• Journal of Institute of Control, Robotics and Systems
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• v.16 no.5
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• pp.463-468
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• 2010

An obstacle avoidance method for a mobile robot is proposed in this paper. Our research was focused on the obstacles that can be found indoors since a robot is usually used within a building. It is necessary that the robot maintain the desired direction after successfully avoiding the obstacles to achieve a good autonomous navigation performance for the specified project mission. Sensors such as laser, ultrasound, and PSD (Position Sensitive Detector) can be used to detect and analyze the obstacles. A PSD sensor was used to detect and measure the height and width of the obstacles on the floor. The PSD sensor was carefully calibrated before measuring the obstacles to achieve better accuracy. Data obtained from the repeated experiments were used to plot an error graph which was fitted to a polynomial curve. The polynomial equation was used to navigate the robot. We also obtained a direction-error model of the robot after avoiding the obstacles. The prototypes for the obstacle and direction-error were modeled using a neural network whose inputs are the obstacle height, robot speed, direction of the wheels, and the error in direction. A mobile robot operated by a notebook computer was setup and the proposed algorithm was used to navigate the robot and avoid the obstacles. The results showed that our algorithm performed very well during the experiments.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.5
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• pp.792-798
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• 2015

Joint angle generally can be measured to check the recovery process in rehabilitation field. This paper suggests to measure joint angle with Infrared sensor based on triangulation principle. We performed various experiments to find the optimal condition of the sensor’s attached distance, height, and angle. The results were compared with commercial goniometer for accuracy. The proposed infrared joint angle sensor can be effectively used in rehabilitation and sport science fields.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11b
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• pp.210-218
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• 2000

Since the SSC(soluble solid contents) and titratable acidity of fruit are highly concerned to the taste, the need for measuring them by non-destructive technology such as NIR(Visual and Near-infrared) spectroscopy is increasing. Specially, in order to grade the quality of each fruit with a sorter at sorting and packing facilities, technologies for online measurement satisfying the tolerance in terms of accuracy and speed should be developed. Many researches have been done to develop devices to measure the internal qualities of fruit such as SSC, titratable acidity, firmness, etc. with the VIS(Visual)/NIR(Near Infrared) reflectance spectra. The distributions of the SSC, titratable acidity, firmness, etc. are different with respect to the position and depth of fruit, and generally the VIS/NIR light can interact with fruit in a few millimeters of pathlength, and it is very difficult to measure the qualities of inner flesh of fruit. Therefore, to measure the average concentrations of each quality factor such as SSC and titratable acidity with the reflectance-type NIR devices, the spectra of fruit at several positions should be measured. Recently, the interest about the transmittance-type VIS/NIR devices is increasing. NIR light can penetrate through the fruit about 1/10-1/1,000,000 %. Therefore, very intensive light source and very sensitive sensor should be adopted to measure the transmitted light spectra of intact fruit. The ultimate purpose of this study was to develop a device to measure the transmitted light spectra of intact fruit such as apple, pear, peach, etc. With the transmittance-type VIS/NIR device, the feasibility of measurement of the SSC and titratable acidity in intact fruit cultivated in Korea was tested. The results are summarized as follows; A simple measurement device which can measure the transmitted light spectra of intact fruit was constructed with sample holder, two 500W-tungsten halogen lamps, a real-time spectrometer having a very sensitive CCD array sensor and optical fiber probe. With the device, it was possible to measure the transmitted light spectra of intact fruit such as apple, pear and peach. Main factors affecting the intensity of transmitted light spectra were the size of sample, the radiation intensity of light source and the integration time of the detector. Sample holder should be designed so that direct light leakage to the probe could be protected. Preprocessing method to the raw spectrum data significantly influenced the performance of the nondestructive measurement of SSC and titratable acidity of intact fruit. Representative results of PLS models in predicting the SSC of peach were SEP of 0.558 Brix% and R2 of 0.819, and those in predicting titratable acidity were SEP of 0.056% and R2 of 0.655.

