• ETRI Journal
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• 제43권4호
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• pp.580-593
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• 2021

When operating in confined spaces or near obstacles, collision-free path planning is an essential requirement for autonomous exploration in unknown environments. This study presents an autonomous exploration technique using a carefully designed collision-free local planner. Using LiDAR range measurements, a local end-point selection method is designed, and the path is generated from the current position to the selected end-point. The generated path showed the consistent collision-free path in real-time by adopting the Euclidean signed distance field-based grid-search method. The results consistently demonstrated the safety and reliability of the proposed path-planning method. Real-world experiments are conducted in three different mines, demonstrating successful autonomous exploration flights in environment with various structural conditions. The results showed the high capability of the proposed flight autonomy framework for lightweight aerial robot systems. In addition, our drone performed an autonomous mission in the tunnel circuit competition (Phase 1) of the DARPA Subterranean Challenge.

• Agribusiness and Information Management
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• 제6권2호
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• pp.32-39
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• 2014

The goal of this research was to develop a portable system that could be used to evaluate the quality of milk in real time at a raw milk production site. A real-time portable quality evaluation system for raw milk was developed to enable non-destructive quality evaluation of somatic cell count (SCC), fat, protein, lactose, and total solid (TS) in milk samples. A prediction model of SCC, fat, protein, lactose, and TS was constructed using partial least squares (PLS) and 200 milk samples were used to evaluate the prediction performance of the portable quality evaluation system and high performance spectroscopy. Through prediction model development and verification, it was found that the accuracy of high performance spectroscopy was 90% for SSC, 96% for fat, 96% for protein, 91% for lactose, and 97% for TS. In comparison, the accuracy of the portable quality evaluation system was relatively low, at 90% for SSC, 95% for fat, 92% for protein, 89% for lactose, 92% for TS. However, the measurement time for high performance spectroscopy was 10 minutes for 1 sample, while for the portable quality evaluation system it was 6 minutes. This means that the high performance spectroscopy system can measure 48 samples per day (8 hours), while the portable quality evaluation system can measure 80 (8 hours). Therefore, it was found that the portable quality evaluation system enables quick on-site quality evaluation of milk samples.

• Journal of the Institute of Electronics Engineers of Korea CI
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• 제46권4호
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• pp.102-110
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• 2009

In this paper, we propose an object detection method for real-time in infrared (IR) images and PowerPC (PPC) and H/W design based on field programmable gate array (FPGA). An open H/W architecture has the advantages, such as easy transplantation of HW and S/W, support of compatibility and scalability for specification of current and previous versions, common module design using standardized design, and convenience of management and maintenance. Proposed background modeling for an open H/W architecture design decreases size of search area to construct a sparse block template of search area in IR images. We also apply to compensate for motion compensation when image moves in previous and current frames of IR sensor. Separation method of background and objects apply to adaptive values through time analysis of pixel intensity. Method of clutter reduction to appear near separated objects applies to median filter. Methods of background modeling, object detection, median filter, labeling, merge in the design embedded system execute in PFC processor. Based on experimental results, proposed method showed real-time object detection through global motion compensation and background modeling in the proposed embedded system.

• Journal of the Korea Institute of Information and Communication Engineering
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• 제23권6호
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• pp.652-658
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• 2019

When IoT is applied to various research experiment fields such as physics, pharmacy, biology and medicine, it can increase the safety and convenience of researchers by intelligently monitoring and controlling research equipment and environment with various sensors and devices. For accurate and convenient record management and the research history and the basis but also for the reverse tracking, real-time reagent measurement and registration should be provided as a research support automation services. Currently, existing methods of reagent management are operated by computerized method, but reagent registration and management are not automated. And also record is managed manually, there are many hassles and problems such as a record error and too much time required for quantification and registration for many reagents. In this paper, we study a real time reagent measuring and registration method based on IoT to resolve the problems aforementioned, by the information of the reagent acquired by image recognition and NFC method.

• Journal of the Korean Operations Research and Management Science Society
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• 제13권1호
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• pp.13-13
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• 1988

This paper considers the sequencing problem in mixed model assembly lines with hybrid workstation types and sequence-dependent setup times. Computation time is often a critical factor in choosing a method of determining the sequence. We develop a mathematical formulation of the problem to minimize the overall length of a line, and present a tabu search technique which can provide a near optimal solution in real time. The proposed technique is compared with a genetic algorithm and a branch-and-bound method. Experimental results are reported to demonstrate the efficiency of the technique.

