• The Journal of the Korea institute of electronic communication sciences
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• v.5 no.4
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• pp.471-479
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• 2010

A holonomic drive can provide rotational and translational acceleration simultaneously in any direction. For this reason the holonomic drive technology is very desirable in creating motion for any mobile platform and has many promising mobility applications in the field of robotics and automation where manipulability is critical issue especially when the mobile system is operated in obstacle prone environment. In this paper a pragmatic methodology for realizing a holonomic drive system using multiple servo-casters is presented. The steering and driving of each servo-caster is controlled such that they are coordinated with the motions of other servo-casters in order to realize holonomic motion. This paper also proposes algorithms for varying manipulability as operation situation demands.

• Journal of Sensor Science and Technology
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• v.17 no.4
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• pp.308-316
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• 2008

For the measurement of liquid level in ship's cargo tank, ballast tank, fuel oil tank and fresh water tank, several types of gauge meter are used such as tubular type, magnetic float type, reflex type transparent type and welding pad type. Among them, magnetic float type gauge meter is environmental friendly device because it is free of power source and maintenance. The main obstacle of the device is relatively large error bound. In this paper, finite element method is used to design and analysis of the magnetic float type gauge meter. The operation of reed switch according to the magnetic field has been successfully described and agreed well with experimental measurement. The optimum geometry with combination of permanent magnet and reed switches are designed to achieve 98 % accuracy of fluid level.

• THE INTERNATIONAL COMMERCE & LAW REVIEW
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• v.46
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• pp.181-210
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• 2010

The continuing advance of multimodal transport with the importance for efficient and effective logistics management emphasizes the need for uniform legal approach to international multimodal transport. However, the current fragmented instrument regulating such transport is being an obstacle to development of multimodal transport as it aggravates confusion and uncertainty. The Rotterdam rules, which was adopted in December 2008 by UNCITRAL, expands its scope of application to door-to-door transport. However, the new rules has some problems in its application to multimodal transport operation as it has been conceived not to regulate general multimodal carriage but to regulate contract of carriage by sea that extends its services to the transport by other modes. This article examines conflict of conventions in the Rotterdam Rules. The applicability of the Rotterdam Rules in international multimodal transport contract and possibility of potential conflict with other transport conventions are analyzed with some hypothetical cases. Furthermore, problems arising from application of the Rotterdam Rules under international multimodal transport Contracts are indicated in the chapter IV.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1977-1978
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• 2006

This paper discusses the method of vision based sensor fusion system for biped robot walking. Most researches on biped walking robot have mostly focused on walking algorithm itself. However, developing vision systems for biped walking robot is an important and urgent issue since biped walking robots are ultimately developed not only for researches but to be utilized in real life. In the research, systems for environment recognition and tele-operation have been developed for task assignment and execution of biped robot as well as for human robot interaction (HRI) system. For carrying out certain tasks, an object tracking system using modified optical flow algorithm and obstacle recognition system using enhanced template matching and hierarchical support vector machine algorithm by wireless vision camera are implemented with sensor fusion system using other sensors installed in a biped walking robot. Also systems for robot manipulating and communication with user have been developed for robot.

• Convergence Security Journal
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• v.17 no.3
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• pp.31-40
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• 2017

UAV (Unmanned Aerial Vehicle) is increasingly used in diverse fields such as disaster, distributi on, and logistics, but it is pointed out that the inadequacy of related laws and invasion of privacy is an obstacle to industrial growth. The regulatory framework for UAV convergence services is pr oposed based on the regulatory framework. From the technical point of view, regulation on archite ctural design, from the market point of view, concurrent operation of services in a limited area, a l egal evaluation based on post-evaluation rather than a pre-regulation under the legislation of visua l information protection law and a social consensus will contribute to the early settlement of UAV -based convergence services.