• Journal of Radiation Protection and Research
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• v.40 no.1
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• pp.1-9
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• 2015

Compton cameras overcome several limitations of conventional mechanical collimation based gamma imaging devices, such as pin-hole imaging devices, due to its electronic collimation based on coincidence logic. Especially large-scale Compton camera has wide field of view and high imaging sensitivity. Those merits suggest that a large-scale Compton camera might be applicable to monitoring nuclear materials in large facilities without necessity of portability. To that end, our research group have made an effort to design a large-scale Compton camera for safeguard application. Energy resolution or position resolution of large-area detectors vary with configuration style of the detectors. Those performances directly affect the image quality of the large-scale Compton camera. In the present study, a series of Geant4 Monte Carlo simulations were performed in order to examine the effect of those detector parameters. Performance of the designed large-scale Compton camera was also estimated for various monitoring condition with realistic modeling. The conclusion of the present study indicates that the energy resolution of the component detector is the limiting factor of imaging resolution rather than the position resolution. Also, the designed large-scale Compton camera provides the 16.3 cm image resolution in full width at half maximum (angular resolution: $9.26^{\circ}$) for the depleted uranium source considered in this study located at the 1 m from the system when the component detectors have 10% energy resolution and 7 mm position resolution.

• The Journal of Korean Academy of Prosthodontics
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• v.31 no.3
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• pp.394-410
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• 1993

This study was accomplished for appreciation of the mandibular moments according to antero- posterior movement of pivot placed on the lower natural dentition. For this study, 20 subjects(male, $21\sim30$ yrs., average age 24) in the category of normal occlusion were selected, and the intraoral Vitallium clutches were cast and fabricated for each subjects. A 2-dimension PSD(Position Sensitive Detector, Hamamatsu Photonics Co., Japan) was attached to maxillary clutch in a mode of three dimensional control and LED (Light Emit Diode, Hamamatsu Photonics Co., Japan) was set up on mandibular clutch. Both clutches were set into oral cavity of each subjects and adjusted. Then the subjects were allowed to intercuspated with maximal bite force while the pivoting ball in the mid-line moving from anterior toward posterior position. The displacement scales were recorded by CCD camera(Sony, CCD-TR-705) and VCR, The conclusions were as follows : 1. When the subject was allowed to bite the metal pivoting ball in the midline of lower dentition with maximal bite force voluntarily while moving from lower central incisor to canine, 1st premolar, End premolar, 1st molar and 2nd molar. The lever actions on the pivot were revealed in all subjects. The equilibrium of moment were revealed on the pivots of 1st premolar(14 subjects), End premolar(4 subjects), and canine(2 subjects) areas. 2. The changes of loading on the TMJ according to antero-posterior positional changes of metal pivoting ball were able to recognize as follow. Compression on the TMJ was increased when the pivot moves anteriorly from the equilibrium point, and tension on the TMJ was increased when posteriorly. 3. 13 subjects were recognized their habitual chewing sides(Rights, Left8), and 7 subjects were not. During maximal biting, mandible was displaced toward their habitual chewing sides on the metal pivoting ball in the frontal plane. 4. In cephalometric analysis, the average genial angle of 20 subjects was $116.75^{\circ}$ and the average mandibular body length was 79.77mm. The equilibrium points of mandibular moment were positioned more posteriorly in the subjects having larger Genial angle than in the smaller(p<0.05). Relationships among the angle between FH plane and occlusal plane, the angle between occlusal plane and mandibular plane , and mandibular body length were not significant(p>0.05).

• Proceedings of the Materials Research Society of Korea Conference
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• 2011.05a
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• pp.5-5
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• 2011

