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Development of Software Architecture for Modular Personal Robot (모듈형 퍼스널 로봇의 소프트웨어 아키택처 개발)

  • Kim Hong-Seok;Yang Kwang-Woong;Choi Moo-Sung;Won Dae-Heui;Lee Ho-Gil
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.12
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    • pp.1264-1270
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    • 2004
  • In this paper, a standard robot design methodology is suggested and a software architecture for modular robot is introduced. The robot is modularized by several functions, and the module is produced according to a standard proposal. Each module requires standard interface for communicate in distributed environments. Software architecture was developed to support distributed component environment, and application development support tools are developed for user convenience. Many robot softwares are developed in a library form so that, they are being used widely robot application software development. Also a device driver was developed for the mostly used sensor and actuator. It is verified that the modular robot can be applied in various fields through guide, errand and guard scenario.

Implementation of PXIe platform based portable Automatic Test Equipment to improve reliability

  • Gwon, Hyeok-Jin
    • Journal of the Korea Society of Computer and Information
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    • v.22 no.7
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    • pp.9-16
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    • 2017
  • In this paper, we propose a development method of portable Automatic Test Equipment based on PXIe platform. Legacy VME form factor structured test equipment has limited reuse and expansion of modules due to unapplied bus specification. In particular, these limitations can cause development periods and costs to increase, and the reliability of environmental conditions is lacking due to non-standard modules. The test equipment of the proposed PXIe platform can use diverse COTS modules to shorten the development period and minimize the instability between developments. The PXIe development module works with standard Xilinx FPGAs, PXIe Windows device drivers, and applications on standard PXIe buses. The use of standard bus and COTS modules increases scalability and reusability, enabling rapid development and excellent maintenance. Through the test, we show the proposed test equipments can be implemented efficiently between the development processes and proved their reliability through function tests and environmental tests.

A Comparative Study of New HSK and Entry-Level of TOPIK Written in Sino-Korean in the same form and morpheme of vocabularies (신(新)HSK와 초급용(初級用) TOPIK 어휘 중의 중한(中韓) 동형(同形) 동소(同素) 한자(漢字) 어휘의 비교 연구)

  • Choe, Geum Dan
    • Cross-Cultural Studies
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    • v.30
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    • pp.187-222
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    • 2013
  • In this study, From 1,560 entry-level of TOPIK standard vocabularies are 702 Sino-Korean words selected which account for 45% of the whole vocabularies in TOPIK. In addition, the same form and morpheme words in Sino-Korean are sorted out by comparing them with 5,000 words of the NEW HSK vocabularies in Sino-Korean morpheme, array position of morpheme, meaning, and usage. Those are categorized into three parts : type of completely the same form-morpheme and same meaning, use, class(189 pairs), type of completely the same form-morpheme and partly same meaning, use, class(28 pairs), and type of completely the same form-morpheme and different meaning, use, class(10 pairs). The first type of words that account for 83.26% of them are used in exactly the same way in both Chinese and Korean. Through an accurate understanding of these vocabularies could either Chinese-speaking Korean learners or Korean-speaking Chinese learners apply those words in their mother tongue to the acquisition of the target language and get more effective means of learning methods for language proficiency test.

New Interpretation and their Relations on Form, Function and Style (형태, 기능, 양식에 관한 새로운 해석과 그 관계)

  • Lee, Jae-Guke;Kim, Dong-Ha
    • The Journal of the Korea Contents Association
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    • v.11 no.1
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    • pp.202-215
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    • 2011
  • The wide range of understanding on form, function and style are very important in design practice. Because any design can't be existed without form and function and, also, every design can be embodied by the style. From this point of view, the new interpretation and their relations on form, function and style are studied in this paper. First of all, 1-In Introduction, a few issues are suggested to the purpose and requirement with explaining the background of the paper. 2-Design Form; original form, hand-made form, standard form and expressive form are researched. 3-Design Function; original function. traditional function, absolute function and relative function are studied. 4-Design Style; survival style, folk style, simple style and fusion style are searched. Finally, 5-In Conclusion, the approach method is expressed on form, function and style, and their relations are discussed.

