There are many efforts to mechanize the process for underwater port construction due to the severe and adverse working environment. This paper presents an underwater construction robot to level rubbles on the seabed for port construction. The robot is composed of a blade and a multi-functional arm to flatten the rubble mound with respect to the reference level at uneven terrain and to dig and dump the rubbles. This research analyzes the kinematics of the blade and the multi-functional arm including track and swing motions with respect to a world coordinate assigned to a reference depth sensor. This analysis is conducted interfacing with the position and orientation sensors installed at the robot. A hydraulic control system is developed to control a track, a blade and a multi-functional arm for rubble leveling work. The experimental results of rubble leveling work conducted by the robot are presented in land and subsea. The working speed of the robot is eight times faster than that of a human diver, and the working quality is acceptable. The robot is expected to have much higher efficiency in deep water where a human diver is unable to work.
Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
/
v.31
no.5
/
pp.421-427
/
2013
In general, it can be assumed that the tropospheric effect are removed through double-differencing technique in short-baseline GPS data processing. This means that the high-accuracy positioning can be obtained because various error sources can be eliminated and the number of unknown can be decreased in the adjustment computation procedure. As a consequence, short-baseline data processing is widely used in the fields such as deformation monitoring which require precise positioning. However, short-baseline data processing is limited to achieve high positioning accuracy when the height difference between the reference and the rover station is significant. In this study, the effects of tropospheric delays on the determination of short-baseline is analyzed, which depends on the orientation of baseline. The GPS measurements which include tropospheric effect and measurement noises are generated by simulation, and then rover coordinates are computed by short-baseline data processing technique. The residuals of rover coordinates are analyzed to interpret the tropospheric effect on the positioning. The results show that the magnitudes of the biases in the coordinate residuals increase as the baseline length gets longer. The increasing rate is computed as 0.07cm per meter in baseline length. Therefore, the tropospheric effects should be carefully considered in short-baseline data processing when the significant height difference between the reference and rover is observed.
Journal of the Institute of Electronics and Information Engineers
/
v.50
no.3
/
pp.221-229
/
2013
In this paper, the image formation by the motion compensation technique for Synthetic Aperture Radar system(SAR) were realized through the computer simulation. The motion compensation technique performed image data with the range compression, the compensation procedure, the azimuth compensation and the noise elimination procedure. The range compression procedure transform the SAR raw data into the frequency domain and correlate with the range reference function and then inversely transform into the time domain. The compensation procedure contain the aircraft fluctuations compensation and the radar image degrading effect elimination procedure which was caused by image formation algorithm itself. The aircraft fluctuations compensation procedure perform the first stage which correct the phase angle and the second stage which calculate the Doppler frequency and determine the coordinate of the received signal. The radar image degrading effect elimination procedure also perform range migration compensation and the image defocussing effect compensation. The azimuth compression procedure transform the compensation data to the frequency domain and correlate with the azimuth reference function. The azimuth correlated data are inversely transformed to the time domain which is called SAR image data. When the above procedure were completed, the image data contains the received signals mixed with noise. The threshold technique was applied to elimination the noise from the mixed image data.
In the geophysical monitoring to understand the change of subsurface material properties with time, the time-invariant static subsurface model is commonly adopted to reconstruct a time-lapse image. This assumption of static model, however, can be invalid particularly when fluid migrates very quickly in highly permeable medium in the brine injection experiment. In such case, the resultant subsurface images may be severely distorted. In order to alleviate this problem, we develop a new least-squares inversion algorithm under the assumption that the subsurface model will change continuously in time. Instead of sampling a time-space model into numerous space models with a regular time interval, a few reference models in space domain at different times pre-selected are used to describe the subsurface structure continuously changing in time; the material property at a certain space coordinate are assumed to change linearly in time. Consequently, finding a space-time model can be simplified into obtaining several reference space models. In order to stabilize iterative inversion and to calculate meaningful subsurface images varying with time, the regularization along time axis is introduced assuming that the subsurface model will not change significantly during the data acquisition. The performance of the proposed algorithm is demonstrated by the numerical experiments using the synthetic data of crosshole dc resistivity tomography.