The research and development of hybrid electric vehicle (HEV), plug-in hybrid electric vehicle (PHEV) and electric vehicle (EV) are intensified due to the energy crisis and environmental concerns. In order to meet the challenging requirements of powering HEV, PHEV and EV, the current lithium battery technology needs to be significantly improved in terms of the cost, safety, power and energy density, as well as the calendar and cycle life. One new technology being developed is the utilization of composite cathode by mixing two different types of insertion compounds [e.g., spinel $LiMn_2O_4$ and layered $LiMO_2$ (M=Ni, Co, and Mn)]. Recently, some studies on mixing two different types of cathode materials to make a composite cathode have been reported, which were aimed at reducing cost and improving self-discharge. Numata et al. reported that when stored in a sealed can together with electrolyte at $80^{\circ}C$ for 10 days, the concentrations of both HF and $Mn^{2+}$ were lower in the can containing $LiMn_2O_4$ blended with $LiNi_{0.8}Co_{0.2}O_2$ than that containing $LiMn_2O_4$ only. That reports clearly showed that this blending technique can prevent the decline in capacity caused by cycling or storage at elevated temperatures. However, not much work has been reported on the charge-discharge characteristics and related structural phase transitions for these composite cathodes. In this presentation, we will report our in situ x-ray diffraction studies on this mixed composite cathode material during charge-discharge cycling. The mixed cathodes were incorporated into in situ XRD cells with a Li foil anode, a Celgard separator, and a 1M $LiPF_6$ electrolyte in a 1 : 1 EC : DMC solvent (LP 30 from EM Industries, Inc.). For in situ XRD cell, Mylar windows were used as has been described in detail elsewhere. All of these in situ XRD spectra were collected on beam line X18A at National Synchrotron Light Source (NSLS) at Brookhaven National Laboratory using two different detectors. One is a conventional scintillation detector with data collection at 0.02 degree in two theta angle for each step. The other is a wide angle position sensitive detector (PSD). The wavelengths used were 1.1950 ${\AA}$ for the scintillation detector and 0.9999 A for the PSD. The newly installed PSD at beam line X18A of NSLS can collect XRD patterns as short as a few minutes covering $90^{\circ}$ of two theta angles simultaneously with good signal to noise ratio. It significantly reduced the data collection time for each scan, giving us a great advantage in studying the phase transition in real time. The two theta angles of all the XRD spectra presented in this paper have been recalculated and converted to corresponding angles for ${\lambda}=1.54\;{\AA}$, which is the wavelength of conventional x-ray tube source with Cu-$k{\alpha}$ radiation, for easy comparison with data in other literatures. The structural changes of the composite cathode made by mixing spinel $LiMn_2O_4$ and layered $Li-Ni_{1/3}Co_{1/3}Mn_{1/3}O_2$ in 1 : 1 wt% in both Li-half and Li-ion cells during charge/discharge are studied by in situ XRD. During the first charge up to ~5.2 V vs. $Li/Li^+$, the in situ XRD spectra for the composite cathode in the Li-half cell track the structural changes of each component. At the early stage of charge, the lithium extraction takes place in the $LiNi_{1/3}Co_{1/3}Mn_{1/3}O_2$ component only. When the cell voltage reaches at ~4.0 V vs. $Li/Li^+$, lithium extraction from the spinel $LiMn_2O_4$ component starts and becomes the major contributor for the cell capacity due to the higher rate capability of $LiMn_2O_4$. When the voltage passed 4.3 V, the major structural changes are from the $LiNi_{1/3}Co_{1/3}Mn_{1/3}O_2$ component, while the $LiMn_2O_4$ component is almost unchanged. In the Li-ion cell using a MCMB anode and a composite cathode cycled between 2.5 V and 4.2 V, the structural changes are dominated by the spinel $LiMn_2O_4$ component, with much less changes in the layered $LiNi_{1/3}Co_{1/3}Mn_{1/3}O_2$ component, comparing with the Li-half cell results. These results give us valuable information about the structural changes relating to the contributions of each individual component to the cell capacity at certain charge/discharge state, which are helpful in designing and optimizing the composite cathode using spinel- and layered-type materials for Li-ion battery research. More detailed discussion will be presented at the meeting.

• The KIPS Transactions:PartB
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• v.16B no.4
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• pp.299-308
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• 2009

AAM(Active Appearance Model) is an algorithm to extract face feature points with statistical models of shape and texture information based on PCA(Principal Component Analysis). This method is widely used for face recognition, face modeling and expression recognition. However, the detection performance of AAM algorithm is sensitive to initial value and the AAM method has the problem that detection error is increased when an input image is quite different from training data. Especially, the algorithm shows high accuracy in case of closed lips but the detection error is increased in case of opened lips and deformed lips according to the facial expression of user. To solve these problems, we propose the improved AAM algorithm using lip feature points which is extracted based on a new lip detection algorithm. In this paper, we select a searching region based on the face feature points which are detected by AAM algorithm. And lip corner points are extracted by using Canny edge detection and histogram projection method in the selected searching region. Then, lip region is accurately detected by combining color and edge information of lip in the searching region which is adjusted based on the position of the detected lip corners. Based on that, the accuracy and processing speed of lip detection are improved. Experimental results showed that the RMS(Root Mean Square) error of the proposed method was reduced as much as 4.21 pixels compared to that only using AAM algorithm.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.46 no.2
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• pp.61-71
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• 2009

