• Journal of the Korean Society for Precision Engineering
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• v.6 no.3
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• pp.32-45
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• 1989

The positioning accuracy of robots depends upon a forward kinematics which relates the joint variables to the orientation and position of the robot extremity in the absolute coordinate system. The relationship between two connective joint coordi- nates of a robot, which is the basis of the kinematics, is defined by 4 Denavit-Hartenberg parameters. But manufacturing errors in machining and assembly process of robots lead to disctrepancies between the design parameters and the physical structure. Thus, improving the positioning accuracy of robots reguires the identification of the actual link parameters of each robot. In this study, the least-squares method is used to calibrate the link parameters and off-line parameter calibration software is developed. Computer simulation is done to study the dependence of the calibration performance upon the DOF of the robot and number of acquired data set used in the least-squares method. 3 DOF Robot/Controller and specially designed 3D coordinate measurer is made and experiment is carried out to verify the theoretical and computational analysis.

• Korean Journal of Applied Biomechanics
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• v.13 no.2
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• pp.29-47
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• 2003

This study is to analyze the kinematic variables in release motion of discuss throwing. For the matter, 5 people from the national team and collegiate discuss throwing in the year 2001 were chosen as the subjects and two S-VHS video cameras set in 60frames/sec were used for recording their motions. Coordinated raw positions data through digitizing are smoothing by butter-worth 's low-pass filtering method at a cut off frequency 6.0Hz. and the direct linear transformation(DLT) method was employed to obtain 3-D position coordinates. The conclusions were as follows; 1. The better record players showed the shorter approach time in the last support phase. 2. In the displacement CG, the better record players showed the shorter displacement in medial-lateral direction, and the longer displacement in horizontal direction. In the motion, the COG showed longer displacement vertical direction. 3. The better record players showed the faster horizontal velocity than vertical velocity in the release. 4. The better record players showed to take the posture of vertical axis in the release.

• Korean Journal of Remote Sensing
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• v.18 no.5
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• pp.273-280
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• 2002

This paper describes a mathematical model and its utilization algorithm for calculating the accurate target position on the ellipsoidal earth surface which corresponds to a range-azimuth coordinates of unprocessed synthetic aperture radar (SAR) images. A geometrical model which is a set of coordinate transformations is described. The side-looking directional angle (off-nadir angle) is determined in an iterative fashion by using the model and the accurate slant range which is calculated from the range sampling timing of the instrument. The algorithm can be applied not only for the geolocation of SAR images but also for the high quality SAR image generation by calculating accurate Doppler parameters.

• Journal of KIISE:Databases
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• v.35 no.3
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• pp.286-295
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• 2008

Multimedia consumer electronics(CE) devices, such as MP3 players, PMPs, and digital cameras, are electronic equipments used to record, play or create multimedia data. Most multimedia CE devices provide uses with the ability to search multimedia stored in the device and browse the search results. One of the unique requirements in multimedia CE devices is that the search results displayed in the screen must be restored quickly when the device powers off and later back on. For this purpose, the existing methods (1) re-execute the original search query, and (2) move the cursor to the original position in the search results. However, this approach may be inefficient when the number of records in the result set is large. In this paper, we propose an efficient method for multimedia CE devices that can quickly restore the search results displayed in the screen when the device powers off and later back on. The proposed method can retrieve the original search results in the screen quickly by saving and loading some information about the query evaluation plan. Though the performance evaluation, we show that the proposed method provides excellent performance regardless of the number of records in tile result set or the original cursor position.

• The Journal of Korean Society for Radiation Therapy
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• v.29 no.2
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• pp.101-108
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• 2017

