• Proceedings of the Korean Society of Laser Processing Conference
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• 2006.11a
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• pp.17-20
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• 2006

In the remote welding system using $CO_2$ laser, laser beam is rapidly deflected by moving mirrors of scanner system and has focusable distance over 1000mm from workpiece. From such arrangement, various advantages and disadvantages arise. Remote welding is a highly efficient laser process. As the mirrors of the scanner system allow positioning speeds exceeding 700m/s, it becomes possible to reduce the welding cycle time. On the other hand, as there no the provision of shielding gas which is normally required for beam powers exceeding 3kW, may become difficult task. Therefore, In this study, the influence of the various penetration of back bead by the different laser welding speed on the weld seam formation without shielding gas was investigated.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.9
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• pp.887-893
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• 2009

In this paper, a mask-panel alignment robot system is considered for IT industry applications. Two kinds of solutions are suggested which are required in constructing a control system for the alignment robot with actuation redundancy. First, the kinematic solution for the 4PPR parallel positioning mechanism is formulated for an arbitrary initial posture, which relates the mask-panel misalignment in the task space and the desired actuator displacements in the joint space. Secondly, in order to increase the stiffness of the control motion and also to avoid the mechanical lock which may happen due to the redundant actuation, a new synchronous control method is proposed which has the merit of coordinating joint control motions while not losing individual joint control performance. In addition, the engineering process to develop a visual alignment robot system is described with the results of experimental setup and GUI software. Finally, the experimental results demonstrate the effectiveness of the proposed alignment system control methodology and how much beneficial it will be in real industrial applications.

• Journal of The Korea Institute of Healthcare Architecture
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• v.16 no.2
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• pp.47-54
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• 2010

This paper is a longitudinal study, comparing survey results between two time periods. A previous survey was conducted in 1999. After 10 years of the first survey, the second survey was conducted while utilizing the same questionnaire. A list of membership of Korea Institute of Heallthcare Architecture was used as a sampling frame. At the first survey in 1999, questionnaires of 27.3 percentage were returned, and 15.5 percentage in the 2008 survey. Healthcare design is one of the highly specialized design types in architecture. In addition, it is demanded highly specialized knowledge to solve healthcare design problems. As a professional service firm(PSF), architectural firm utilizes knowledge assets to provide design service to clients. Specialized knowledge in question is one of the core assets of PSF. The knowledge generates competitive advantages and plays an effective role as a marketing tool for PSF. However, empirical studies dealing with the knowledge characteristics of specialized design(healthcare) firms were hardly found. Thus, this study aims to trace the professional architects' perception of knowledge demands for task performance and architectural knowledge assets. The results can be used as a reference when a specialized firm in healthcare design initiates to build knowledge assets in it.

• Science of Emotion and Sensibility
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• v.22 no.4
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• pp.75-84
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• 2019

Addicts pay more attention to addiction-related cues, such as substance or behavior. And increased attention to these cues is associated with craving. Methamphetamine is the most abused drug among domestic drug offenders, with continually increasing rates of recidivism. Of the total number of reported drug offenders in the last three years, 21.1 percent have been women. Even so, research on female drug offenders is inadequate, rendering policies and fundamental data for the development of psychotherapy programs insufficient. The present study intended to investigate whether female methamphetamine addicts displayed an attention bias towards drug cues. A dot probe task was conducted on 22 female methamphetamine addicts (addiction group) and 22 non-addicts (control group). The task allowed the correct response rates and correct reaction times of the participants to be calculated according to the positioning of the drug and neutral cues. The analysis results revealed that the control group displayed no difference in correct reaction rates and correct reaction times between the drug or neutral cues. While, the addiction group showed lower correct response rate and slower response time for drug cues in comparison to neutral cues. The results of this study are significant in that it identified the attention bias characteristics toward drug cues of female methamphetamine addicts who were disconnected from drugs.