In this paper, we propose a low-cost and compact motion capture system which enables to play motion games in PS2(Play Station 2). Recently, motion capture systems which are being used as a part in film producing and making games are too expensive and enormous systems. Now days, motion games using common USB camera are slow and have two-dimension recognition. But PSD sensor has a few good points, such as fast and low-cost. In recently year, 3D motion capture systems using 2D PSD (Position Sensitive Detector) optic sensor for motion capturing have been developed. One is Multi-PSD motion capture system applying stereo vision and another is Single-PSD motion capture system applying optical theory ship. But there are some problems to apply them to motion games. The Multi-PSD is high-cost and complicated because of using two more PSD Camera. It is so difficult to make markers having omni-direction equal intensity in Single-PSD. In this research, we propose a new theory that solves aforementioned problems. It can measure 3D coordination if separated two marker's intensity is equal to. We made a system based on this theory and experimented for performance capability. As a result, we were able to develop a motion capture system which is a single, low-cost, fast, compact, wide-angle and an adaptable motion games. The developed system is expected to be useful in animation, movies and games.

• Progress in Medical Physics
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• v.13 no.1
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• pp.37-43
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• 2002

Effect of scatter media materials and thickness, located between radioactivity and small gamma camera, on imaging characteristics was evaluated. The small gamma camera developed for breast imaging was consisted of collimator, NaI(T1) crystal(60$\times$60$\times$6 ㎣), PSPMT(position sensitive photomultimplier tube), NIMs and personal computer. Monte Carlo simulation was performed to evaluate the system sensitivity with different scatter media thickness(0~8 cm) and materials(air and acrylic) with parallel hole collimator and diverging collimator. The sensitivity and spatial resolution was measured using the small gamma camera with the same condition applied to the simulation. Counts was decreased by 10%(air) and 54%(acryl) with the parallel hole collimator and by 35%(air) and 63%(acryl) with the diverging collimator. Spatial resolution was decreased as increasing the thickness of scatter media. This study substantiate the importance of a gamma camera positioning and the minimization of the distance between detector and target lesion in the clinical application of a gamma camera.

• The Korean Journal of Nuclear Medicine
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• v.33 no.1
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• pp.100-109
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• 1999

Purpose: Preamplifier and amplifier are very important parts for developing a portable counting or imaging gamma probe. They can be used for analyzing pulses containing energy and position information for the emitted radiations. The commercial Nuclear Instrument Modules (NIMs) can be used for processing these pulses. However, it may be improper to use NIMs in developing a portable gamma probe, because of its size and high price. The purpose of this study was to develop both preamplifier and amplifier and measure their performance characteristics. Materials and Methods: The preamplifier and amplifier were designed as a charge sensitive device and a capacitor resistor-resistor capacitor (CR-RC) electronic circuit, respectively, and they were mounted on a print circuit board (PCB). We acquired and analyzed energy spectra for Tc-99m and Cs-137 using both PCB and NIMs. Multichannel analyzer (Accuspec/A, Canberra Industries Inc., Meriden Connecticut, U.S.A) and scintillation detectors (EP-047(Bicron Saint-Gobain/Norton Industrial EP-047 (Ceramics Co., Ohio, U.S.A) with $2"{\times}2"$ NaI(T1) crystal and R1535 (Hamamatsu Photonics K.K., Electron Tube Center, Shizuoka-ken, Japan) with $1"{\times}1"$ NaI(T1) crystal were used for acquiring the energy spectra. Results: Using PCB, energy resolutions of EP-047 detectors for Tc-99m and Cs-137 were 12.92% and 5.01%, respectively, whereas R1535 showed 13.75% and 5.19% of energy resolution. Using the NIM devices, energy resolutions of EP-047 detector for Tc-99m and Cs-137 were measured as 14.6% and 7.58%, respectively. However, reliable energy spectrum of R1535 detector could not be acquired, since its photomultiplier tube (PMT) requires a specific type of preamplifier. Conclusion: We developed a special preamplifier and amplifier suitable for a small sized gamma probe that showed good energy resolutions independent of PMT types. The results indicate that the PCB can be used in developing both counting and imaging gamma probe.