Purpose: The proton used in proton therapy has a characteristic of giving a small dose to the normal tissue in front of the tumor site while forming a Bragg peak at the cancer tissue site and giving up the maximum dose and disappearing immediately. It is very important to verify the proton arrival position. In this study, we used the off-line PET CT method to measure the distribution of positron emitted from nucleons such as 11C (half-life = 20 min), 150 (half-life = 2 min) and 13N The range and distal falloff point of the proton were verified by measurement. Materials and Methods: In the IEC 2001 Body Phantom, 37 mm, 28 mm, and 22 mm spheres were inserted. The phantom was filled with water to obtain a CT image for each sphere size. To verify the proton range and distal falloff points, As a treatment planning system, SOBP were set at 46 mm on 37 mm sphere, 37 mm on 28 mm, and 33 mm on 22 mm sphere for each sphere size. The proton was scanned in the same center with a single beam of Gantry 0 degree by the scanning method. The phantom was scanned using PET-CT equipment. In the PET-CT image acquisition method, 50 images were acquired per minute, four ROIs including the spheres in the phantom were set, and 10 images were reconstructed. The activity profile according to the depth was compared to the dose profile according to the sphere size established in the treatment plan Results: The PET-CT activity profile decreased rapidly at the distal falloff position in the 37 mm, 28 mm, and 22 mm spheres as well as the dose profile. However, in the SOBP section, which is a range for evaluating the range, the results in the proximal part of the activity profile are different from those of the dose profile, and the distal falloff position is compared with the proton therapy plan and PET-CT As a result, the maximum difference of 1.4 mm at the 50 % point of the Max dose, 1.1 mm at the 45 % point at the 28 mm sphere, and the difference at the 22 mm sphere at the maximum point of 1.2 mm were all less than 1.5 mm in the 37 mm sphere. Conclusion: To maximize the advantages of proton therapy, it is very important to verify the range of the proton beam. In this study, the proton range was confirmed by the SOBP and the distal falloff position of the proton beam using PET-CT. As a result, the difference of the distally falloff position between the activity distribution measured by PET-CT and the proton therapy plan was 1.4 mm, respectively. This may be used as a reference for the dose margin applied in the proton therapy plan.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.1
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• pp.58-63
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• 2014

Most of light duty AGVs(AGCs) using tape of magnetic for the guide path have digital guidance magnetic sensor. Digital guidance magnetic sensor using magnet-tape is on/off type and has positioning error of magnet-tape as 10~50 mm. AGC using this sensor doesn't induce accurate position of magnet-line which is magnet-tape because of magnetic field which motor in AGC creates, outer magnetic field, earth's magnetic field, etc. AGC when driving wobbles due to this error and this error can cause path deviation. In this paper, we propose fuzzy inference system for improvement of bipolar analog magnetic guidance sensor performance. Fuzzy is suitable in term of fault tolerance, uncertainty tolerance, real-time operation, and Nonlinearity as compared with other algorithms. In previous research, we produced bipolar magnetic guidance sensor and we set the threshold in order to calculate digital values of magnet position. Fuzzy inference system is designed using outputs of Analog hall sensors. Magnet position calculated by digital method is improved by outputs of this system. In result, proposed method was verified by improving performance of magnetic guidance sensor.

• Journal of Intelligence and Information Systems
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• v.17 no.4
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• pp.143-155
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• 2011