• Progress in Medical Physics
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• v.19 no.3
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• pp.164-171
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• 2008

One of the most important task in commissioning intensity modulated radiotherapy (IMRT) into a clinic is the characterization of dosimetry performance under small monitor unit delivery conditions. In this study, method of evaluating dose monitor linearity, beam flatness and symmetry, and MLC positioning accuracy using a diode array is investigated. Siemens Primus linear accelerator (LA) with 6 and 10 MV x-rays was used to deliver radiation and the characteristics were measured using a multi array diodes. Monitor unit stabilities were measured for both x-ray energies. The dose linearity errors for the 6 MV x-ray were 2.1, 3.4, 6.9, 8.6, and 15.4 % when 20 MU, 10 MU, 5 MU, 4 MU, and 2 MU was delivered, respectively. Greater errors were observed for 10 MV x-rays with a maximum of 22% when 2 MU was delivered. These errors were corrected by adjusting D1_C0 values and reduced to less than 2% in all cases. The beam flatness and symmetry were appropriate without any correction. The picket fence test performed using diode array and film measurement showed similar results. The use of diode array is a convenient method in characterizing beam stability, symmetry and flatness, and positioning accuracy of MLC for IMRT commissioning. In addition, adjustment of D1-C0 value must be performed when a Siemens LA is used for IMRT because factory value usually gives unacceptable beam stability error when the MU/segment is smaller than 20.

• Proceedings of the Korean Society of Near Infrared Spectroscopy Conference
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• 2001.06a
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• pp.1210-1210
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• 2001

On farm analysis of protein, moisture and oil in cereals and oil seeds is quickly being adopted by Australian farmers. The benefits of being able to measure protein and oil in grains and oil seeds are several : $\square$ Optimize crop payments $\square$ Monitor effects of fertilization $\square$ Blend on farm to meet market requirements $\square$ Off farm marketing - sell crop with load by load analysis However farmers are not NIR spectroscopists and the process of calibrating instruments has to the duty of the supplier. With the potential number of On Farm analyser being in the thousands, then the task of calibrating each instrument would be impossible, let alone the problems encountered with updating calibrations from season to season. As such, NIR technology Australia has developed a mechanism for \ulcorner\ulcorner\ulcorner their range of Cropscan 2000G NIR analysers so that a single calibration can be transferred from the master instrument to every slave instrument. Whole grain analysis has been developed over the last 10 years using Near Infrared Transmission through a sample of grain with a pathlength varying from 5-30mm. A continuous spectrum from 800-1100nm is the optimal wavelength coverage fro these applications and a grating based spectrophotometer has proven to provide the best means of producing this spectrum. The most important aspect of standardizing NIB instruments is to duplicate the spectral information. The task is to align spectrum from the slave instruments to the master instrument in terms of wavelength positioning and then to adjust the spectral response at each wavelength in order that the slave instruments mimic the master instrument. The Cropscan 2000G and 2000B Whole Grain Analyser use flat field spectrographs to produce a spectrum from 720-1100nm and a silicon photodiode array detector to collect the spectrum at approximately 10nm intervals. The concave holographic gratings used in the flat field spectrographs are produced by a process of photo lithography. As such each grating is an exact replica of the original. To align wavelengths in these instruments, NIR wheat sample scanned on the master and the slave instruments provides three check points in the spectrum to make a more exact alignment. Once the wavelengths are matched then many samples of wheat, approximately 10, exhibiting absorbances from 2 to 4.5 Abu, are scanned on the master and then on each slave. Using a simple linear regression technique, a slope and bias adjustment is made for each pixel of the detector. This process corrects the spectral response at each wavelength so that the slave instruments produce the same spectra as the master instrument. It is important to use as broad a range of absorbances in the samples so that a good slope and bias estimate can be calculated. These Slope and Bias (S'||'&'||'B) factors are then downloaded into the slave instruments. Calibrations developed on the master instrument can then be downloaded onto the slave instruments and perform similarly to the master instrument. The data shown in this paper illustrates the process of calculating these S'||'&'||'B factors and the transfer of calibrations for wheat, barley and sorghum between several instruments.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.875-881
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• 2014