Journal of the Korean Institute of Landscape Architecture
/
v.14
no.2
/
pp.69-80
/
1986
In order to analyse the color preference quantitatively, specially with reference to the subjects in the age of twenties, 100 subjects(M=50, F=50) that unconsidered other factors were adopted and responded to 4 items of the questionaire. The item no. 1 was to investigate the most prefered color on the white background, no. 2 was to most preferred stimulation -level of lightness in the same hues, no. 3 was to most prefered color on 5 different backgrounds -grey, blue, pink, yellow, and yellow green-, and no. 4 was same as no. 3 but with different color-arrangement Materials for item 1 and 3 were made with transparent acryl-boards(30cm$\times$30cm), on which 16 color chips arranged on circle, for item 4 on lattice, and for item 2 with 16 white boards(8cm$\times$21cm), on which 7 color chips of different lightness-level arranged. Reflectance(Y) and color coordinate(x, y) of all color chips measured with color difference meter were transfered into wavelength(nm), exitation purity(%), and Munsell's value. The results may be summarized as follows: 1) Most prefered color was bluish green with wave1ength about 500nm. As increasing of exitation purity of color, more prefered. 2) When there were 7 different levels of lightness in the same hues, the relationship between the number of preference and the stimulation was inverted U-shaped. 3) With changing the background -color, the prefered colors were contrasting when backgrounds were low or high intensity-stimulation and familiar colors when backgrounds were medium intensity.
A polystyrene phantom was developed following the guidance of the International Atomic Energy Association (IAEA) for gamma knife (GK) quality assurance. Its performance was assessed by measuring the absorbed dose rate to water and dose distributions. The phantom was made of polystyrene, which has an electron density (1.0156) similar to that of water. The phantom included one outer phantom and four inner phantoms. Two inner phantoms held PTW T31010 and Exradin A16 ion chambers. One inner phantom held a film in the XY plane of the Leksell coordinate system, and another inner phantom held a film in the YZ or ZX planes. The absorbed dose rate to water and beam profiles of the machine-specific reference (msr) field, namely, the 16 mm collimator field of a GK PerfexionTM or IconTM, were measured at seven GK sites. The measured results were compared to those of an IAEA-recommended solid water (SW) phantom. The radius of the polystyrene phantom was determined to be 7.88 cm by converting the electron density of the plastic, considering a water depth of 8 g/cm2. The absorbed dose rates to water measured in both phantoms differed from the treatment planning program by less than 1.1%. Before msr correction, the PTW T31010 dose rates (PTW Freiberg GmbH, New York, NY, USA) in the polystyrene phantom were 0.70 (0.29)% higher on average than those in the SW phantom. The Exradin A16 (Standard Imaging, Middleton, WI, USA) dose rates were 0.76 (0.32)% higher in the polystyrene phantom. After msr correction factors were applied, there were no statistically significant differences in the A16 dose rates measured in the two phantoms; however, the T31010 dose rates were 0.72 (0.29)% higher in the polystyrene phantom. When the full widths at half maximum and penumbras of the msr field were compared, no significant differences between the two phantoms were observed, except for the penumbra in the Y-axis. However, the difference in the penumbra was smaller than variations among different sites. A polystyrene phantom developed for gamma knife dosimetry showed dosimetric performance comparable to that of a commercial SW phantom. In addition to its cost effectiveness, the polystyrene phantom removes air space around the detector. Additional simulations of the msr correction factors of the polystyrene phantom should be performed.
