• Journal of the Korean Society for Railway
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• v.20 no.5
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• pp.602-611
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• 2017

In railway systems, the exchange of information between running trains and wayside equipment is a very important role in various applications such as position detection and train control. Track circuits have been used as the medium for information transmission between trains and wayside. However, track circuits must be installed continuously along the track on the ground, resulting in an inevitable increase in installation and maintenance costs. One of the most promising solutions to reduce these costs is to mix continuous information transmission (via wireless communication) and discontinuous information transmission (via transponder). In this study, we designed antennas of railway high-speed transponder readers and tags for wireless power transmission, which can be used to transmit information from ground to high-speed trains with a maximum speed of 400km/h. We also verified system performance through computational simulation and prototyping.

• Journal of IKEEE
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• v.22 no.3
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• pp.638-644
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• 2018

In this paper, we develop a measurement system that uses 3D Scintillator and NaI(TI) Detector to 3-dimensionally identify the location of multiple radiation sources in moving vehicle loads. The radiation measurement system consists of radiation measurement (plastic scintillator), 2-channel Pulse Counter Board, nuclide analysis (NaI(TI) detector) and 1 channel MCA Board. The source locator algorithm calculates the coordinate value of the ratio of the CPS value($1/r^2$) of the source according to the angle(${\theta}$) in inverse proportion to the square of the distance(X, Y) through the SVM classification. The coordinate values are input every predetermined period of the spectrum, and after analyzing the spectrum per unit cycle, the position of the nuclide at the time is calculated by determining whether or not the nuclide is present in the remaining part except for the background area. As a result of the position discrimination test, the error within the international standard of ${\pm}1m$ was shown. Thus, the utility of the proposed system has been demonstrated.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.6
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• pp.32-40
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• 2015

In this paper, the optimum antenna placement is analyzed by considering the interference between airborne antennas mounted on the unmanned aerial vehicle(UAV). The analysis is implemented by selecting the antennas that the distance and operational frequency band between airborne antennas is close to each other among the omni-directional antennas. The analyzed antennas are the control datalink, TCAS(Traffic Collision & Avoidance System), IFF(Identification Friend or Foe), GPS(Global Positioning System), and RALT(Radar ALTimeter) antennas. There are three steps for the optimum antenna placement analysis. The first step is selecting the antenna position having the optimum properties by monitoring the variation of radiation pattern and return loss by the fuselage of UAV after selecting the initial antenna position considering the antenna use, type, and radiation pattern. The second one is analyzing the interference strength between airborne antennas considering the coupling between airborne antennas, spurious of transmitting antenna, and minimum receiving level of receiving antenna. In case of generating the interference, the antenna position without interference is selected by analyzing the minimum separation distance without interference. The last one is confirming the measure to reject the frequency interference by the frequency separation analysis between airborne antennas in case that the intereference is not rejected by the additional distance separation between airborne antennas. This analysis procedure can be efficiently used to select the optimum antenna placement without interference by predicting the interference between airborne antennas in the development stage.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.3
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• pp.202-207
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• 2013

In the paper, we design a autonomous mobile robot for freight transportation and propose an operation method of the robot in the warehouse. In order to implement autonomous navigation, it is needed to recognize the position of the robot and track the path to the target. Previous methods are hard to change the workspace environment and need high cost to install and keep a maintenance of the system. The lifter of freight transportation robot is designed to load and unload a baggage through up and down motion. Also, ultrasonic sensor, RFID, QR-code and camera sensor is used to carry out various functions while the robot navigates in the various environment. We design an operation method of the mobile robot in order to effectively arrive a goal position and transport a freight. The proposed methods are verified through various experiments.

• Journal of Bio-Environment Control
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• v.6 no.4
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• pp.310-316
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• 1997

This experiments comparisons were conducted to establish the effective sap analytical method including quantitative analysis of nitrate and phosphorous, sap extraction method, extraction rate, macerating time and sampling position. Earl's Favorite muskmelon was sown on February 11th, 1993 and transplanted to rockwool slab when three to fourth true leaf appeared. Non-circulating system was employed in this experiment. Sap testing using a sample provides an immediate analysis of nutritional status of the crop and potential problems can be recognized and corrective measures taken. Some methods were recommended UV-spectroscopy for the analysis of nitrate nitrogen, Vanad molybdenium acid method for phosphorous. Optimal extraction rate of sample to water was determined as one to four and the best result observed at 60seconds in macerating duration. Further trials would be requested about sampling time due to the difference according to the sampling time. Given sampling position was favorable for the sap analysis.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2002.09a
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• pp.267-268
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• 2002