The redundancy resolution of the seven DOF (Degree of Freedom) upper limb exoskeleton is key to the synchronous motion between a robot and a human user. According to the seven DOF human arm model, positioning and orientating the wrist can be completed by multiple arm configurations that results in the non-unique solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and its effect on the redundancy resolution of the seven DOF human arm model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing two cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid of the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each of two consecutive points along the task space trajectory. The contribution of each criterion on the redundancy was verified by the post processing of experimental data collected with a motion capture system. Results indicate that the bimodal redundancy resolution approach improved the accuracy of the predicted swivel angle. Statistical testing of the dynamic constraint contribution shows that under moderate speeds and no load, the dynamic component of the human arm is not dominant, and it is enough to resolve the redundancy without dynamic constraint for the realtime application.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.700-710
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• 2009

A computer vision technique of estimating the location of an unmanned ground vehicle is proposed. Identifying the location of the unmaned vehicle is very important task for automatic navigation of the vehicle. Conventional positioning sensors may fail to work properly in some real situations due to internal and external interferences. Given a DSM(Digital Surface Map), location of the vehicle can be estimated by the registration of the DSM and multiview range images obtained at the vehicle. Registration of the DSM and range images yields the 3D transformation from the coordinates of the range sensor to the reference coordinates of the DSM. To estimate the vehicle position, we first register a range image to the DSM coarsely and then refine the result. For coarse registration, we employ a fast random sample matching method. After the initial position is estimated and refined, all subsequent range images are registered by applying a pair-wise registration technique between range images. To reduce the accumulation error of pair-wise registration, we periodically refine the registration between range images and the DSM. Virtual environment is established to perform several experiments using a virtual vehicle. Range images are created based on the DSM by modeling a real 3D sensor. The vehicle moves along three different path while acquiring range images. Experimental results show that registration error is about under 1.3m in average.

• Journal of the Institute of Convergence Signal Processing
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• v.13 no.1
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• pp.1-5
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• 2012

In this study, we constructed a virtual auditory display(VAD) that enables listener to move in a room freely. The VAD system was installed in a soundproof room($4.7m(W){\times}2.8m(D){\times}3.0m(H)$). The system consisted of a personal computer, a sound presentation device, and a three-dimensional ultrasound sensor system. This system acquires listener's location and position from a three-dimension ultrasonic sensor system covering the entire room. Localization was realized by convolving the sound source with head related transfer functions(HRTFs) on personal computer(PC). The calculated result is generated through a LADOMi(Localization Auditory Display with Opened ear-canal for Mixed Reality). The HRTFs used in the experiment were measured for each listener with loudspeakers constantly 1.5m away from the center of the listener' s head in an anechoic room. To evaluate the system performance, we experimented a search task of a sound source position in the condition that the listener is able to move all around the room freely. As a result, the positioning error of presented sound source was within 30cm in average for all listeners.

• Journal of the Korea Society of Computer and Information
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• v.10 no.3 s.35
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• pp.173-182
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• 2005

In this paper, we propose a landmark recognition method which is irrelevant to the camera viewpoint on the navigation for localization. Features in previous research is variable to camera viewpoint, therefore due to the wealth of information, extraction of visual landmarks for positioning is not an easy task. The proposed method in this paper, has the three following stages; first, extraction of features, second, learning and recognition, third, matching. In the feature extraction stage, we set the interest areas of the image. where we extract the corner points. And then, we extract features more accurate and resistant to noise through statistical analysis of a small eigenvalue. In learning and recognition stage, we form robust feature models by testing whether the feature model consisted of five corner points is an invariant feature irrelevant to viewpoint. In the matching stage, we reduce time complexity and find correspondence accurately by matching method using similarity evaluation function and Graham search method. In the experiments, we compare and analyse the proposed method with existing methods by using various indoor images to demonstrate the superiority of the proposed methods.