• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.223-231
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• 2014

Humanoid robot is the most suitable robot platform for effective human interaction and various intelligent services. The present work addresses development of real time wireless control application of humanoid robot's forward and backward walks, and turning in walking. For convenience of human users, the application is developed on Android OS (Operating System) working on his or her smartphone. To this end, theoretic background on various-directional biped walking is proposed based on joint trajectories for forward walking, which have been shaped with a global optimization method. In this paper, backward walking is scheduled by interchange of angles and angular velocities and additional change of signs in angular velocities at all the via-points connecting cubic polynomial trajectories. Turning direction in walking is also implemented by activating the transversal hip joint initially located in the support leg in two stages. After validation of the proposed walking schemes with Matlab simulator, a smartphone application for the omnidirectional walking has been developed to control a humanoid robot platform named DARwIn-OP interconnected via Wi-Fi. Experiment result of the present wireless control of a humanoid robot with smartphone is successful, and the application will be released in application market near future.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.33 no.6
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• pp.2329-2341
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• 2013

In this study, we develop an algorithm to predict swell-like significant waves in the east coast of Korea using the directional wave gauge which is installed near Sokcho. Using the numerical wave model SWAN, we estimate wave data in open sea from the wave data observed through the directional wave gauge. Then, using the wave ray method with the open-sea wave data as offshore boundary conditions, we predict the swell-like significant waves at several points in the east coast of Korea. We verify the prediction methods with the SWAN and wave ray methods by comparing numerically predicted data against either target or measured data at the observation site. We can improve the prediction of the swell-like significant waves in the east sea of Korea using both the real-time wave measurement system and the present prediction algorithm.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.3 no.2 s.5
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• pp.105-117
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• 2004

CVO(Commercial Vehicle Operations) of Intelligent Transport Systems is the system to manage effciently cargo distribution as providing at real time the information of cargo location and situation through nS and GPS technology. In this paper, we proposed the Gate Automation System of harbors among AVI/AEI. To implement this system, we use the DSRC(Dedicated Short Range Communication) which adopts an wireless communication between RSE(Road-side Equipment) and OBE(on-Board Equipment) on a vehicle. When constructing the automation gateway system of harbors, the business application ability are reviewed practically and the logistics facilities to be constructed in the near future nay use this paper results according to the international standard and it could help complete integrated logistics system.

• Wind and Structures
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• v.26 no.3
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• pp.147-161
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• 2018

For wind engineering applications downbursts are, presently, almost exclusively modeled, both experimentally and numerically, as transient impinging momentum jets (IJ), even though that model contains none of the physics of real events. As a result, there is no connection between the IJ-simulated downburst wind fields and the conditions of formation of the event. The cooling source (CS) model offers a significant improvement since it incorporates the negative buoyancy forcing and baroclinic vorticity generation that occurs in nature. The present work aims at using large-scale numerical simulation of downburst-producing thunderstorms to develop a simpler model that replicates some of the key physics whilst maintaining the relative simplicity of the IJ model. Using an example of such a simulated event it is found that the non-linear scaling of the velocity field, based on the peak potential temperature (and, hence, density) perturbation forcing immediately beneath the storm cloud, produces results for the radial location of the peak radial outflow wind speeds near the ground, the magnitude of that peak and the time at which the peak occurs that match well (typically within 5%) of those produced from a simple axi-symmetric constant-density dense source simulation. The evolution of the downdraft column within the simulated thunderstorm is significantly more complex than in any axi-symmetric model, with a sequence of downdraft winds that strengthen then weaken within a much longer period (>17 minutes) of consistently downwards winds over almost all heights up to at least 2,500 m.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2017.04a
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• pp.157-157
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• 2017

To minimize the damage by wild birds and acquire the benefits such as protection against weeds and maintenance of water content in soil, the mulching black color vinyl after seeding should be carried out. Non-contact and non-destructive methods that can continuously determine the locations are necessary. In this study, a crop position detection method was studied that uses infrared thermal image sensor to determine the cotyledon position under vinyl mulch. The moving system for acquiring image arrays has been developed for continuously detecting crop locations under plastic mulching on the field. A sliding mechanical device was developed to move the sensor, which were arranged in the form of a linear array, perpendicular to the array using a micro-controller integrated with a stepping motor. The experiments were conducted while moving 4.00 cm/s speed of the IR sensor by the rotational speed of the stepping motor based on a digital pulse width modulation signal from the micro-controller. The acquired images were calibrated with the spatial image correlation. The collected data were processed using moving averaging on interpolation to determine the frame where the variance was the smallest in resolution units of 1.02 cm. Non-linear integral interpolation was one of method for analyzing the frequency using the normalization image and then arbitrarily increasing the limited data value of $16{\times}4pixels$ in one frame. It was a method to relatively reduce the size of overlapping pixels by arbitrarily increasing the limited data value. The splitted frames into 0.1 units instead of 1 pixel can propose more than 10 times more accurate and original method than the existing correction method. The non-integral calibration method was conducted by applying the subdivision method to the pixels to find the optimal correction resolution based on the first reversed frequency. In order to find a correct resolution, the expected location of the first crop was indicated on near pixel 4 in the inversion frequency. For the most optimized resolution, the pixel was divided by 0.4 pixel instead of one pixel to find out where the lowest frequency exists.

