• KSCE Journal of Civil and Environmental Engineering Research
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• v.12 no.4
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• pp.157-165
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• 1992

IMS, a precision coordinate measuring system using theodolites, is being used to survey and align precision mechanical structures. Compared to conventional mechanical devices for precision measurement, such as CMM (Coordinate Measuring Machine), the target objects of IMS have little limitations in their sizes and shapes, and can be measured in place. Also since IMS displays the coordinate values in real-time, it is possible to perform measurement and alignment of the objects simultaneously. In this paper, the elements and functions of IMS are introduced and a mathematical model of the new software, which utilizes an altered version of the 'Bundle' adjustment algorithm of analytical photogrammetry for the specific use of IMS, is demonstrated. Differences of the mathematical model of IMS from that of analytical photogrammetry are discussed by following the steps of the 'Measurement' option in the 'Main Menu' of the software. A new IMS calibration method is proposed to calculate better first approximations for the 4 unknown theodolite parameters and the coordinates of target objects. The software provides the 'Bundle' procedure for the first approximations of the unknowns before the real-time measurement. It also provides an opportunity of 'bundling' to re-adjust the collected positional data at the end of the measurement.

• Industrial Engineering and Management Systems
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• v.8 no.3
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• pp.181-193
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• 2009

This paper presents a framework for controlling mobile multiple robots connected by communication networks. This framework provides novel methods to control coordinated systems using mobile agents. The combination of the mobile agent and mobile multiple robots opens a new horizon of efficient use of mobile robot resources. Instead of physical movement of multiple robots, mobile software agents can migrate from one robot to another so that they can minimize energy consumption in aggregation. The imaginary application is making "carts," such as found in large airports, intelligent. Travelers pick up carts at designated points but leave them arbitrary places. It is a considerable task to re-collect them. It is, therefore, desirable that intelligent carts (intelligent robots) draw themselves together automatically. Simple implementation may be making each cart has a designated assembly point, and when they are free, automatically return to those points. It is easy to implement, but some carts have to travel very long way back to their own assembly point, even though it is located close to some other assembly points. It consumes too much unnecessary energy so that the carts have to have expensive batteries. In order to ameliorate the situation, we employ mobile software agents to locate robots scattered in a field, e.g. an airport, and make them autonomously determine their moving behaviors by using a clustering algorithm based on the Ant Colony Optimization (ACO). ACO is the swarm intelligence-based methods, and a multi-agent system that exploit artificial stigmergy for the solution of combinatorial optimization problems. Preliminary experiments have provided a favorable result. In this paper, we focus on the implementation of the controlling mechanism of the multi-robots using the mobile agents.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.10
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• pp.1999-2007
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• 2017

In this paper, we implement a multi-band network selection (MNS) system based on Linux operating system which determines the optimal communication link for given network conditions among the available LTE, very high frequency (VHF), and high frequency (HF). The implemented software consists of a network interface, an MNS server, and a user GUI. We perform indoor test to verify the function of the implemented MNS system using two sets of MNS system. To this end, two types of VHF communication links that follow ITU-R M.1842-1 Annex 1 and Annex 4 are emulated in software. In addition, the HF transmission (reception) port of one MNS is directly connected to the HF reception (transmission) port of another MNS. We demonstrate through indoor tests that the implemented MNS system can support seamless maritime communication service in spite of artificial disconnection or re-connection of LTE, VHFs, and HF. The implemented MNS system is applicable to various maritime communication services including e-navigation.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.04a
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• pp.111-114
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• 2004

Management of human knowledge is an interesting concept that has attracted the attention of philosophers for thousands of years. Artificial intelligence and knowledge engineering has provided some degree of rigor to the study of knowledge systems and expert systems(ES) re able to use knowledge to solve the problems and answer questions. Therefore, the process of conceptualization and inference of knowledge are fundamental problem solving activities and hence, are essential activities for solving the problem of software ES construction Especially, the access to relevant, up-to-date and reliable knowledge is very important task in the daily work of physicians and nurses. In this study, we propose the conceptualization and inference mechanism for implicit knowledge management in medical diagnosis area. To this purpose, we combined the dynamic knowledge map(KM) and relational database(RDB) into a dynamic knowledge map(DKM). A graphical user-interface of DKM allows the conceptualization of the implicit knowledge of medical experts. After the conceptualization of implicit knowledge, we developed an RDB-based inference mechanism and prototype software ES to access and retrieve the implicit knowledge stored in RDB. Our proposed system allows the fast comfortable access to relevant knowledge fitting to the demands of the current task.

• Proceedings of the Korea Water Resources Association Conference
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• 2021.06a
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• pp.60-60
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• 2021

