• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.12
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• pp.1911-1919
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• 2012

In this paper, we focus on a robotic sealing process in which three robots are used. Each robot can be considered as a 7 axis redundant robot of which the first joint is prismatic and the last 6 joints are revolute. In the factory floor, robot path planning is not a simple problem and is not automated. They need experienced operators who can operate robots by teaching and playing back fashion. However, the robotic sealing process is well organized so the relative positions and orientations of the objects in the floor and robot paths are all pre-determined. Therefore by adopting robotic theory, we can optimally plan robot pathes without using teaching. In this paper, we analyze the sealing robot by using redundant manipulator theory and propose three different methods for path planning. For sealing paths outside of a car body, we propose two methods. The first one is resolving redundancy by using pseudo-inverse of Jacobian and the second one is by using weighted pseudo-inverse of Jacobian. The former is optimal in the sense of energy and the latter is optimal in the sense of manipulability. For sealing paths inside of a car body, we must consider collision avoidance so we propose a performance index for that purpose and a method for optimizing that performance index. We show by simulation that the proposed method can avoid collision with faithfully following the given end effector path.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2017.05a
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• pp.364-366
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• 2017

Unlike general ships, offshore plants require high reliability due to their long operating time at fixed positions when they are operated. Sensor-based status information is required for user and maintenance worker to ensure safety. In this paper, we propose a monitoring system for safety diagnosis and inspection of cargo lift for offshore plant. It consists of a sensor unit mounted on the cargo Lift, an embedded system measurement unit, and a monitoring unit for real-time data verification. It is based on the ship standard network IEC 61162-450 for the exchange of operating information and sensor measurement information in accordance with the upgrading and integration of equipment in maritime.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2017.05a
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• pp.339-342
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• 2017

Geometric transform of an image is used to image correction. Ridid-Body, Simlilary transform, etc, many correction methods are exist in computer vision. Image warping is used to correction for image with perspective. To image warping I extracted 4 feature point about warping position. But It is difficult to extract 4 points accurately and warping result with these point is occurs error over 3 or 4 pixel at warping position. So I used template matching to extract 4 points correctly and selected repeatedly 2 points of 4 points because to confirm result correctly. positions of 2 points are changed in near of 3 by 3 pixel and warped each change. So I selected optimal 4 points with a error of less than 1 pixel and finally, warped image using optimal points. For this way is possible to obtain optimum result.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.8B
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• pp.695-705
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• 2012

Due to recent advances in wireless devices and the automotive industry, Vehicular Ad hoc Networks (VANETs) have emerged as a very promising technology for transferring data collected on the road by moving cars. The delivered data may contain emergency information which affects the safety of passengers and drivers as well as the traffic congestion, and the routing protocols have thus a significant impact on the performance of VANETs. In this paper, we study the impact of movement direction of the participating cars which forward data packets on the performance of data delivery and present a new approach which extends the contention-based forwarding (CBF). The proposed reliable CBF (R-CBF) increases the reliability of data deliver on the traffic lights installed roads and reduces the overall propagation delay without routing loops or interruption of data forwarding that may be caused by changes of relative positions of involving cars in routing. Simulation demonstrates that the R-CBF diminishes propagation delay by 38% in comparison to G-SRMB which forwards data to moving cars in the backward direction and eliminates unnecessary retransmissions.

• The KIPS Transactions:PartB
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• v.16B no.6
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• pp.451-462
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• 2009

The spread of satellite image increases various services using it. Especially, 3D visualization services of the whole earth such as $Google\;Earth^{TM}$ and $Virtual\;Earth^{TM}$ or 3D GIS services for several cities provide realistic geometry information of buildings and terrain of wide areas. These service can be used in the various fields such as urban planning, improvement of roads, entertainment, military simulation and emergency response. The research about extracting the building and terrain information effectively from the high-resolution satellite image is required. In this paper, presents a system for effective extraction of the building model from a single high-resolution satellite image, after examine requirements for building model extraction. The proposed system utilizes geometric features of satellite image and the geometric relationship among the building, the shadow of the building, the positions of the sun and the satellite to minimize user interaction. Finally, after extracting the 3D building, the fact that effective extraction of the model from single high-resolution satellite will be show.

• The KIPS Transactions:PartB
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• v.15B no.6
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• pp.517-526
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• 2008

Stereo vision is a fundamental method for measuring 3D structures by observing them from two cameras placed on different positions. In order to reconstruct 3D structures, it is necessary to create a disparity map from a pair of stereo images. To create a disparity map we compute the matching cost for each point correspondence and compute the disparity that minimizes the sum of the whole matching costs. In this paper, we propose a method to estimate a dense disparity map using region segmentation. We segment each scanline using region homogeneity properties. Using the segmented regions, we prohibit false matches in the stereo matching process. Disparities for pixels that failed in matching are filled by interpolating neighborhood disparities. We applied the proposed method to various stereo images of real environments. Experimental results showed that the proposed method is stable and potentially viable in practical applications.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.19 no.5
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• pp.461-466
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• 2006