• Proceedings of the Korean Society for Quality Management Conference
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• 한국품질경영학회 2009년도 추계학술대회
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• pp.131-135
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• 2009

This paper considers the sequencing of products in car assembly lines. The sequence which minimizes overall utility work in car assembly lines reduce the cycle time and the risk of conveyor stopping. The sequencing problem is solved using Tabu Search. Tabu Search is a heuristic method which can provide a near optimal solution in real time. The performance of proposed technique is compared with existing heuristic methods in terms of solution quality and computation time. Various examples are presented and experimental results are reported to demonstrate the efficiency of the technique.

• The Bulletin of The Korean Astronomical Society
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• 제36권2호
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• pp.101.1-101.1
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• 2011

National Meteorological Satellite Center(NMSC) of Korea Meteorological Administration(KMA) is collecting GNSS data in near-real time for about 80 GNSS stations operated by multiple agencies. (eg. National Geographic Information Institute (NGII), Korea Astronomy and Space Science Institute (KASI), DGNSS Central Office) Using these GNSS data, NMSC developed automatic Total Electron Contents(TEC) derivation system over the Korean peninsular every 1-hour based on single station data processing. We present the TEC result and validation of TEC using International GNSS Service(IGS) global TEC data for the case of quiet time and storm time. The future plans for the system improvement will be discussed.

• Journal of the Korea Safety Management & Science
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• 제5권1호
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• pp.69-82
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• 2003

The sequence which minimizes overall utility work in car assembly lines reduces the cycle time, the number of utility workers, and the risk of conveyor stopping. This study suggests mathematical formulation of the sequencing problem to minimize overall utility work, and present a genetic algorithm which can provide a near optimal solution in real time. To apply a genetic algorithm to the sequencing problem in car assembly lines, the representation, selection methods, and genetic parameters are studied. Experiments are carried out to compare selection methods such as roullette wheel selection, tournament selection and ranking selection. Experimental results show that ranking selection method outperforms the others in solution quality, whereas tournament selection provides the best performance in computation time.

• Publications of The Korean Astronomical Society
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• 제11권1호
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• pp.57-73
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• 1996

As a continuing effort to develop an automatic control system for small telescope, we developed the software for telescope control and CCD observations under DOS operating system. For accurate pointing of the telescope in short amount of time, we modelled the angular speed of the telescope by aquadratic function of time (constant acceleration) for the first 15 second and then linear function of time (zero acceleration) aftwewards. By changing the telescope speed from 'slew' to 'fine' before the telescope reaches the desired position, we could achieve the accuracy of a few arcsecond. The CCD control software was written for model CCD-10 of CCD Technology. This CCD can be used for guiding purposes. We also conducted the study for remote control of the telescope using telephone line. Although it cannot be used for real observations at the present form, we succeded in remotely pointing the telescope to desired direction. As faster communication technologies become widely available, simple observations can be made remotely in the near future. Finally we report some observational results made with the present control system.

• Analytical Science and Technology
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• 제24권6호
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• pp.519-526
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• 2011

Chemometrics using near-infrared (NIR) and Raman spectroscopy have found significant uses in a variety quantitative and qualitative analyses of pharmaceutical products in complex matrixes. Most of the pharmaceutical can be measured directly with little or no sample preparation using these spectroscopic methods. During pharmaceutical manufacturing process, analytical techniques with no or less sample preparation are very critical to confirm the quality. This study showed NIR and Raman spectroscopy with principal component analysis (PCA) was very effective for the blending processing control. It is of utmost importance to evaluate critical parameters related to quality of products during pharmaceutical processing. The blending is confirmed by off-line determination of active pharmaceutical ingredient (API) by a conventional method such as high performance liquid chromatography (HPLC) and UV spectroscopy. These analytical methods are time-consuming and ineffective for real time control. This study showed the possibility for the determination of blend uniformity end-point of CR tablets with the use of both NIR and Raman spectroscopy. The samples were acquired from six positions during blending processing with U-type blender from 0 to 30 min. Using both collected NIR and Raman spectral data, principal component analysis (PCA) was used to follow the uniformity of blending and finally determine the end-point. The variation of homogeneity of six samples during blending was clearly found and blend uniformity end-point was successfully confirmed in the domains of principal component (PC) scores.