Investigating Backward-Facing Step(BFS) flow is important in that it is a representative case for separation flows in various engineering flow systems. There have been a wide range of experimental, theoretical, and numerical studies to investigate the flow characteristics over BFS, such as flow separation, reattachment length and recirculation zone. However, most of such previous studies were concentrated only on the perpendicular step angle. In this study, several numerical investigations on the flow pattern over BFS with various step angles (10° ~ 90°) and expansion ratios (1.48, 2 and 3.27) under different Reynolds numbers (5000 ~ 64000) were carried out, mainly focused on the reattachment length. The numerical simulations were performed using an open source 3D CFD software, OpenFOAM, in which the velocity profiles and turbulence intensities are calculated by RANS (Reynolds Averaged Navier-Stokes equation) and 3D LES (Large Eddy Simulation) turbulence models. Overall, it shows a good agreement between simulations and the experimental data by Ruck and Makiola (1993). In comparison with the results obtained from RANS and 3D LES, it was shown that 3D LES model can capture much better and more details on the velocity profiles, turbulence intensities, and reattachment length behind the step for relatively low Reynolds number(Re < 11000) cases. However, the simulation results by both of RANS and 3D LES showed very good agreement with the experimental data for the high Reynolds number cases(Re > 11000). For Re > 11000, the reattachment length is no longer dependent on the Reynolds number, and it tends to be nearly constant for the step angles larger than 30°.) Based on the calibrated and validated numerical simulations, several additional numerical simulations were also conducted with higher Reynolds number and another expansion ratio which were not considered in the experiments by Ruck and Makiola (1993).

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.3
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• pp.356-363
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• 2014

This paper covers improvement of the humanoid robot platform HUBO2, known as the HUBO2+. As a necessity of the growth of the humanoid platform, a robust, reliable and user friendly platform is needed. From this standpoint, HUBO2+ is the most improved humanoid robot platform in the HUBO series. The mechanical design has been changed to increase the movable range and to stop joint compulsion. Additionally, all of the electrical parts are re-designed to be un-breakable in an unexpected situation. A smart power controller with robot status check panel is attached on the back. Additionally, a diagnosis tool, the HUBO-i, has been developed. Moreover, each joint motor controller of HUBO2+ has a Protection Function and a PODO system is provided for handling the robot easily.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.30 no.1
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• pp.71-76
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• 2017

In BIM design, the construction and use of a library are very important. Since the existing contents can be re-used, the design can be executed more effectively and efficiently. Unlike the construction, the civil engineering, in particular, the railroad sees an inappropriate development and standardization of libraries. Thus, this study aims to develop and standardize the 3D object library in the railroad facility. We first gather and analyze the railroad facility breakdown structure and relevant drawings. We then match the items of analyzed standard drawings and the breakdown structure items. It was reviewed whether the library was required according to all items, and if required, it was reviewed what software was proper. Available software were found to be Civil 3D, Revit, etc. Based on this analysis, we will design the attribute items and specifications of the 3D railroad infrastructure library, as well as construct the library thereof.

• Ocean Systems Engineering
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• v.7 no.2
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• pp.143-155
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• 2017

For complex flexible structures such as nets, the determination of drag forces and its deformation is a challenging task. The accurate prediction of loads on cages is one of the key steps in designing fish farm facilities. The basic physics with a simple cage, can be addressed by the use of experimental studies. However, to design more complex cage system for various environmental conditions, a reliable numerical simulation tool is essential. In this work, the current load on a cage is calculated using a Morison-force model applied at instantaneous positions of equivalent-net modeling. Variations of solidity ratio ($S_n$) of the net and current speed are considered. An equivalent array of cylinders is built to represent the physical netting. Based on the systematic comparisons between the published experimental data for Raschel nets and the current numerical simulations, carried out using the commercial software OrcaFlex, a new formulation for $C_d$ values, used in the equivalent-net model, is presented. The similar approach can also be applied to other netting materials following the same procedure. In case of high solidity ratio and current speed, the hybrid model defines $C_d$ as a function of Re (Reynolds number) and $S_n$ to better represent the corresponding weak diffraction effects. Otherwise, the conventional $C_d$ values depending only on Re can be used with including shielding effects for downstream elements. This new methodology significantly improves the agreement between numerical and experimental data.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.15-19
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• 2001

A dedicated reverse engineering(RE) system for rapid manufacturing of human head in a 3D bust has been developed. The first step in the process is to capture the surface details of a human head and shoulder by three scanners based upon the digital moire fringe technique. Then the multiple scans captured from different angles are aligned and merged into a single polygonal mesh, and the aligned data set is refined by smoothing, subdividing or hole filling process. Finally, the refined data set is sent to a 4-axis computer numerically control(NC) machine to manufacture a replica. In this paper, we mainly describe on the algorithms and software for aligning multiple data sets. The method is based on the recently popular Iterative Closest Point(ICP) algorithm that aligns different polygonal meshes into one common coordinate system. The ICP algorithm finds the nearest positions on one scan to a collection of points on the other scan by minimizing the collective distance between different scans. We also integrate some heuristics into the ICP to enhance the aligning process. A typical example is presented to validate the system and further research work is also discussed.

• International Journal of Internet, Broadcasting and Communication
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• v.12 no.1
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• pp.90-94
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• 2020

Artificial intelligence (AI) is software that learns large amounts of data and provides the desired results for certain patterns. In other words, learning a large amount of data is very important, and the role of memory in terms of computing systems is important. Massive data means wider bandwidth, and the design of the memory system that can provide it becomes even more important. Providing wide bandwidth in AI systems is also related to power consumption. AlphaGo, for example, consumes 170 kW of power using 1202 CPUs and 176 GPUs. Since more than 50% of the consumption of memory is usually used by system chips, a lot of investment is being made in memory technology for AI chips. MRAM, PRAM, ReRAM and Hybrid RAM are mainly studied. This study presents various memory technologies that are being studied in artificial intelligence chip design. Especially, MRAM and PRAM are commerciallized for the next generation memory. They have two significant advantages that are ultra low power consumption and nearly zero leakage power. This paper describes a comparative analysis of the four representative new memory technologies.