• Journal of Mechanical Science and Technology
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• v.19 no.2
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• pp.549-557
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• 2005

The requirements of multi-resolution models of feature-based solids, which represent an object at many levels of feature detail, are increasing for engineering purposes, such as analysis, network-based collaborative design, virtual prototyping and manufacturing. To provide multi-resolution models for various applications, it is essential to generate adequate solid models at varying levels of detail (LOD) after feature rearrangement, based on the LOD criteria. However, the non-commutative property of the union and subtraction Boolean operations is a severe obstacle to arbitrary feature rearrangement. To solve this problem we propose history-based Boolean operations that satisfy the commutative law between union and subtraction operations by considering the history of the Boolean operations. Because these operations guarantee the same resulting shape as the original and reasonable shapes at the intermediate LODs for an arbitrary rearrangement of its features, various LOD criteria can be applied for multi-resolution modeling in different applications.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.11
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• pp.2875-2882
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• 2000

Typically, the ultrasonic sensors can be used in navigation systems for modeling of the enviornment, obstacle avoidance, and map building. In this paper, we tried to approach an object classification method using the range data of the ultrasonic sensors. A characterization of the sonar scan is described that allows the differentiation of planes, corners, edges, cylindrical and rectangular pillars by processing the scanned data from three sonars. To use the data from the ultrasonic sensors as input to the neural networks, we have introduced a clustering, threshold, and bit operation algorithm for the obtained raw data, After repeated training of the neural network, the performance of the proposed method was obtained through experiments. Also, the recognition ranges of the proposed method were investigated. As a result of experiments, we found that the proposed method successfully recognized the objects within the accuracy of 78%.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.123-125
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• 2006

This paper discusses the method of vision based sensor fusion system for biped robot walking. Most researches on biped walking robot have mostly focused on walking algorithm itself. However, developing vision systems for biped walking robot is an important and urgent issue since biped walking robots are ultimately developed not only for researches but to be utilized in real life. In the research, systems for environment recognition and tole-operation have been developed for task assignment and execution of biped robot as well as for human robot interaction (HRI) system. For carrying out certain tasks, an object tracking system using modified optical flow algorithm and obstacle recognition system using enhanced template matching and hierarchical support vector machine algorithm by wireless vision camera are implemented with sensor fusion system using other sensors installed in a biped walking robot. Also systems for robot manipulating and communication with user have been developed for robot.

• Journal of Electrical Engineering and Technology
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• v.9 no.1
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• pp.352-362
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• 2014

In this paper, a fuzzy logic controller is designed for a DC motor which can be used for navigation control of mobile robots. These mobile robots can be used for agricultural, defense and assorted social applications. The robots used in these fields can reduce manpower, save human life and can be operated using remote control from a distant place. The developed fuzzy logic controller is used to control navigation speed and steering angle according to the desired reference position. Differential drive is used to control the steering angle and the speed of the robot. Two DC motors are connected with the rear wheels of the robot. They are controlled by a fuzzy logic controller to offer accurate steering angle and the driving speed of the robot. Its location is monitored using GPS (Global Positioning System) on a real time basis. IR sensors in the robot detect obstacles around the robot. The designed fuzzy logic controller has been implemented in a robot, which depicts that the robot could avoid obstacle as well as perform its operation efficiently with remote online control.

• Journal of the Korea Safety Management & Science
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• v.17 no.4
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• pp.247-258
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• 2015

The purpose of this study is to let the entire logistics system be managed in cyberspace by effectively sharing the logistics information between companies involved in the process, changing conventional commerce to electronic commerce. Most of the goods traded through electronic commerce are small goods involving small business transactions. This produces many problems in shipping and delivery and the leads an inefficient logistics system. Another problems is that there is no sharing of information that process the logistics flow and no systematic management of pick-up and delivery information. As a result, rise in logistics cost, longer delivery period and poor service quality are inevitable and these results are becoming an obstacle in the widespread usage of the electronic commerce. Companies that are part of logistics center can cooperate logistics business in Cyber space and share the entire logistics information through the cyber logistics center. This turns out in effective sharing of logistics information, and thus, allows efficient management of logistics, improves logistics service, and reduces logistics cost.