Lee, So Hyang;Park, Soo Yeon;Kim, Jong Sik;Choi, Byung Ki;Park, Hee Chul;Jung, Sang Hoon
The Journal of Korean Society for Radiation Therapy
/
v.27
no.1
/
pp.73-78
/
2015
Purpose : Under the assumption of change to the amplitude based sorting, the study will use four dimensional computed tomography imaging (4DCT) arrayed using the phase based sorting to analyze the respiratory phase difference. Materials and Methods : The study analyzed the 4DCT (4-dimensional computed tomography) images of 10 liver cancer patients that were treated with respiratory gated radiotherapy from 2015 February to March. Using RPM respiratory gating (RPM 1.7.5, Varian, USA) equipment, imaging according to respiratory cycle of phase based sorting was acquired and using a treatment planning system (Pinnacle 9.2, Philips, USA) the acquired imaging according to respiratory cycle was used to measure the abdominal movement value by respiratory cycle. The measuring point was the point where the center point of the Marker Block and the body surface met in the 50% phase image and here the coordinate values Lateral, Vertical, Longitudinal (X, Y, Z) were set as reference points, and on the X, Z plane identical to the reference point, using the identical method the Y axis coordinate value of each 0%, 30%, 40%, 50%, 60%, 80% phase images were acquired to quantitatively measure the variation of distance to the Y axis. The abdominal movement value according to respiration was applied to the theoretical model that the value decreases linearly from maximum inhalation to maximum exhalation to divide the variation of my value to predict as amplitude value by respiratory cycle and conversely the variation in amplitude was recalculated with the phase variation deviation value to analyze. Results : The deviation value between expected value and actual location was the largest in the 30% phase with 0.24 cm, and standard deviation was also the largest in 30% phase with 0.13 cm. The effective value of the deviation value derived from the average of the deviation squared value of each patient appeared as minimum 0.7 cm, maximum 0.18 cm, average 0.12 cm, and standard deviation 0.4 cm. Also by dividing the actual movement distance value with the peak expiration value then converting it into %Phase, the deviation value with actual phase 16.5% in 30% phase, 10.0% and 40% phase, 10.0% and 60% phase, 15.4% and 80% phase, and overall average about 13%, and arraying based on amplitude, phase shift occurred and further it was from peak expiration the chance of deviation occurrence was increasingly measured. Conclusion : Based on the results of the study there were differences between value acquired based on theoretical model and actual value. Therefore in respiratory gated radiotherapy using external surrogates, there needs to be establishment of respiration gated radiation system that avoids the combination of two Sorting methods considering that there will be occurrence of treatment and corresponding clinical differences due to the phase difference that occur due to the Amplitude based Phase Sorting.
In this paper through Honam high-speed railroad which is planned with the north and south axis, we will verify the feasibility of the coordinate conversion using railroad control points after regarding current planned-railroad as the linear central axises. From analysis, distortion of Y axis varies 21cm to 40cm diminishing to a gentle straight line, distortion of X axis varies 14cm to 29cm. Through a revision, the deviation value between the coordinates were 6mm to 9mm and it satisfied the allowable error of national geographic information institute which is following ITRF (International Terrestrial Reference Frame) and cadastral boundary survey(10cm). consequently the coordinate conversion is possible using railroad control points as common control points.
Park, Bong Kwon;Jang, Soo Won;Choi, Seung Suk;Ahn, Hee Chang
Archives of Plastic Surgery
/
v.36
no.6
/
pp.691-701
/
2009