To investigate the ZnO thin films which are interested in the next generation of short wavelength LEDs and Lasers, the ZnO thin films were deposited by RF sputtering system. At sputtering process of ZnO thin films, substrate temperature, work pressure respectively is $100^{\circ}C$ and 15 mTorr, and the purity of target is ZnO 5 N. The ZnO thin films were in-situ annealed at $600^{\circ}C$ in $O_2$ atmosphere. The thickness of ZnO thin films has implemented about $1.6{\mu}m$ at SEM analysis after in-situ annealing process. We have investigated the crystal structure of substrates, and so structural properties of ZnO thin films has estimate by using XRD, FWHM, FE-SEM and AFM. XRD and FE-SEM showed that ZnO thin films grown on substrates had a c-axis preferential orientation in the [0001] crystal direction. XPS spectra showed that ZnO thin film was showed a peak positions corresponding to the O1s and the Zn2p. As form above XPS, we showed that the atom ratio of Zn:O related 1:1.1504 on ZnO thin film, so we could obtained useful information for p-type ZnO thin film.

• Bulletin of the Korean Chemical Society
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• v.26 no.6
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• pp.892-898
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• 2005

A long, bis(monodentate), linking Schiff-base ligand L (py-CH=N-$C_6H_4$-N=CH-py) was prepared from 1,4-phenylenediamine and 3-pyridinecarboxaldehyde by the Schiff-base condensation. Ligand L has two terminal pyridyl groups capable of coordinating to metals through their nitrogen atoms. In contrast, the same reaction between 1,2-phenylenediamine and 3-pyridinecarboxaldehyde produced a mixture of imidazol isomers (2-pyridin-3-yl-1H-benzoimidazole), which are connected to one another by the N-H…N hydrogen bonding to form a tetramer. From Zn($NO_3)_2{\cdot}6H_2O$ and ligand L under various conditions, one discrete molecule, trans- [Zn($H_2O)_4L_2]{\cdot}(NO_3)_2{\cdot}(MeOH)_2$, and two 1-D zinc polymers, [Zn$(NO_3)(H_2O)_2(L)]{\cdot}(NO_3){\cdot}(H_2O)_2$ and [Zn(L) (OBC)($H_2O$)], were prepared. In ligand L, the N$\ldots$N separation between the terminal pyridyl groups is 13.994 $\AA$, with their nitrogen atoms at the meta positions (3,3’) in a trans manner. The corresponding N$\ldots$N separations in its compounds range from 13.853 to 14.754 $\AA$.

• Bulletin of the Korean Chemical Society
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• v.24 no.10
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• pp.1478-1484
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• 2003

CRAMP was identified from a cDNA clone derived from a mouse femoral marrow cells as a member of cathelicidin-derived antimicrobial peptide. Tertiary structure of CRAMP in TFE/$H_2O$ (1 : 1, v/v) solution has been determined by NMR spectroscopy previously and consists of two amphipathic $\alpha-helices$ from Leu4 to Lys10 and from Gly16 to Leu33. These two helices are connected by a flexible region from Gly11 to Gly16. Analysis of series of fragments composed of various portion of CRAMP revealed that an 18-residue fragment with the sequence from Gly16 to Leu33 (CRAMP-18) was found to retain antibacterial activity without cytotoxicity. The effects of two Phe residues at positions 14 and 15 of CRAMP-18 on structure, antibacterial activity, and interaction with lipid membranes were investigated by $Phe^{14,15}$ ${\rightarrow}$ Ala substitution (CRAMP-18-A) in the present study. Substitution of Phe with Ala in CRAMP-18 caused a significant reduction on antibacterial and membrane-disrupting activities. Tertiary structures of CRAMP-18 in 50% TFE/$H_2O$ (1 : 1, v : v) solution shows amphipathic ${\alpha}$-helix, from $Glu^2{\;}to{\;}Leu^{18}$, while CRAMP-18-A has relatively short amphipathic ${\alpha}$-helix from $Leu^4{\;}to{\;}Ala^{15}$. These results suggest that the hydrophobic property of $Phe^{14}{\;}and{\;}Phe^15$ in CRAMP-18 is essential for its antibacterial activity, ${\alpha}$-helical structure, and interactions with phospholipid membranes.

• Journal of the Korean Chemical Society
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• v.39 no.6
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• pp.453-458
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• 1995

We have applied Pb2+ to the structural analysis of 5S rRNA from Pseudomonas alcaligenes. The mode of Pb2+-induced clevage on 5S rRNA has shown several specific features which may be utilized for the examination of tertiary structure of 5S rRNA: Pb2+ does not attack the stable helical stems; single stranded regions or bulges are attacked in variable susceptibilities depending on the positions of the sequences or the bases on the molecule; unstable helical region d is not attacked at all; only 3' sided strand of unstable helical stem C is weakly attacked, leaving 5' sided strand unattacked. Based on the Pb2+ cleavage properties and the structural analysis of Xanthomonas celebensis 5S rRNA, we have proposed a working hypothesis for the tertiary interactions in 5S rRNA.