• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.05a
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• pp.579-584
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• 2008

A novel nondestructive testing (NDT) system, which is able to detect a crack with high speed and high spatial resolution, is urgently required for inspecting small cracks on express train wheels. This paper proposes an improved signal processing circuits, which uses the multiple amplifying circuits and the crack indicating pulse output system of the previous scan-type magnetic camera. Hall sensors are arrayed linearly, and the wheel is rotated with static speed in the vertical direction to sensor array direction. Each Hall voltages are amplified, converted and immediately operated by using, amplifying circuits, analog-to-digital converters and $\mu$-processor, respectively. The operated results, ${\partial}V_H/{\partial}t$, are compared with a standard value, which indicates a crack existence. If the ${\partial}V_H/{\partial}t$ is larger than standard value, the pulse signal is output, and indicates the existence of crack. The effectiveness of the novel method was verified by examine using cracks on the wheel specimen model.

• Journal of international Conference on Electrical Machines and Systems
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• v.3 no.2
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• pp.176-183
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• 2014

Three-phase four-wire distribution systems are used for both three-phase three-wire loads and single-phase two-wire consumer appliances in South Korea, Myanmar and other countries. Unbalanced load conditions frequently occur in these distribution systems. These unbalanced load conditions cause unbalanced voltages for three-phase and single-phase loads, and increase the loss in the distribution transformer. In this paper, we propose constant DC capacitor voltage control based strategy for the active load balancer (ALB) in the three-phase four-wire distribution systems. Constant DC capacitor voltage control is always used in active power line conditioners. The proposed control strategy does not require any computation blocks of the active and reactive currents on the distribution systems. Balanced source-side currents with a unity power factor are obtained without any calculation block of the unbalanced active and reactive components on the load side. The basic principle of the constant DC capacitor voltage control based strategy for the ALB is discussed in detail and then confirmed by both digital computer simulations using PSIM software and prototype experimental model. Simulation and experimental results demonstrate that the proposed control strategy for the ALB can balance the source currents with a unity power factor in the three-phase four-wire distribution systems.

• The Journal of Korean Association of Computer Education
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• v.17 no.2
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• pp.65-76
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• 2014

This paper aims at implementing experimental devices with which middle school students can explore scientific ideas using GoGo Board and NetLogo that connect real and simulated worlds. Related research literature was reviewed to design a simulation-based learning model using computer simulation and robot-related activities. In order to construct devices for exploratory experiments, GoGo Board was adopted for developing the interface of Micro-Based Laboratory(MBL) devices with several sensors while NetLogo was used for connecting MBL devices (real world) and simulated experiments (virtual world). The simulation contents were developed in the area of heat equilibrium for changing temperature and the conduct-current relationship appeared in the textbook of middle school science class. With the developed device and contents students can visualize the change of temperature cold and hot waters in terms of heat equilibrium. They also can measure the change of conductor representing the relationship between conductor and current. The formative evaluation of the contents carried out with several middle school students indicated the future direction for upgrading simulation contents and interface. The results might be beneficial for science educators who want to apply simulation contents with the use of computers.

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.9
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• pp.347-352
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• 2012

In this paper, an 2D spatial-map construction for workers identification and avoidance of AGV using the detection scheme of the spatial coordinates based on stereo camera is proposed. In the proposed system, face area of a moving person is detected from a left image among the stereo image pairs by using the YCbCr color model and its center coordinates are computed by using the centroid method and then using these data, the stereo camera embedded on the mobile robot can be controlled for tracking the moving target in real-time. Moreover, using the disparity map obtained from the left and right images captured by the tracking-controlled stereo camera system and the perspective transformation between a 3-D scene and an image plane, depth map can be detected. From some experiments on AGV driving with 240 frames of the stereo images, it is analyzed that error ratio between the calculated and measured values of the worker's width is found to be very low value of 2.19% and 1.52% on average.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.1
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• pp.131-147
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• 2020

RFID (Radio Frequency Identification) identifies a specific object by radio signals. As the tag provides a unique ID for the purpose of identification, RFID technology effectively solves the ambiguity and occlusion problem that challenges the laser or camera-based approach. This paper proposes an approach to track a moving object based on the integration of RFID and laser ranging information using a particle filter. To be precise, we split laser scan points into different clusters which contain the potential moving objects and calculate the radial velocity of each cluster. The velocity information is compared with the radial velocity estimated from RFID phase difference. In order to achieve the positioning of the moving object, we select a number of K best matching clusters to update the weights of the particle filter. To further improve the positioning accuracy, we incorporate RFID signal strength information into the particle filter using a pre-trained sensor model. The proposed approach is tested on a SCITOS service robot under different types of tags and various human velocities. The results show that fusion of signal strength and laser ranging information has significantly increased the positioning accuracy when compared to radial velocity matching-based or signal strength-based approaches. The proposed approach provides a solution for human machine interaction and object tracking, which has potential applications in many fields for example supermarkets, libraries, shopping malls, and exhibitions.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.2
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• pp.39-47
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• 2020

The fire protection system for high-rise buildings is currently confined to the preparation of sprinklers, emergency stairs, and exit and monitoring systems. On the other hand, an integrated system, including the model with scenario-based actions, is required for effective fire protection. An integrated fire protection system is needed to operate and manage the total cycle of the fire protection. In this study, an integrated fire protection system, which included sensing and consequent processes related to fire emergencies, was designed and implemented. The designed scheme can gather and analyze the data of the production, operation, and consumption patterns as it integrates fire protection systems for fire fighters and evacuating people. The integrated fire protection technology and system, which has target performance with satisfied 1/2 sec transaction response time and 1.2 transactions per second, is expected to contribute to market creation in converged technology-based fire protection fields.