Purpose: Deviations of arterial palmar arches in the hand can be explained on the embryological basis. The purpose of this study was to provide new information about palmar arches through cadaver's dissection. The values of the location and diameter in these vessels were analyzed in order to support anatomical research and clinical correlation in the hand. Methods: The present report is based on an analysis of dissections of fifty - three hands carried out in the laboratory of gross anatomy. A reference line was established on the distal wrist crease to serve as the X coordinate and a perpendicular line drawn through the midpoint between middle and ring fingers, which served as the Y coordinate. The coordinates of the x and y values were measured by a digimatic caliper, and statistically analyzed with Student's t - test. Results: Complete superficial palmar archs were seen in 96.2 % of specimens. In the most common type of males, the superficial arch was formed only by the ulnar artery. In the most common type of females, the superficial arch was formed anastomosis between the radial artery and the ulnar artery. The average length of the superficial and deep palmar arch is $110.3{\pm}33.0mm$ and $67.9{\pm}14.0mm$ respectively. Regarding the superficial palmar arch, ulnar artery starts $-16.1{\pm}5.1mm$ on X - line, and $2.5{\pm}24.5mm$ on Y - line. Radial artery appears on palmar side $7.7{\pm}3.2mm$ on X - line, and $20.9{\pm}10.9mm$ on Y - line. But radial artery starts on $6.3{\pm}3.6mm$ on X - line, and $3.4{\pm}5.1mm$ on Y - line. Digital arteries of superficial palmar arch starts on $6.1{\pm}3.7mm$, $33.9{\pm}8.8mm$ on index finger, $1.8{\pm}3.4mm$, $40.1{\pm}7.3mm$ on middle finger, $-3.2{\pm}4.9mm$, $42.6{\pm}7.0mm$ on ring finger, and $-8.9{\pm}5.1mm$, $42.5{\pm}80mm$ on little finger in respective X and Y coordinates. Radial artery of deep palmar arches measured at the palmar side perforating from the dorsum of hand. It's coordinates were $9.7{\pm}4.8mm$ on X - line, $21.7{\pm}10.2mm$ on Y - line. Ulnar artery was measured at hypothenar area, and it's coordinates were $-20.4{\pm}6.3mm$ on X - line, and $30.6{\pm}7.4mm$ on Y - line. Conclusions: Anatomically superficial palmar arch can be divided into a complete and an incomplete type. Each of them can be subdivided into 4 types. The deep palmar arch is less variable than the superficial palmar arch. We believe these values of the study will be used for the vascular surgery of the hand using the endoscope and robot in the future.
Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
/
v.38
no.3
/
pp.175-185
/
2020
Three-dimensional registration is a process of matching data with or without a coordinate system to a reference coordinate system, which is used in various fields such as the absolute orientation of photogrammetry and data combining for producing precise road maps. Three-dimensional registration is divided into a method using points and a method using linear features. In the case of using points, it is difficult to find the same conjugate point when having different spatial resolutions. On the other hand, the use of linear feature has the advantage that the three-dimensional registration is possible by using not only the case where the spatial resolution is different but also the conjugate linear feature that is not the same starting point and ending point in point cloud type data. In this study, we proposed a method to determine the scale and the three-dimensional translation after determining the three-dimensional rotation angle between two data using quaternion to perform three-dimensional registration using linear features. For the verification of the proposed method, three-dimensional registration was performed using the linear features constructed an indoor and the linear features acquired through the terrestrial mobile mapping system in an outdoor environment. The experimental results showed that the mean square root error was 0.001054m and 0.000936m, respectively, when the scale was fixed and if not fixed, using indoor data. The results of the three-dimensional transformation in the 500m section using outdoor data showed that the mean square root error was 0.09412m when the six linear features were used, and the accuracy for producing precision maps was satisfied. In addition, in the experiment where the number of linear features was changed, it was found that nine linear features were sufficient for high-precision 3D transformation through almost no change in the root mean square error even when nine linear features or more linear features were used.
본 웹사이트에 게시된 이메일 주소가 전자우편 수집 프로그램이나
그 밖의 기술적 장치를 이용하여 무단으로 수집되는 것을 거부하며,
이를 위반시 정보통신망법에 의해 형사 처벌됨을 유념하시기 바랍니다.
[게시일 2004년 10월 1일]
이용약관
제 1 장 총칙
제 1 조 (목적)
이 이용약관은 KoreaScience 홈페이지(이하 “당 사이트”)에서 제공하는 인터넷 서비스(이하 '서비스')의 가입조건 및 이용에 관한 제반 사항과 기타 필요한 사항을 구체적으로 규정함을 목적으로 합니다.
제 2 조 (용어의 정의)
① "이용자"라 함은 당 사이트에 접속하여 이 약관에 따라 당 사이트가 제공하는 서비스를 받는 회원 및 비회원을
말합니다.
② "회원"이라 함은 서비스를 이용하기 위하여 당 사이트에 개인정보를 제공하여 아이디(ID)와 비밀번호를 부여
받은 자를 말합니다.
③ "회원 아이디(ID)"라 함은 회원의 식별 및 서비스 이용을 위하여 자신이 선정한 문자 및 숫자의 조합을
말합니다.
④ "비밀번호(패스워드)"라 함은 회원이 자신의 비밀보호를 위하여 선정한 문자 및 숫자의 조합을 말합니다.
