• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.19 no.1
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• pp.85-95
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• 2019

This work shows how to design a robot structure and to control to overcome obstacles while traveling through ducts of various diameters and shapes by three-legged robot. Circuits are centered in the body to connect the three wheel bodies that are driven around the center body with the 4-section slider link structure. Also, the springs are used to contract and expand the robot legs so that it can be caparable of various environments. Geared motor, spring, and belt were selected based on the static and dynamic calculation to be suitable to horizontal and vertical travels. The center body is equipped with a camera and the distance sensors, and a control algorithms are implemented so that it can be successfully performed in L-type and T-type ducts. Using UWB modules and trilateration algorithm, the location of the duct-cleaning robot inside the duct could be identified successfully.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.24 no.6
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• pp.744-750
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• 2020

In this paper, we propose a deep learning based transmit power control (TPC) scheme to improve the spectral and energy efficiency of wireless communication systems. In the wireless communication system, the positions of multiple transceivers follow a uniform distribution, and the performances of spectral and energy efficiency for the proposed TPC scheme are analyzed assuming the Nakagami fading channels. The proposed TPC scheme uses batch normalization to improve spectral and energy efficiency in deep learning based training. Through simulation, we compare the results of the spectral and energy efficiency of the proposed TPC scheme and the conventional one for various area sizes that limit the position range of the transceivers and Nakagami fading factors. Comparing the performance results, we verify that the proposed scheme provides better performance than the conventional one.

• Geomechanics and Engineering
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• v.28 no.4
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• pp.335-346
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• 2022

Buckling failure is a typical slope instability mode that should be paid more attention to. It is difficult to provide systematic guidance for the monitoring and management of such slopes due to unclear mechanism. Here we examine buckling failure as the potential instability mode for a slope above a railway tunnel in southwest China. A comprehensive model test system was developed that can be used to conduct buckling failure experiments. The displacement, stress, and strain of the slope were monitored to document the evolution of buckling failure during the experiment. Monitoring data reveal the deformation and stress characteristics of the slope with different slipping mass thicknesses and under different top loads. The test results show that the slipping mass is the main subject of the top load and is the key object of monitoring. Displacement and stress precede buckling failure, so maybe useful predictors of impending failure. However, the response of the stress variation is earlier than displacement variation during the failure process. It is also necessary to monitor the bedrock near the slip face because its stress evolution plays an important role in the early prediction of instability. The position near the slope foot is most prone to buckling failure, so it should be closely monitored.

• Journal of Navigation and Port Research
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• v.39 no.3
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• pp.253-260
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• 2015

There are many efforts to mechanize the process for underwater port construction due to the severe and adverse working environment. This paper presents an underwater construction robot to level rubbles on the seabed for port construction. The robot is composed of a blade and a multi-functional arm to flatten the rubble mound with respect to the reference level at uneven terrain and to dig and dump the rubbles. This research analyzes the kinematics of the blade and the multi-functional arm including track and swing motions with respect to a world coordinate assigned to a reference depth sensor. This analysis is conducted interfacing with the position and orientation sensors installed at the robot. A hydraulic control system is developed to control a track, a blade and a multi-functional arm for rubble leveling work. The experimental results of rubble leveling work conducted by the robot are presented in land and subsea. The working speed of the robot is eight times faster than that of a human diver, and the working quality is acceptable. The robot is expected to have much higher efficiency in deep water where a human diver is unable to work.

• Journal of Navigation and Port Research
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• v.40 no.4
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• pp.173-181
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• 2016

From 2016, controls on reduction of NOx and SOx emissions from the vessels that are operated in the emission control area were tightened. The selectivity catalytic reduction system of the denitrification equipment which NOx among the above controlled materials is very effective and used commercially very much. But it has the disadvantage that CSR is activated at high temperatures. Therefore, the SCR and SCR activation instrument that can react even at low temperatures by using micro-nano bubbles so that the above problems can be minimized were developed. And the computational fluid dynamics technique was used by ANSYS-CFX package to prepare the plan that improves the SCR system's efficiency. Simulation for the viscous flow analysis of the SCR system was executed by applying the Navier-Stokes equation to it as a governing equation. For the SCR system's shape, 3D modeling was done by using CATIA V5. SCR jet nozzle's position was checked by changing it to the intervals of 1/3, 1/2, and 2/3 from the inlet of the vent pipe to compare the SCR system's efficiency. And the number of nozzles was compared and analyzed by simulating 4, 6, and 8 holes to check an effect of the number on the SCR system's efficiency. The simulation result has found that the closer nozzles are to the inlet of the vent pipe and the more nozzles are, the more efficiency is improved.

• Resources Recycling
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• v.26 no.6
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• pp.73-83
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• 2017

Used small household appliances have a wide variety of product types and component materials, and contain high percentage of black plastics. However, they are not being recycled efficiently as conventional sensors such as near-infrared ray (NIR), etc. are not able to detect black plastic by types. In the present study, an automatic sorting system was developed based on laser-induced breakdown spectroscopy (LIBS) to promote the recycling of waste plastics. The system we developed mainly consists of sample feeder, automatic position recognition system, LIBS device, separator and control unit. By applying laser pulse on the target sample, characteristic spectral data can be obtained and analyzed by using CCD detectors. The obtained data was then treated by using a classifier, which was developed based on artificial intelligent algorithm. The separation tests on waste plastics also were carried out by using a lab-scale automatic sorting system and the test results will be discussed. The classification rate of the radial basis neural network (RBFNNs) classifier developed in this study was about > 97%. The recognition rate of the black plastic by types with the automatic sorting system was more than 94.0% and the sorting efficiency was more than 80.0%. Automatic sorting system based on LIBS technology is in its infant stage and it has a high potential for utilization in and outside Korea due to its excellent economic efficiency.