• Proceedings of the Korean Information Science Society Conference
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• 2001.10b
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• pp.55-57
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• 2001

강화학습은 한 에이전트가 자신이 놓여진 환경으로부터의 보상을 최대화할 수 있는 최적의 행동 전략을 학습하는 것이다. 따라서 강화학습은 입력(상태)과 출력(행동)의 쌍으로 명확한 훈련 예들이 제공되는 교사 학습과는 다르다. 특히 Q-학습과 같은 비 모델 기반(model-free)의 강화학습은 사전에 환경에 대한 별다른 모델을 설정하거나 학습할 필요가 없으며 다양한 상태와 행동들을 충분히 자주 경험할 수만 있으면 최적의 행동전략에 도달할 수 있어 다양한 응용분야에 적용되고 있다. 하지만 실제 응용분야에서 Q-학습과 같은 강화학습이 겪는 최대의 문제는 큰 상태 공간을 갖는 문제의 경우에는 적절한 시간 내에 각 상태와 행동들에 대한 최적의 Q값에 수렴할 수 없어 효과를 거두기 어렵다는 점이다. 이런 문제점을 고려하여 본 논문에서는 로봇 축구 시뮬레이션 환경에서 각 선수 에이전트의 동적 위치 결정을 위해 효과적인 새로운 Q-학습 방법을 제안한다. 이 방법은 원래 문제의 상태공간을 몇 개의 작은 모듈들로 나누고 이들의 개별적인 Q-학습 결과를 단순히 결합하는 종래의 모듈화 Q-학습(Modular Q-Learning)을 개선하여, 보상에 끼친 각 모듈의 기여도에 따라 모듈들의 학습결과를 적응적으로 결합하는 방법이다. 이와 같은 적응적 중재에 기초한 모듈화 Q-학습법(Adaptive Mediation based Modular Q-Learning, AMMQL)은 종래의 모듈화 Q-학습법의 장점과 마찬가지로 큰 상태공간의 문제를 해결할 수 있을 뿐 아니라 보다 동적인 환경변화에 유연하게 적응하여 새로운 행동 전략을 학습할 수 있다는 장점을 추가로 가질 수 있다. 이러한 특성을 지닌 AMMQL 학습법은 로봇축구와 같이 끊임없이 실시간적으로 변화가 일어나는 다중 에이전트 환경에서 특히 높은 효과를 볼 수 있다. 본 논문에서는 AMMQL 학습방법의 개념을 소개하고, 로봇축구 에이전트의 동적 위치 결정을 위한 학습에 어떻게 이 학습방법을 적용할 수 있는지 세부 설계를 제시한다.

• Journal of Microbiology and Biotechnology
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• v.17 no.11
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• pp.1868-1874
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• 2007

We have developed a robotic system for an automated parallel cell cultivation process that enables screening of induction parameters for the soluble expression of recombinant protein. The system is designed for parallelized and simultaneous cultivation of up to 24 different types of cells or a single type of cell at 24 different conditions. Twenty-four culture vessels of about 200 ml are arranged in four columns${\times}$six rows. The system is equipped with four independent thermostated waterbaths, each of which accommodates six culture vessels. A two-channel liquid handler is attached in order to distribute medium from the reservoir to the culture vessels, to transfer seed or other reagents, and to take an aliquot from the growing cells. Cells in each vessel are agitated and aerated by sparging filtered air. We tested the system by growing Escherichia coli BL21(DE3) cells harboring a plasmid for a model protein, and used it in optimizing protein expression conditions by varying the induction temperature and the inducer concentration. The results revealed the usefulness of our custom-made cell cultivation robot in screening optimal conditions for the expression of soluble proteins.

• The Transactions of the Korean Institute of Power Electronics
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• v.9 no.6
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• pp.612-619
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• 2004

Servo motor systems with ball-screw and timing-belt are widely used in NC, robot, FA and industrial applications. However, the nonlinear friction torque and damping effect in machine elements reduce the control performance. Especially tracking errors in trajectory control and very low velocity control range are serious due to the break-away friction and Stribeck effects. In this paper, a new double speed controller is proposed for compensation of the nonlinear friction torque. The proposed double speed controller has outer speed controller and inner friction torque compensator. The proposed friction torque compensator compensates the nonlinear friction torque with actual speed and speed error information. Due to the actual information for friction torque compensator without parameters and mathematical model of motor, proposed compensator is very simple structure and the stability is very high. The proposed compensator is verified by simulation and experimental results.

• Korean Journal of Construction Engineering and Management
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• v.10 no.1
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• pp.136-145
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• 2009

The objective of the Intelligent Excavation System (IES) is to recognize the work environment and produce work plan and automatically control the excavator through integrating sensor and robot technologies. This paper discusses one of the core technologies of IES development project, development of 3D work environment modeling. 3D laser scanner is used for 3-dimensional mathematical model that can be visualized in virtual space in 3D. This paper describes (1) how the most appropriate 3D imaging system has been chosen; (2) the development of user interface and customization of the s/w to control the scanner for IES project; (3) the development of the mobile station for the scanner; (4) and the algorithm for the automatic registration of laser scan segments for IES project. The development system has been tested on the construction field and lessons learned and future development requirements are suggested.