• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.438-446
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• 2022

In this paper, we propose an intelligent three-legged landing system that can maintain stability and level even on rough terrain than conventional four-legged landing systems. Conventional landing gear has the limitation that it requires flat terrain for landing. The 3-leg landing system proposed in this paper extends the usable range of the legs and reduces the weight, allowing the quadcopter to operate in various environments. To do this, kinematics determine the joint angles and coordinates of the legs of the two-link structure. Based on the angle value of the quadcopter detected via the IMU sensor, the leg control method that corrects the posture is determined. A force sensor attached to the end of the leg is used to detect contact with the ground. At the moment of contact with the ground, landing control starts according to the value of the IMU sensor. The proposed system verifies its reliability in various environments through an indoor landing test stand. Finally, in an outdoor environment, the quadcopter lands on a 20 degree incline and 20 cm rough terrain after flight. This demonstrates the stability and effectiveness of the 3-leg landing system even on rough terrain compared to the 4-leg landing system.

• Journal of Radiation Protection and Research
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• v.31 no.2
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• pp.69-89
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• 2006

Biological mechanisms for ionizing radiation effects are different at low doses than at high doses. Radiation hormesis involves low-dose-induced protection and high-dose-induced harm. The protective component is associated with a reduction in the incidence of cancer below the spontaneous frequency, brought about by activation of defensive and repair processes. The Linear No-Threshold (LNT) hypothesis advocated by the International Commission on Radiological Protection (ICRP) and the Biological Effects of ionizing Radiation (BEIR) Report VII for cancer risk estimations Ignores hormesis and the presence of a threshold. Cancer incidences significantly less than expected have been found in a large number of epidemiological studies including, airline flight personnel, inhabitants of high radiation backgrounds, shipyard workers, nuclear site workers in scores of locations throughout the world, nuclear power utility workers, plutonium workers, military nuclear test site Participants, Japanese A-bomb survivors, residents contaminated by major nuclear accidents, residents of Taiwan living in $^{60}Co$ contaminated buildings, fluoroscopy and mammography patients, radium dial painters, and those exposed to indoor radon. Significantly increased cancer was not found at doses <200 $mSv^*$. Evidence for radiation hormesis was seen in both sexes for acute or chronic exposures, low or high LET radiations, external whole- or partial body exposures, and for internal radionuclides. The ubiquitous nature of the Healthy Worker Effect (HWE)-like responses in cellular, animal and epidemiological studies negates the HWE as an explanation for radiation hormesis. The LNT hypothesis is wrong and does not represent the true nature of the dose-response relationship, since low doses or dose-rates commonly result in thresholds and reduce cancer incidences below the spontaneous rate. Radiation protection organizations should seriously consider the cost and health implications of radiation hormesis.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.5
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• pp.422-428
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• 2013

Recently, many unmanned aerial vehicle (UAV) studies have focused on small UAVs, because they are cost effective and suitable in dangerous indoor environments where human entry is limited. Map building through distance measurement is a key technology for the autonomous flight of small UAVs. In many researches for unmanned systems, distance could be measured by using laser range finders or stereo vision sensors. Even though a laser range finder provides accurate distance measurements, it has a disadvantage of high cost. Calculating the distance using a stereo vision sensor is straightforward. However, the sensor is large and heavy, which is not suitable for small UAVs with limited payload. This paper suggests a low-cost distance measurement system using a laser pointer and a monocular vision sensor. A method to measure distance using the suggested system is explained and some experiments on map building are conducted with these distance measurements. The experimental results are compared to the actual data and the reliability of the suggested system is verified.

• Korean journal of applied entomology
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• v.45 no.3 s.144
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• pp.309-316
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• 2006

Three sex pheromone components (cis-8-dodecenyl acetate (Z12Ac), trans-8-dodecenyl acetate (E12Ac), cis-8-dodecenol (Z12OH)) of the Oriental fruit moth, Grapholita molesta, were chemically synthesized. Especially to increase the composition of cis-stereoisomer, a triple bond intermediate was hydrogenated at $-20^{\circ}C$ with catalytic $Pd/BaSO_{4}$. The resulting product consisted of the acetates with a stereoisomer ratio in 92:8 (Z:E). The biological activity of the synthesized pheromone compounds was analyzed both in male responses and orientation disruption. The indoor pheromone effect was determined by male flight behavior showing wing movement in response to lure. Different mixtures of the synthetic pheromone components were prepared by mixing acetate and alcohol components in 100:0, 99:1, and 90:10 (g/g) and tested with a comparison of a standard commercial pheromone lure. The highest pheromone effect was observed in only acetate mixture (100:0) and the effect was reduced with the addition of the alcohol component. This indoor pheromone effect could be observed in field monitoring trial, in which 100:0 mixture showed the highest trap catches. Orientation disruption assay was conducted indoor by using a cage, in which the center had a commercial lure on sticky plate and the four candidates were placed at 6 cm away from the central lure on each of four directions. Test males were released to the arena during overnight (12 h) and then the caught males on the sticky plate were counted. The synthesized pheromone as well as the commercial pheromone showed 100% orientation disruption. However, the orientation disruption effect was reduced with decrease in the number of the surrounding disrupting pheromone baits. These results clearly suggest that the synthesized sex pheromone of G. molesta is biologically active and can be used for field mating disruption.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.9
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• pp.712-722
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• 2018

This paper conducts parametric studies on flapping wing design, one of the most important design parameters of insect-mimicking aerial vehicles. Experimental study on wing shape was done through comparison and analysis of thrust, pitching moment, power consumption, and thrust-to-power ratio. A two-axis balance and hall sensor measure force and moment, and flapping frequency, respectively. Wing configuration is biplane configuration which can develop clap and fling effect. A reference wing shape is a simplified dragonfly's wing and studies on aspect ratio and wing area were implemented. As a result, thrust, pitching moment, and power consumption tend to increase as aspect ratio and area increase. Also, it is found that the flapping mechanism was not normally operated when the main wing has an aspect ratio or area more than each certain value. Finally, the wing shape is determined by comparing thrust-to-power ratio of all wings satisfying the required minimum thrust. However, the stability is not secured due to moment generated by disaccord between thrust line and center of gravity. To cope with this, aerodynamic dampers are used at the top and bottom of the fuselage; then, indoor flight test was attempted for indirect performance verification of the parametric study of the main wing.