• Journal of Bio-Environment Control
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• v.32 no.1
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• pp.40-47
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• 2023

There are many different types of cultivation in tomatoes for year-round production. One of them, semi-forcing cultivation is characterized by growing seedlings in winter season. If grafted seedlings are used in winter season that energy cost can be reduced, because they have tolerance to cold stress. This study was conducted to analyze the rootstock performance by measuring the growth, yield, and leaf-macronutrient content of cherry tomatoes grown in semi-forcing hydroponics. Three domestic rootstocks 'HSF4', '21LM', '21A701', and a control cultivar 'B-blocking' were grafted onto jujube-shaped cherry tomato (Lycopersicon esculentum L.) commercial cultivar 'Nonari'. The total yield per plant with grafted cherry tomato '21A701' was 3,387g, which was 11%, 22% and 24% higher than the yield with 'B-blocking', non-grafted one and 'HSF4'. The stem diameter of '21A701' was thick with 8.26mm, whereas non-grafted one was thin with 7.23mm at 160 days after transplanting. The flowering position of '21LM' was 34% and 47% higher than the flowering position of 'B-blocking' and non-grafted one at 153 days after transplanting. The NO₃-N concentration in petiole sap of '21LM' was the highest with 1,746mg·L^-1 and non-grafted one and 'HSF4' were the lowest with 1,252mg·L^-1 and 1,245mg·L^-1 at 167 days after transplanting. The results indicated that rootstock/scion combinations in cherry tomatoes can affect the plant growth, yield, and the concentration of different NO₃-N in leaves at the late growth stage. Both '21A701' and '21LM' have vigorous root system, which influence the growth and yield increased.

• Journal of Biosystems Engineering
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• v.10 no.1
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• pp.13-23
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• 1985

Spraying method from the paddy-field levee is known to give insufficient penetration of the spray droplets to the rice stem of the densely grown plants, which is generally encountered at the last stage of rice growth. This study was intended to investigate the spraying system to solve this existing problem. As an approach, it was attempted to develop the boom-with-nozzle, between-the-row application system. Several types of nozzles and their different arrangements in the boom were tested in the field to measure the penetration-reaching distance and the uniformity of spray droplet distribution. The results of the study are summarized as follows: 1. Field experiments by the spraying method from the paddy-field levee showed to have practically no penetration of the spray droplets to the portion of the plant stem with the normal flow volume generally applied and thus need for improving present spraying method. 2. It was found that, considering both the uniformity of the spray droplet distribution and performance rate, the most efficient type of nozzle in the between-the-row boom-type spraying system was one that has core-insert hollow-cone with some clearance between the cone and tip. 3. When tested by applying the spraying method of between-the-row, the nozzle pressure did not affect the uniformity of spray droplet distribution. However, the nozzle pressure had a positive effect on the penetrating-reaching distance of the facing side of the rice stem and did not affect much on that of the opposite face of the stem. It was also found that the maximum pressure to affect the penetration-reaching distance was about $10kg/cm^2$. 4. The uniformity of the spray droplet distribution in the between-the-row system was greatly affected by the height and orientation of the nozzles in the boom. Based on experimental work for the different type of the boom-with-nozzle arrangements, it is recommended that the position of nozzle is set at about 0.45 m above the ground and two nozzles in the boom are oriented to be faced with each other with some angle such that the droplet stream from the nozzle would not directly face with each other.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1444-1447
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• 2004

The vacuum-cleaner had made the burden of house chore lighten but the operation labour of a vacuum-cleaner had been so severe. Recently, the cleaning robot was producted to perfectly solve the cleaning labour of a house but it also was not successful because it still had a problem of mess-cleaning, which is the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash and has no function to arrange and take away before the automatic vacuum-cleaning. For this reason, the market for the cleaning robot is not yet built up. So, we need a design method and technological algorithm of new automatic machine to solve the problem of mess-cleanup in house. In this paper, a Home Mess-Cleanup Robot(HMR), which has a practical function of the automatic mess-cleanup, is developed. It need functions of agile automatic navigation, novel manipulation system for mess-cleanup. The automatic navigation system has to be controlled for the full scanning of living room, to recognize the absolute position and orientation of the self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulation system, which is not needed in the vacuum-cleaning robot, must have the functions, how to distinguish big trash to clean from mess objects to arrange, how to grasp in according to the form of mess objects, how to move to the destination in according to mess objects and arrange them. Then, it should be an intelligent system so that the mess cleaning task can be autonomously performed in a wide variety of situations and environments. It need to also has the entertainment functions for the good communication between the human and HMR. Therefore, the Home Mess-cleanup Robot with Entertainmental Human Interface is developed in this paper. Finally, the good performance of the designed machine, HMR'4, is confirmed through the results of the mess clean-up and arrangement.

• Journal of the Korean Vacuum Society
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• v.16 no.6
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• pp.489-495
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• 2007

The assembly of the main system of the KSTAR tokamak has been recently completed, and the preparation for the 1st plasma and test operations is progressed. The fueling system established for these purposes uses only one port placed at the opposite side of the pumping duct, and has a difficulty of attaining a uniform and fast supply of fuel particles to the plasma. At the base operation stage after finishing the test operation, the fueling system must be improved to provide a uniform fueling and a feed-back control in accordance with a high-density tokamak plasma maintained for a long period. As a part for understanding the points to be improved in the fueling system, a Monte Carlo simulation on the gas fueling into the tokamak plasma has been executed. After modeling the vacuum vessel and the plasma of quasi-D shapes as tori of rectangular cross-sections, the influences of the position and the number of the fueling inputs on the particle density distribution for a given pumping probability and mean free path were investigated.