A Study on the Illumination of Household and Research on the Actual Conditions of Wearing Spectacles in Dwellers (주택의 조명과 거주자의 면경착용 실태조사연구)

  • 석호작;남철현
    • Journal of Environmental Health Sciences
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    • v.17 no.2
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    • pp.54-66
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    • 1991
  • As a result of measuring illumination and making up a question at home visit directly by investigator who trained over twenty days period from October 4 to 24, 1990, in order to render help which illumination problem against house, society against eyes or framing of health instruction potgram by seizing natural lighting actual conditions of house and actual conditions of wearing spectacles and by investigating interrelationship, I can summarize as follows. 1) In property of investigation subject, woman 66.9%, In an age, the twenties was largest of 27.4%, the forties was 20.2%, the fifties was 18.6%, the thirties was 17.4%. In academic career, those of upper secondary school grauates was largest of 28.6%, those who possess university career was 25.9%, those who middle school career was 20.9%, decoding of Korean alphabet was 2%. 2) By a residence area, a big city was 43.3%, farming and fishing villages were 20.3%, the rest was a small town and the administrative office of town, township. In positon of house, the middle area was 43.6%, resident of suburb area was 38.0%. In form of house, a Korean-style house was 40.8%, a western-style house was 34.8%, an apartment house was 11.0%. In the a standard of living, the middle classes 77.2%, the lower classes were 15.3%. In residential house unit of area, from 21 to 30 unit of area was largest of 31.5%, from 10 to 20 unit of area was 19.9%, from 31 to 40 was 18.7%. 3) The wearing spectacles rate of study user was 44.1%. By the area, those who wearing spectacles was more than a half of 50.8% in the resident of big city area. As passing from the farm area to the city, that is being resident of big city was high wearing spectacles rate. In position of house, as being residence in central street showed high wearing spectacles rate. (central street was 51.5%, the middle area was 44.5% and the suburb area was 40.1%.) It seemed similarity difference a variable by position of house from wearing spectacles in standard of 1%. By form of house, wearing spectacles rate those who resident in apartment house was 49.5%, that rate those who resident in a western-style house was high of 49.0%, that rate those who resident in a Korean-style house was the lowest 39.0%. By social position of resident in room, in students case who study showed very high, as university students were very high of 62.3% idn wearing spectacles rate, middle and high school students 'were 50.0%, members of society were 47.6%, workers 20.3%. It seemed similarity difference from academic career in standard of 1%. By an age, the thirties was high of 54.1% in wearing spectacles rate, the twenties was 43.2%, the teenage was the lowest of 11.8%. 4) In illumination of study, over 200Lux was high of 40.1%. but below 99Lux which inappropriate illumination to see the books was 32.4%. Average by area, below 99Lux was 22.7% and over 400Lux was 50.0% in case of wooden floor. As examine by area, below 99Lux was high of 27.0% a case of wooden floor in the big city area, it was not good in illumination passing from the farm area(15.0%) to the city(19.0%). Average illlumination by area of the main living room below 99Lux was high of 37.5%, less than 200Lux was 58.5% of whole. In general, illumination of the main livingroom was inappropriate. By area, the big city was 32.5% below 99Lux, the middle and small city area were 33.8%, town and township area were 45.0%, farming and fishing area were 42.8%. By area, in the big city, illumination of study was 52.5% over 200Lux and 28.9% below 99Lux. In case of the middle and small city, study user of below 99Lux was 38.8% and over 200Lux was 46.9%. In case of the seat of town township, below 99Lux was 34.1% and over 200Lux was 39.7%. In case of farming and fishing area, illumination of study was 33.4% below 99Lux and 48.4% over 200Lux. It tends to high rate of inappropriate illumination. 5) By position of house, in case of wooden floor, less than 100Lux was 24.5% in central street. It was bad illumination than others position of house. In case of the main livingroom, less than 100Lux was 40.4% in the suburb area. It was bad iliumnation than others position of house. In case of study, less than 100Lux was 35.4% in the middle area, it was worse in illumination. In case of the main living room, is seemed similarity difference in standard of 1%. 6) By form of house, in case of wooden floor, illumination of less than 100Lux was 23.8% in a western-style house, it was bad illumination than others form of house. In case of the main livingroom, illumination of less than 100Lux was 47.4% in a Korean-style house, it was remarkably bad illumination than others form of house. In case of study, a Korean-style house was 38.8%, it was very bad illumination than others form of house. In case of the main livingroom and study, it seemed similatrity difference each as P < 0.01 and P < 0.05 in standard of 1%. 7) The wearing spectacles rate of those who use room of illumination over 400Lux was 40.7%, and that of those who use room of illumination less than 100Lux was 28.1%. It seemed similarity differecce in standard of 1%. 8) In period of wearing spectacles, 21.3% of total investigator-highest-was from before five years, 8.6% was from before three years. Among those who use of illumintion less than 99Lux, 34.0% began to wear spectacles from before two years 31.7% was from before five years, 30.3% was from before four years. It seemed similarity difference from period of wearing spectacles by illumination in standard of 1 %. 9) Among cause which sight grow worse, the first was that it was each 33.2% and 27.4% in response rate because watch TV nearly to wearing spectacles person and non-wearing person. The second was that a lot of seeing books was 25.3% in wearing spectacles person and response rate for dark illumination was 7.4% in nonwearing spectacles person. It seemed similarity difference in standard of 1%. (P < 0.01). 10) In experience which take medicine good for eyes, it was 50.1% in wearing spectacles person and 8.5% in non-wearing spectacles person. It seemed similarity difference in standard of 1%(P < 0.01). As we have seen above, inappropriate illumination can be a cause of wearing spectacles. Nevertheless, actually, is realities to indifferent against illumination of house. So it must learn knowledge about health obstacle of illumination through society instruction and school eduction against students as well as general residents. In case that natural lighting is inappropriate structural of house, we must be able to maintain appropriate illumination through artificial illumination. And so eyes which is core of human life have to be protected, related the authorities, related group, and all health medical personnel will organically cooperate with and make efforts.