• Journal of Welding and Joining
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• v.27 no.5
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• pp.74-80
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• 2009

The membrane of the LNG carriers consists of thin strips of INVAR(Fe-36%Ni) steel plates, and the junction between INVAR strips is fabricated by welding. Thousands of the raised edge joints, regularly spaced, are located around all the side of the tank corner near the transverse bulkhead, and TIG welding is manually made on the top of the raised edges. Since the thickness of all the laminated edge plies is extremely thin and the weld position is under a bad accessibility, highly skilled workers are required to perform welding relatively for a long welding time. An alternative scheme for the corner membrane fabrication is proposed in the study to improve the installation workability and thus productivity. The scheme replaces the welded edges with the preformed corrugation ones. A panel strip with regularly-spaced corrugations is installed at the corner instead of the individual flat strip of which edge is vertically raised to be welded with the adjacent strip. In the study, a series of the evaluation on the corrugated edge members was performed to assess the applicability to the real LNG carrier fabrication. Opening displacement at the raised edge was experimentally examined. Elastic stiffness regressed from the displacement was nearly same in both edge types. Edge displacement and local stresses were calculated under hydrostatic pressure and temperature change due to liquefied cargo. Fatigue test was performed on both corrugated and welded edge specimens consisting of two or five plies of invar strips. Fatigue strength of the corrugated specimens was not less than that of the welded specimens.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2004.06a
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• pp.137-146
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• 2004

Laser Induced Breakdown Spectroscopy(LIBS) system is being developed as an in-situ analysis system for the radioactive waste glass in the cold crucible melter. In order to complete the LIBS system, a spectrometer, a detector, and a laser were structured. An ESA 3000 (LLA Instruments GmbH, Germany) including a calibrated Kodak KAF-1001 CCD detector was selected as the spectrometer. A Q-switched Nd-YAG Brilliant(Quantel, France) laser was selected as an energy source. As the first research stage, the excitation temperatures of Fe(I) as a function of the detector's delay intervals(500, 1000, 1500, 2000ns) were evaluated using the Einstein-Boltzmann equation. The optimized excitation temperature of Fe (I) was 7820k at the delay time of 1500㎱ using the 532nm Nd-YAG laser pulse. This LIBS system will be optimized under the real environment vitrification facility in the near future and then used to be in-situ analyzed the glass compositions in the melter qualitatively.

• Journal of the Korean Society of Costume
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• v.56 no.7 s.107
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• pp.1-17
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• 2006

This study purposed to examine Korean people's white clothes custom historically and to explain the aesthetic consciousness latent in the custom. Korean people preferred white clothes, even up to foreigners called them White-clad folk. Not only as in old historical literatures, but also in Soo-suh, Shin-Dang-suh including Sam-Kuk-Ji in China, white clothes were a real symbol to Korean people, ranging chronically far back to the age of ancient tribal countries, Sam-Kuk Period through Koryo Dynasty and even to modern age near the end of Chosun Dynasty, wearing with pleasure regardless of age, sex or social position. Even King himself in Koryo Dynasty is said to have worn white clothes when he was out of official hours. During the Koryo and Chosun Dynasty, white clothes were sometimes prohibited for various reasons including conflicts with the theories of yin-yang and the five elements but such regulations were not effective. To Korean people, white clothes were ordinary people's everyday dress as well as noble people's plain suits, saints' uniforms with religious meanings, ceremonial costumes, funeral garments, etc. The various uses show that white clothes have been worn by many people. The unique custom that a People have worn white clothes consistently for such a long time may contain very deep symbolic meanings representing the people's sentiments and spirits. The present study understood that the meanings come from religious sacredness, magical wish for brightness, the pursuit of purity originating from the people's national traits, assimilation with nature and the will to attain whole ascetic personality. Aesthetic attitudes based on aesthetic values summed up as sacredness, brightness, purity, assimilation with nature, asceticism, etc. are the aesthetic consciousness pursued by Koreans through their white clothes. For Koreans, white color is the origin of their color sense coming from primitive religions such as worshipping the sun and the heaven. In this way, Korean people's preference for white clothes began with primitive religions, was mixed with various social, cultural and religious influences and finally was settled as their durable spirit, symbol and beauty.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.26 no.3
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• pp.149-159
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• 2014

In this study, we develop an algorithm to predict swell-like high waves on the east coast of Korea using the directional wave gauge which was installed near Sokcho. Using the numerical wave model SWAN, we estimate wave data in open sea from the wave data collected by using the directional wave gauge. Then, using the wave ray method and SWAN model with the open-sea wave data as offshore boundary conditions, we predict the swell-like high waves at several major points on the east coast of Korea. We verify the prediction methods with the SWAN and wave ray methods by comparing predicted data against measured one at Wangdolcho. We can improve the prediction of the swell-like high waves in the east sea of Korea using both the real-time wave measurement system and the present prediction algorithm.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.31 no.2
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• pp.159-164
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• 2013

It is well known that a single moving camera video is capable of extracting the 3-dimensional position of an object. With this in mind, current research performed image-based monitoring to establish a floating structure model using a camcorder system. Following this, the present study extracted frame images from digital camcorder video clips and matched the interest points to obtain relative 3D coordinates for both regular and irregular wave conditions. Then, the researchers evaluated the transformation accuracy of the modified SURF-based matching and image-based displacement estimation of the floating structure model in regular wave condition. For the regular wave condition, the wave generator's setting value was 3.0 sec and the cycle of the image-based displacement result was 2.993 sec. Taking into account mechanical error, these values can be considered as very similar. In terms of visual inspection, the researchers observed the shape of a regular wave in the 3-dimensional and 1-dimensional figures through the projection on X Y Z axis. In conclusion, it was possible to calculate the displacement of a floating structure module in near real-time using an average digital camcorder with 30fps video.