a muscle and Hogan`s method for the force estimation. EMG signals are acquired by using a amputation simulator and 2 dimensional joystick motion. The simulation results of proposed prosthetic arm control system using the EMf signals show that the arm is effectively followed the desired trajectory depended on estimated force and direction of muscle movements.

• Journal of The Korean Astronomical Society
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• v.40 no.1
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• pp.1-7
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• 2007

About 10 percent of quasars are known to exhibit deep broad absorption troughs blueward of prominent permitted emission lines, which are usually attributed to the existence of outflows slightly above he accretion disk around the supermassive black hole. Typical widths up to 0.2c of these absorption roughs indicate the velocity scales in which special relativistic effects may not be negligible. Under he assumption of the ubiquity of the broad absorption line region in quasars, the broad emission line flux will exhibit Thomson scattered components from these fast outflows. In this paper, we provide our Monte Carlo calculation of linear polarization of singly Thomson scattered line radiation with the careful considerations of special relativistic effects. The scattering region is approximated by a collection of rings that are moving outward with speeds ${\upsilon}=c{\beta}<0.2c$ near the equatorial plane, and the scattered line photons are collected according to its direction and wavelength in the observer's rest frame. We find that the significantly extended red tail appears in the scattered radiation. We also find that the linear degree of polarization of singly Thomson scattered line radiation is wavelength-dependent and hat there are significant differences in the linear degree of polarization from that computed from classical physics in the far red tail. We propose that the semi-forbidden broad emission line C III]1909 may be significantly contributed from Thomson scattering because this line has small resonance scattering optical depth in the broad absorption line region, which leads to distinct and significant polarized flux in this broad emission line.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.7
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• pp.1450-1456
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• 2015

The received signal strengths according to the propagation distance between a transmitting shore station with a 53 m antenna hight and a receiving ship station with about 6m antenna hight from 700 m upto about 20 km are measured at ship's moving velocity of $5{\pm}1m/s$ using a single carrier signal at 150.0625MHz. In this paper, the path loss exponents at the propagation distance from 700 m to 20km are estimated via minimum-mean-square-error method using the measurements of the received signal strength, and the mean of the estimated path loss exponent become 3.79. The estimated propagation path loss exponents is similar to that calculated based on the field-strength values from 2 km to 20 km in Annex 2 of ITU-R P.1546-4, which is measuring results at maritime VHF at 100 MHz carrier frequency. Therefore, the estimated propagation path loss exponent shall be used as the expected path loss exponents for summer in costal area of South Sea of Korea.

• Journal of Digital Convergence
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• v.14 no.11
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• pp.305-311
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• 2016

Even though automakers have actively been conducting studies on autonomous navigation thanks to the development and application of wireless Internet technology, the traffic accident has been kept unsolved. The causes of the accident are drowsy driving, a mistake of a driver, environmental factors, and a wrong road structure; Driving manner and characteristics of a driver among the causes are significantly influential for the accident. In this paper, a study to measure characteristics of zigzag driving that can be seen before an occurrence of an accident regarding traffic accidents that can be incurred while driving manually or autonomously was conducted. While existing studies measured zigzag driving based on characteristics of the change of lateral angular velocity by imaging techniques or driving manner on the first and second lane, this study proceeded to measure zigzag driving by setting a lateral moving distance and a critical value range by utilizing the value of a sensor.

• Journal of Power System Engineering
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• v.16 no.5
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• pp.40-46
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• 2012

For free surface flow problem, a high-order spectral/boundary element method is adapted as an efficient numerical tool. This method is one of the most efficient numerical methods by which the nonlinear gravity waves can be simulated and hydrodynamic forces also can be calculated in time domain. In this method, the velocity potential is expressed as the sum of surface potential and body potential. Then, surface potential is solved by using the high-order spectral method and body potential is solved by using the high-order boundary element method. Using the combination of these two methods, the free surface flow problems of a submerged moving body are solved in time domain. In the present study, lifting surface theory is added to the former work to include effects of lift force. Therefore, a new formulation for the basic mathematical theory is introduced to contain the lift body in calculation.