제 3 조 (이용약관의 효력 및 변경)
① 이 약관은 당 사이트에 게시하거나 기타의 방법으로 회원에게 공지함으로써 효력이 발생합니다.
② 당 사이트는 이 약관을 개정할 경우에 적용일자 및 개정사유를 명시하여 현행 약관과 함께 당 사이트의
초기화면에 그 적용일자 7일 이전부터 적용일자 전일까지 공지합니다. 다만, 회원에게 불리하게 약관내용을
변경하는 경우에는 최소한 30일 이상의 사전 유예기간을 두고 공지합니다. 이 경우 당 사이트는 개정 전
내용과 개정 후 내용을 명확하게 비교하여 이용자가 알기 쉽도록 표시합니다.
제 4 조(약관 외 준칙)
① 이 약관은 당 사이트가 제공하는 서비스에 관한 이용안내와 함께 적용됩니다.
② 이 약관에 명시되지 아니한 사항은 관계법령의 규정이 적용됩니다.
제 2 장 이용계약의 체결
제 5 조 (이용계약의 성립 등)
① 이용계약은 이용고객이 당 사이트가 정한 약관에 「동의합니다」를 선택하고, 당 사이트가 정한
온라인신청양식을 작성하여 서비스 이용을 신청한 후, 당 사이트가 이를 승낙함으로써 성립합니다.
② 제1항의 승낙은 당 사이트가 제공하는 과학기술정보검색, 맞춤정보, 서지정보 등 다른 서비스의 이용승낙을
포함합니다.
제 6 조 (회원가입)
서비스를 이용하고자 하는 고객은 당 사이트에서 정한 회원가입양식에 개인정보를 기재하여 가입을 하여야 합니다.
제 7 조 (개인정보의 보호 및 사용)
당 사이트는 관계법령이 정하는 바에 따라 회원 등록정보를 포함한 회원의 개인정보를 보호하기 위해 노력합니다. 회원 개인정보의 보호 및 사용에 대해서는 관련법령 및 당 사이트의 개인정보 보호정책이 적용됩니다.
제 8 조 (이용 신청의 승낙과 제한)
① 당 사이트는 제6조의 규정에 의한 이용신청고객에 대하여 서비스 이용을 승낙합니다.
② 당 사이트는 아래사항에 해당하는 경우에 대해서 승낙하지 아니 합니다.
- 이용계약 신청서의 내용을 허위로 기재한 경우
- 기타 규정한 제반사항을 위반하며 신청하는 경우
제 9 조 (회원 ID 부여 및 변경 등)
① 당 사이트는 이용고객에 대하여 약관에 정하는 바에 따라 자신이 선정한 회원 ID를 부여합니다.
② 회원 ID는 원칙적으로 변경이 불가하며 부득이한 사유로 인하여 변경 하고자 하는 경우에는 해당 ID를
해지하고 재가입해야 합니다.
③ 기타 회원 개인정보 관리 및 변경 등에 관한 사항은 서비스별 안내에 정하는 바에 의합니다.
제 3 장 계약 당사자의 의무
제 10 조 (KISTI의 의무)
① 당 사이트는 이용고객이 희망한 서비스 제공 개시일에 특별한 사정이 없는 한 서비스를 이용할 수 있도록
하여야 합니다.
② 당 사이트는 개인정보 보호를 위해 보안시스템을 구축하며 개인정보 보호정책을 공시하고 준수합니다.
③ 당 사이트는 회원으로부터 제기되는 의견이나 불만이 정당하다고 객관적으로 인정될 경우에는 적절한 절차를
거쳐 즉시 처리하여야 합니다. 다만, 즉시 처리가 곤란한 경우는 회원에게 그 사유와 처리일정을 통보하여야
합니다.
제 11 조 (회원의 의무)
① 이용자는 회원가입 신청 또는 회원정보 변경 시 실명으로 모든 사항을 사실에 근거하여 작성하여야 하며,
허위 또는 타인의 정보를 등록할 경우 일체의 권리를 주장할 수 없습니다.
