• Environmental Mutagens and Carcinogens
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• v.24 no.1
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• pp.25-32
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• 2004

To validate and to estimate the chemical hazard playa very important role to environment and human health. The detection of many synthetic chemicals used in industry that may pose a genetic hazard in our environment is of great concern at present. Since these substances are not limited to the original products, and enter the environment, they have become widespread environmental pollutants, thus leading to a variety of chemicals that possibly threaten the public health. In this resepct, the clastogenicity of 17 synthetic chemicals was evaluated with bone marrow micronucleus assay in mice. The positive control, mitomycin C (2 mg/kg, i.p.) revealed significant induction ratio of percentage of micronucleated polychromatic erythrocytes/1,000 polychromatic erythrocytes compared to solvent controls. The chemicals with relatively high $LD_{50}$ value such as allyl alcohol (CAS No. 107-18-6), 2,4-pentanedione (CAS No. 123-54-6) and 4-chloro-3,5-dimethylphenol (CAS No. 88-04-0) revealed no significant induction of micronucleated polychromatic erythrocytes in mice. From this results, 17 synthetic chemicals widely used in industry have revealed no significant micronucleus induction of clastogenicity in mice in this experiment.

• Journal of Korean Institute of Industrial Engineers
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• v.37 no.2
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• pp.96-104
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• 2011

Modeling and simulation of human-involved complex systems pose challenges to representing human decision makings into logical systems because of the nondeterministic and dynamic nature of human behaviors. In modeling perspectives, human's activities in systems can increase uncertainty and complexity, because he or she can potentially access all other resources within the system and change the system states. To address all of these human involvements in the system, this research suggests applying the Finite State Automata (FSA)-based formal modeling of human-involved systems that incorporates the ecological concept of affordances to an evacuation simulation, so that human behavioral patterns under urgent and dynamic emergency situations can be considered in the real-time simulation. The proposed simulation methodologies were interpreted using the warehouse fire evacuation simulation to clarify the applicability of the proposed methodology. This research is expected to merge system engineering technologies and human factors, and come out to the new predictive modeling methodology for disaster simulations. This research can be applied to a variety of applications such as building layout designs and building access control systems for emergency situations.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.250-255
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• 2005

For navigation of a service robot, mapping and localization are very important. To estimate the robot pose, the map of the environment is required and it can be built by exploration or SLAM. Exploration is the fundamental task of guiding a robot autonomously during mapping such that it covers the entire environment with its sensors. In this paper, an efficient exploration scheme based on the position probability of the end nodes of a topological map is proposed. In this scheme, a topological map is constructed in real time using the thinning-based approach. The robot then updates the position probability of each end node maintaining its position at the current location based on the Bayesian update rule using the range data. From this probability, the robot can determine whether or not it needs to visit the specific end node to examine the environment around this node. Various experiments show that the proposed exploration scheme can perform exploration more efficiently than other schemes in that, in most cases, exploration for the entire environment can be completed without directly visiting everywhere in the environment.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.10 no.4
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• pp.77-82
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• 2010

In this paper, a haptic fishing robot, Fishbot, for a Virtual Fishing System is presented. Fishbot is 3DOF robot and it consists of a XY table and a wheel motor. To simulate the motion of fish, XY table is controlled by position servo drivers with variable torque constraint, and wheel axis is controlled by torque servo driver. Finally, Fishibot detects the end point of fishing pole with cameras to recognize the pose of user, and it can interface with a Virtual Reality System.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.11 no.5
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• pp.35-40
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• 2011

In this paper, an auto recharging system for a mobile robot based on the wireless power transmission and visual information is proposed. The existing recharging systems for mobile robot use mechanical contact while wireless power transmission transfers energy by electromagnetic induction method without contacts. For efficiency of charging, alignment of coils is important. In order to solve this problem, with the visual image, ellipticity of coil circle is recognized to control the pose of mobile robot.

• Journal of Mechanical Science and Technology
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• v.18 no.12
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• pp.2209-2215
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• 2004

In the present research work, an automated machine vision system and a new algorithm to interpret the inspection data has been developed. In the past, the control of tolerance of front-chassis-module was done manually. In the present work a machine vision system and required algorithm was developed to carryout dimensional evaluation automatically. The present system is used to verify whether the automobile front-chassis-module is within the tolerance limit or not. The directional ability parameters related with front-chassis-module such as camber, caster, toe and king-pin angle are also determined using the present algorithm. The above mentioned parameters are evaluated by the pose of interlinks in the assembly of an automobile front-chassis-module. The location of ball-joint center is important factor to determine these parameters. A method to determine the location of ball-joint center using geometric features is also suggested in this paper. In the present work a 3-D best fitting method is used for determining the relationship between nominal design coordinate system and the corresponding feature coordinate system.