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Identification of 11 species of Paemo through each original plant and medicines (11종 패모(貝母)의 기원별 자연·약재상태 감별)

  • Lee, Seungho;Ju, Youngsung
    • The Korea Journal of Herbology
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    • v.29 no.6
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    • pp.133-140
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    • 2014
  • Objectives : Paemo is a phlegm-resolving drug with cold properties and classified 5 kinds which come from 11 species of original plant. All the more, according to literature record, 20 species of original plant were used. As a natural result, these are easily to confuse and there are a lot of counterfeit product. So we are to present a differential standard of Paemo. Methods : It was planed a differential standard form through outer appearance of the original plant and outer appearance in the form of each medicines which was collected local market or field for 11 species which is listed in Korea or China pharmacopeia. Results : It was possible to distinguish the orignal plant between Fritillaria and Bolbostemma through its stem shape. In Fritillaria of original plant, it was possible to distinguish through its width of leaf, number of leafy bracts, color and position of flower and shape of leaf apex. In outer appearance in the form of each medicines, there are difference in color and texture of medicine between Fritillaria and Bolbostemma and there are difference in size, shape, size of inner and outter fleshy leaf of bulb, pattern of surface and apex of fleshy leaf of bulb among 10 Fritillaria species. Conclusions : This study presents various differences in the outer appearance of the original plant and the outer appearance in the form of each medicines among Paemo. It will be helpful to further applied research.

A Study on the Description of Archives Name by Controlled Access Point in Ontology (기록물 생산기관명 접근점 제어 온톨로지 기술에 관한 연구)

  • Kang, Hyen Min
    • Journal of the Korean Society for information Management
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    • v.35 no.3
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    • pp.147-164
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    • 2018
  • This study defined the name of records producing institution as the unique preferred form of access point which has same identification and same entity by using Standard Administration Code, and also described the name of records producing institution which has various name form as formal-name form of access point, which has same identification and same entity. This study make us be able to identify and access to all of the records that institution, has same identification and same entity, has produced. And the mechanic, I designed by ontology would make reinforce 'the principle of provenance' and 'respect for orignal order' and make user satisfy in useability of archives and expanded retrieval results.