Lately electronic tagging policy for the sexual offenders was introduced in order to reduce and prevent sexual offences. However, most sexual offences against children happening these days are committed by the tagged offenders whose identities have been released. So, for the crime prevention, we need measures with which we could minimize the suffers more promptly and actively. This paper suggests a new system to relieve the sexual abuse related anxiety of the children and solve the problems that electronic bracelet has. Existing bracelets are only worn by serious criminals, and it's only for risk management and positioning, there is no way to protect the children who are the potential victims of sexual abuse and there actually happened some cases. So we suggest also letting the students(children) wear the LBS(Location Based Service) and USN(Ubiquitous Sensor Network) technology based electronic bracelets to monitor and figure out dangerous situations intelligently, so that we could prevent sexual offences against children beforehand, and while a crime is happening, we could judge the situation of the crime intelligently and take swift action to minimize the suffer. And by checking students' attendance and position, guardians could know where their children are in real time and could protect the children from not only sexual offences but also violent crimes against children like kidnapping. The overall system is like follows : RFID Tag for children monitors the approach of offenders. While an offender's RFID tag is approaching, it will transmit the situation and position as the first warning message to the control center and the guardians. When the offender is going far away, it turns to monitoring mode, and if the tag of the child or the offender is taken off or the child and offender stay at one position for 3~5 minutes or longer, then it will consider this as a dangerous situation, then transmit the emergency situations and position as the second warning message to the control center and the guardians, and ask for the dispatch of police to prevent the crime at the initial stage. The RFID module of criminals' electronic bracelets is RFID TAG, and the RFID module for the children is RFID receiver(reader), so wherever the offenders are, if an offender is at a place within 20m from a child, RFID module for children will transmit the situation every certain periods to the control center by the automatic response of the receiver. As for the positioning module, outdoors GPS or mobile communications module(CELL module)is used and UWB, WI-FI based module is used indoors. The sensor is set under the purpose of making it possible to measure the position coordinates even indoors, so that one could send his real time situation and position to the server of central control center. By using the RFID electronic roll book system of educational institutions and safety system installed at home, children's position and situation can be checked. When the child leaves for school, attendance can be checked through the electronic roll book, and when school is over the information is sent to the guardians. And using RFID access control turnstiles installed at the apartment or entrance of the house, the arrival of the children could be checked and the information is transmitted to the guardians. If the student is absent or didn't arrive at home, the information of the child is sent to the central control center from the electronic roll book or access control turnstiles, and look for the position of the child's electronic bracelet using GPS or mobile communications module, then send the information to the guardians and teacher so that they could report to the police immediately if necessary. Central management and control system is built under the purpose of monitoring dangerous situations and guardians' checking. It saves the warning and pattern data to figure out the areas with dangerous situation, and could help introduce crime prevention systems like CCTV with the highest priority. And by DB establishment personal data could be saved, the frequency of first and second warnings made, the terminal ID of the specific child and offender, warning made position, situation (like approaching, taken off of the electronic bracelet, same position for a certain time) and so on could be recorded, and the data is going to be used for preventing crimes. Even though we've already introduced electronic tagging to prevent recurrence of child sexual offences, but the crimes continuously occur. So I suggest this system to prevent crimes beforehand concerning the children's safety. If we make electronic bracelets easy to use and carry, and set the price reasonably so that many children can use, then lots of criminals could be prevented and we can protect the children easily. By preventing criminals before happening, it is going to be a helpful system for our safe life.

• Journal of Internet of Things and Convergence
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• v.3 no.1
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• pp.25-31
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• 2017

In the future a future type new city and the latest apartment will be built, and the IoT technology will be constructed and combined in large numbers indoors of ordinary households. An air cleaner that makes people in it comfortable is built in, and the suction port that sucks in the air of the air purifier and the discharge port that discharges it are set up around the room and come out. However, this is impossible to adjust because there is only a central switch on / off. Also, consuming a lot of electricity so that many electricity charges are caused by huge electricity consumption will eventually be a waste of resources. This would like to be adjusted and driven through the fine dust detection device to the room built-in air purifier and that has provided a solution to save electricity. In addition, since it exists in and around the room, you can grasp the position of the person and connect to the home network to enhance the convenience. Also, through analysis of the air, we provide a health-check solution that checks the user's health and adjusts it appropriately.

• Journal of the Korean Institute of Telematics and Electronics C
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• v.35C no.6
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• pp.56-66
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• 1998

This paper investigates a neuro-controller combined in parallel with a conventional linear controller of PID type in order to control nonminimum phase systems more efficiently. The objective is to minimize overall position errors as well as to maintain small undershooting. A costfunction is proposed with two conflict objectives. The neuro-controller is trained off-line with evolutionary programming(EP) in such a way that it becomes optimal by minimizing the given cost function through global evaluation based on desired control performance during the whole training time interval. However, it is not easy to find an optimal solution which satisfies individual objective simultaneously. With the concept of Pareto optimality and EP, we train the proposed controller more effectively and obtain a valuable set of optimal solutions. Simulation results show the efficacy of the proposed controller in a viewpoint of improvement of performance of a step response like fast settling time and small undershoot or overshoot compared with that of a conventional linear controller.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.5
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• pp.959-968
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• 2022

In this paper, we intend to develop a cart with the convenience of moving objects or items that are difficult to hold by the hand of the disabled and the elderly from outdoor activities to a moving location. Using GPS module, DC motor, Bluetooth module, magnetometer sensor, and Blynk application, the smart follow cart was programmed to accurately know the owner's location while following the cart. The values of latitude and longitude of the magnetometer sensor are set so that the correct leverage value can be obtained in the lead for fine adjustment of the start and stop angles so that the user's position can be freely detected. The above motor driver L298n was connected to the motor to drive the DC motor at a fine angle. A smart follow cart was implemented that receives location signals according to the direction of the owner by turning on/off the mobile phone app as a switching role by connecting the GPS through Bluetooth wireless communication using a smartphone.