② 당 사이트가 관계법령 및 개인정보 보호정책에 의거하여 그 책임을 지는 경우를 제외하고 회원에게 부여된
ID의 비밀번호 관리소홀, 부정사용에 의하여 발생하는 모든 결과에 대한 책임은 회원에게 있습니다.
③ 회원은 당 사이트 및 제 3자의 지적 재산권을 침해해서는 안 됩니다.
제 4 장 서비스의 이용
제 12 조 (서비스 이용 시간)
① 서비스 이용은 당 사이트의 업무상 또는 기술상 특별한 지장이 없는 한 연중무휴, 1일 24시간 운영을
원칙으로 합니다. 단, 당 사이트는 시스템 정기점검, 증설 및 교체를 위해 당 사이트가 정한 날이나 시간에
서비스를 일시 중단할 수 있으며, 예정되어 있는 작업으로 인한 서비스 일시중단은 당 사이트 홈페이지를
통해 사전에 공지합니다.
② 당 사이트는 서비스를 특정범위로 분할하여 각 범위별로 이용가능시간을 별도로 지정할 수 있습니다. 다만
이 경우 그 내용을 공지합니다.
제 13 조 (홈페이지 저작권)
① NDSL에서 제공하는 모든 저작물의 저작권은 원저작자에게 있으며, KISTI는 복제/배포/전송권을 확보하고
있습니다.
② NDSL에서 제공하는 콘텐츠를 상업적 및 기타 영리목적으로 복제/배포/전송할 경우 사전에 KISTI의 허락을
받아야 합니다.
③ NDSL에서 제공하는 콘텐츠를 보도, 비평, 교육, 연구 등을 위하여 정당한 범위 안에서 공정한 관행에
합치되게 인용할 수 있습니다.
④ NDSL에서 제공하는 콘텐츠를 무단 복제, 전송, 배포 기타 저작권법에 위반되는 방법으로 이용할 경우
저작권법 제136조에 따라 5년 이하의 징역 또는 5천만 원 이하의 벌금에 처해질 수 있습니다.
제 14 조 (유료서비스)
① 당 사이트 및 협력기관이 정한 유료서비스(원문복사 등)는 별도로 정해진 바에 따르며, 변경사항은 시행 전에
당 사이트 홈페이지를 통하여 회원에게 공지합니다.
② 유료서비스를 이용하려는 회원은 정해진 요금체계에 따라 요금을 납부해야 합니다.
제 5 장 계약 해지 및 이용 제한
제 15 조 (계약 해지)
회원이 이용계약을 해지하고자 하는 때에는 [가입해지] 메뉴를 이용해 직접 해지해야 합니다.
제 16 조 (서비스 이용제한)
① 당 사이트는 회원이 서비스 이용내용에 있어서 본 약관 제 11조 내용을 위반하거나, 다음 각 호에 해당하는
경우 서비스 이용을 제한할 수 있습니다.
- 2년 이상 서비스를 이용한 적이 없는 경우
- 기타 정상적인 서비스 운영에 방해가 될 경우
② 상기 이용제한 규정에 따라 서비스를 이용하는 회원에게 서비스 이용에 대하여 별도 공지 없이 서비스 이용의
일시정지, 이용계약 해지 할 수 있습니다.
제 17 조 (전자우편주소 수집 금지)
회원은 전자우편주소 추출기 등을 이용하여 전자우편주소를 수집 또는 제3자에게 제공할 수 없습니다.
제 6 장 손해배상 및 기타사항
제 18 조 (손해배상)
당 사이트는 무료로 제공되는 서비스와 관련하여 회원에게 어떠한 손해가 발생하더라도 당 사이트가 고의 또는 과실로 인한 손해발생을 제외하고는 이에 대하여 책임을 부담하지 아니합니다.
제 19 조 (관할 법원)
서비스 이용으로 발생한 분쟁에 대해 소송이 제기되는 경우 민사 소송법상의 관할 법원에 제기합니다.
[부 칙]
1. (시행일) 이 약관은 2016년 9월 5일부터 적용되며, 종전 약관은 본 약관으로 대체되며, 개정된 약관의 적용일 이전 가입자도 개정된 약관의 적용을 받습니다.