Comparative Evaluation of Various Standard Methods in Leaching Test of Radioactive Waste Form (방사성고화체로부터의 $^{60}$ Co, $^{137}$ Cs 침출에 대한 표준시험법의 상호비교)

  • Kim, Ki-Hong;Ryu, Young-Gerl;Chung, Kyung-Ki;Hong, Kwon-Pyo;Lee, Nak-Hee;Jeong, Yi-Yeong;Koh, Duck-Joon;Kim, Heon
    • Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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    • v.1 no.1
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    • pp.93-103
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    • 2003
  • IAEA, FT-04-020, and ANS 16.1, standard leaching test methods, were evaluated comparatively with their test results. Leaching index of $^{60}$ Co and $^{137}$ Cs by ANS 16.1 method for waste forms of paraffin and cement were above 6.0. Their leaching behavior were depending on the type of matrix and leachant. Leachability of $^{60}$ Co for cement waste form was higher in simulated seawater than do-mineralized water, and was higher in de-mineralized water for paraffin waste form. leachability of $^{60}$ Co was contrary to $^{137}$ Cs. Cumulative fraction leached of $^{60}$ Co was higher in order or IAEA > ANS > FT in a cement waste form.

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The Use of Demand Controlled Ventilation in Multi-Purposed Facility (수요기반 환기량 조절법 (DCV)의 다중이용시설 적용방안)

  • Jeong, Jae-Weon;No, Sang-Tae
    • 한국태양에너지학회:학술대회논문집
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    • 2008.04a
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    • pp.111-116
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    • 2008
  • The objective of this paper was to show the possibility of demand-controlled ventilation (DCV) using the current Korean ventilation standard for multi-purposed facilites. Two attractive DCV approaches; $CO_2$-DCV and RFID-DCV were applied to DCV simulations for a theoretical public assembly space served by a dedicated outdoor air system (DOAS) with enthalpy recovery device. A numerical model for predicting realtime occupant number, ventilation rate, and $CO_2$ concentration under given conditions was developed using a commercial equation solver program. It was found that the current ventilation standard causes unstable ventilation system control in DCV applications, especially under $CO_2$-DCV. It is because the ventilation rate (per person) used in Korea is the sum of the outdoor air required to remove or dilute air contaminants generated by both occupant and building itself, and not a pure function of occupant numbers. Finally, it makes DCV control unstable when ventilation flow is regulated only by the number of occupants. In order for solving this problem, current Korean ventilation standard was modified as a form of ASHRAE Standard 62.1-2007 showing good applicability to various DCV approaches. It was found that this modification enhances applicability of the current ventilation standard to DCV significantly.

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Modeling of Various Tool Influence Functions in Computer Controlled Optical Surfacing (컴퓨터 제어를 통한 광학 가공에서의 다양한 툴 영향 함수의 모델링)

  • Kim, Gi-Chul;Ghim, Young-Sik;Rhee, Hyug-Gyo;Kim, Hak-Sung;Yang, Ho-Soon;Lee, Yun-Woo
    • Journal of the Korean Society for Precision Engineering
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    • v.33 no.3
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    • pp.167-172
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    • 2016
  • The computer controlled optical surfacing (CCOS) technique provides superior fabrication performance for optical mirrors when compared to the conventional method, which relies heavily on the skill of the optician. The CCOS technique provides improvements in terms of mass production, low cost, and short polishing time, and are achieved by estimating and controlling the moving speed of the tool and toolpath through a numerical analysis of the tool influence function (TIF). Hence, the exact estimation of various TIFs is critical for high convergence rates and high form accuracy in the CCOS process. In this paper, we suggest a new model for TIFs, which can be applied for various tool shapes, different velocity distributions, and non-uniform tool pressure distributions. Our proposed TIFs were also verified by comparisons with experimental results. We anticipate that these new TIFs will have a major role in improving the form accuracy and shortening the polishing time by increasing the accuracy of the material removal rate.