• Asian review of World Histories
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• v.2 no.1
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• pp.81-104
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• 2014

The popular uprisings that took place in the Arab world, and led to the overthrow of four heads of states, namely Zine El-Abidine Ben Ali (January 14, 2011) of Tunisia, Hosni Mubarak (February 11, 2011) of Egypt, Muammar al-Gaddafi (August 23, 2011) of Libya and Ali Abdullah Saleh (November 23, 2011) of Yemen, have attracted the attention of the world media and policy makers in the West and the Middle East, and triggered their concern for the political future of the region. This article does not offer a comprehensive assessment of these uprisings, but rather analyzes the coverage of Time and Newsweek of the underlying causes of the uprisings and their anticipated consequences. It also investigates how the two magazines have highlighted the scenarios that may pose a real challenge to Arab regimes supported by the American administration, and internationally reshape the priorities of American foreign policy in the region. These issues are examined from the two magazines' perspectives, which under line the features of U.S. foreign policy in the region, where the White House is more concerned about the security of the state of Israel, control of the Arab oil and suppression of "Muslim fundamentalism."

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.2
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• pp.271-280
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• 2011

This paper presents a navigation system based on the tactical communication and vision system in outdoor environments which is applied to unmanned robot for perimeter surveillance operations. GPS errors of robot are compensated by the reference station of C2(command and control) vehicle and WiBro(Wireless Broadband) is used for the communication between two systems. In the outdoor environments, GPS signals can be easily blocked due to trees and buildings. In this environments, however, vision system is very efficient because there are many features. With the feature MAP around the operation environments, the robot can estimate the position by the image matching and pose estimation. In the navigation system, thus, operation modes is switched by navigation manager according to some environment conditions. The experimental results show that the unmanned robot can estimate the position very accurately in outdoor environment.

• Analytical Science and Technology
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• v.8 no.4
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• pp.1079-1087
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• 1995

The quality of human life is directly related to the quality of the environment. To assess environmental quality we must first determine the MCLG(Maximum Contaminant Level Goal), MCL(Maximum Contaminant Level), environmental impact and so on. The MCLG is the concentration at which no known adverse health effects occur. The MCLG is determined by risk assessment identifying which process is hazardous assessing, dose-response, human exposure, and characteristics of risk. With consideration of analytical methods, treatment technology, cost and regulatory impact, the MCL is set as close to the MCLG as possible. In this way, determination of the concentration and national distribution of contaminants is important for assessment of environmental quality The analytical sciences pose potential problems in assessing environmental quality. Continuing improvement in the performance of analytical instruments and operating technique has been lowering the limits of detectability. Contaminant concentration below the detection limit has usually been reported as ND(Not-Detected) and this has often been misunderstood as equivalent to zero. Because of this, more the contaminant concentration in the past was below the detection limit, whereas contaminants can be quantified now even though the contaminant concentration might remain the same or may even have decreased. In addition, environmental sampling has various components due to heterogeneous matrices. These samples are used to overestimate the concentration of the contaminant due to large variability, resulting in excess readings for MCL. In this paper, the significance of the analytical sciences is emphasized in both a conceptual and a technical approach to environmental assessment.

• Journal of Radiation Protection and Research
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• v.31 no.1
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• pp.31-35
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• 2006

For the purpose of the biological effect in black mouse by neutron irradiation, mice were irradiated with 16 or 32 Gy neutron (flux: 1.036739E+09) by tying flat pose at BNCT facility on HANARO Reactor. And 90 days later of irradiation, physical changes of testis and testis tissue were examined. There were no weight changes but a little bit volume changes and sperm counts in the testes. Atrophy of seminiferous tubules irradiated with 32 Gy neutron is increased in number and severity and those in stage VI showed depletion of spermatogonia and pachytene spermatocytes compared to the non-irradiated control group. Testis damage of black mouse was not recovered after long time by 32 Gy neutron irradiation.