Microbeam is a new avenue of radiation research especially in radiation biology and radiation protection. Selective irradiation of an ionizing particle to a targeted cell organelle may disclose such mechanisms as signal transaction among cell organelles and cell-to-cell communication in the processes toward an endpoint observed. Bystander effect, existence of which is clearly evidenced by application of the particle microbeam to biological experiments, suggests potential underestimation in the conventional risk estimation at low particle fluence rates, such as environment of space radiations in ISS (International Space Station). To promote these studies we started the construction of our microbeam facility (named as SPICE) to our HVEE Tandem accelerator (3.4 MeV proton and 5.1 MeV $^4$He$\^$2+/). For our primary goal, "irradiation of single particle to cell organelle within a position resolution of 2 micrometer in a reasonable irradiation time", special features are considered. Usage of a triplet Q magnet for focussing the beam to submicron of size is an outstanding feature compared to facilities of other institutes. Followings are other features: precise position control of cell dish holder, design of the cell dish, data acquisition of microscopic image of a cell organelle (cell nucleus) and data processing, a reliable particle detection, soft and hard wares to integrate all these related data, to control and irradiate exactly determined number of particles to a targeted spot.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.70-77
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• 2014

This paper proposes a novel localization algorithm based on ego-motion which used Lucas-Kanade Optical Flow and warping image obtained through fish-eye lenses mounted on the robots. The omnidirectional image sensor is a desirable sensor for real-time view-based recognition of a robot because the all information around the robot can be obtained simultaneously. The preprocessing (distortion correction, image merge, etc.) of the omnidirectional image which obtained by camera using reflect in mirror or by connection of multiple camera images is essential because it is difficult to obtain information from the original image. The core of the proposed algorithm may be summarized as follows: First, we capture instantaneous $360^{\circ}$ panoramic images around a robot through fish-eye lenses which are mounted in the bottom direction. Second, we extract motion vectors using Lucas-Kanade Optical Flow in preprocessed image. Third, we estimate the robot position and angle using ego-motion method which used direction of vector and vanishing point obtained by RANSAC. We confirmed the reliability of localization algorithm using ego-motion based on fisheye warping image through comparison between results (position and angle) of the experiment obtained using the proposed algorithm and results of the experiment measured from Global Vision Localization System.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.25 no.6
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• pp.517-521
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• 2016

General industrial robots are difficult to use for precision assembly because they are operated based on position control. Their position accuracy is also usually higher than the assembly clearance (several tens of ${\mu}m$). In previous researches, force control was suggested as a robotic assembly solution. However, this method is difficult to apply in reality because of speed and cost problems. The RCC provides high speed, but applications are limited because the compliance is fixed, and it cannot detect an assembly condition during a task. A variable passive compliance device (VPCD) was developed herein. The VPCD can detect the assembly condition during tasks. This device can provide proper compliance for successful assembly tasks. The pneumatic system and the Stewart platform with an LVDT sensor were applied for measuring the displacement and variable compliance, respectively. The concept design and analysis were conducted to prove the effectiveness of the developed VPCD.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.833-838
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• 2016

This paper presents a performance evaluation of various feature-initialization algorithms for forward-viewing mono-camera based simultaneous localization and mapping (SLAM), specifically in indoor environments. For mono-camera based SLAM, the position of feature points cannot be known from a single view; therefore, it should be estimated from a feature initialization method using multiple viewpoint measurements. The accuracy of the feature initialization method directly affects the accuracy of the SLAM system. In this study, four different feature initialization algorithms are evaluated in simulations, including linear triangulation; depth parameterized, linear triangulation; weighted nearest point triangulation; and particle filter based depth estimation algorithms. In the simulation, the virtual feature positions are estimated when the virtual robot, containing a virtual forward-viewing mono-camera, moves forward. The results show that the linear triangulation method provides the best results in terms of feature-position estimation accuracy and computational speed.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.15 no.1
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• pp.72-78
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• 2009

Purpose: to recognized that influence of decrease low back pain, change pelvic structure and balance control on unilateral weight bearing after application on pelvic manipulation which low back pain patient in unilateral weight bearing due to pelvic imbalance. Methods: The patient with low back pain in unilateral weight bearing due to pelvic imbalance was 39year female. one subject received intervention of pelvic manipulation on sidelying position and reaching exercise on sitting position which during 2 weak at the 3 time per a weak, each 30 minutes. outcomes measured were Facia l Action Coding System(FACS), Radiograph(Lumbar-Spine Anteroposterior AP.), Pressure Scan. Results: The results of this study were summarized below : 1. FACS score were Pre: min.4 - max.6 and Post: min.2 - max.4. 2. Radiograph measured Ilium width were Pre: Lt.14cm, Rt.12.7cm and Post: Lt.13.4cm, Rt.13cm which discrepancy of Ilium height were Pre: 1cm and Post: 0.2cm. 3. Pressure scan measured Pre: Lt. 36.8%, Rt.40.2% and Post: Lt.41.3%, Rt.36.2%. Conclusion: Pelvic manipulation applied a patient with low back pain in unilateral weight bearing due to pelvic imbalance suggest that can decrease low back pain, change pelvic structure and balance control on unilateral weight bearing.