• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.720-727
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• 2009

This paper proposes a new integrated navigation system for a mobile robot in indoor environments. This system consists of five frameworks which are classified by function. This architecture can make the navigation system scalable and flexible. The robot can recover from exceptional situations, such as environmental changes, failure of entering the narrow path, and path occupation by moving objects, using the exception recovery framework. The environmental change can be dealt with using the probabilistic approach, and the problems with the narrow path and path occupation are solved using the ray casting algorithm and the Bayesian update rule. The proposed navigation system was successfully applied to several robots and operated in various environments. Experimental results showed good performance in that the exception recovery framework significantly increased the success rate of navigation. The system architecture proposed in this paper can reduce the time for developing robot applications through its reusability and changeability.

• The Journal of Natural Sciences
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• v.8 no.2
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• pp.101-109
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• 1996

In this paper, using the derived formula based on field theory both geometrical optics and diffraction theory, several features of same buildings of Bertoni's construction that influence the propagation of signals between antennas located on the same floor have been investigated theoretically and compared with previously studied results.

• Nuclear Engineering and Technology
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• v.56 no.7
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• pp.2570-2575
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• 2024

The study aims to develop a novel, lead-free, flexible and lightweight composite shielding material against ionizing radiation. For this, it was used bismuth oxide (Bi₂O₃) in RTV-2 silicon matrix. The shielding tests were carried out in both diagnostic X-ray energies and intermediate gamma-ray energy range of up to 662 keV to determine the radiation attenuation properties of this material in terms of attenuation ratio, half value layer, tenth value layer, mean free path and lead equivalency of samples in weight of 30%, 40%, 50% in Bi₂O₃. In the diagnostic X-ray energy range, half value layer, tenth value layer and lead equivalency (in mm Pb) of the produced samples were measured at 80 and 100 kVp narrow beam conditions according to the requirements of EN IEC 61331-1 standard. The results show that lead equivalent values of the produced novel sheets was measured to be 0.16 mm Pb, corresponding to a 6 mm thickness of the flexible sample when it contains 30% wt. Bi₂O₃ in RTV matrix. The experimental findings for durability and flexibility also indicated that this new RTV-based flexible, lead -free shielding composite can be used safely for especially for manufacturing aprons, garments and thyroid guards used in mammography, radiology, nuclear medicine and dental applications in practice.

• Journal of Korean Elementary Science Education
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• v.32 no.4
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• pp.527-534
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• 2013

This study investigated elementary school teachers' understanding of the image formation by converging lens, pinholes camera, mirror and water. In each case teachers were asked to draw the ray diagram to indicate the position of the image. Teachers' ray diagrams were analyzed in accordance with the scientific process of image formation. Results of analysis showed that teacher's conceptions were classified into five levels for each situation. And most of the teachers were in level 3 and level 4 in each case. Because they had difficulties in the appling scientific conception(propagating path of light, diffused reflection from each object point, role of the eye, ray tracing) to finding location of image. Also most of teachers didn't know how to apply the law of reflection and refraction to each situation. The study finally discussed the teacher training program of the optical image.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.21 no.2
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• pp.179-187
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• 2010

The use of high frequency band, broad band and MIMO antenna is expected in the next generation mobile communication system. By the rapid increase of demand for wireless communications and the explosive increase of the mobile communication services, researches for optimization of next-generation mobile communication system are required. In the existing MIMO channel models, propagation-environments are commonly classified into urban, suburban, rural area, etc. However such approaches can have drawbacks in that many different morphologies may exist even in the urban area, for example. In this paper, we introduced path morphology concept, and proposed the method of morphology classification considering the building height, density, etc. Delay spread(DS), angular spread(AS) of AoD and AoA analyzed for each environment using the ray tracing technique. Based on the analysis, a MIMO channel model appropriate in domestic environment was suggested.

• Journal of the Korean Society for Nondestructive Testing
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• v.27 no.3
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• pp.231-238
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• 2007

Ultrasonic inspection of austenitic steel weldments is a truly difficult task due to complicated wave propagation phenomena such as beam skewing, splitting and distortion. In order to understand these phenomena and design proper inspection procedures, simulation is increasingly paid more attention to. This article addresses a ray tracing based approach to determine incident angle and position of optimal wave mode ultrasonic beam for flaw detection in anisotropic and inhomogeneous austenitic steel weldments. Specially, the optimal mode of ultrasonic wave wave is selected by ray tracing simulation, and an optimization approach based on ray tracing and bi-section search is proposed in order to find the ray path connecting two given points in weldments. With help of this approach, the optimal incident angle and position of ultrasonic beam can be determined for a given flaw position.

• The Korean Journal of Emergency Medical Services
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• v.9 no.1
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• pp.15-23
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• 2005

The purpose of this study is to analyze the propriety of portable digital X-ray Equipment for Emergency Medical Services in Daejon Emergency Medical Center in Korea. The major instruments of this study were Korean Self-Analysis Opinionnaire, Questionnaire contains 35 items which measure emergency medical personal opnions. To take the analysis of data, the total of 92 persons were investigated in Medical Information Center in Daejon Metropolitan City from 2005. 20. April to 2004. 25. May. The data were analyzed by the path analysis SPSS program. First, portable X-RAY equipment is needed to apply it to emergency. Second, it should have small and light structure compared with old equipments and have high voltage generator unit for X-RAY using inverter. Third, it should be able to send the shot data that is digital detector type without film to doctors in emergency center.

• Journal of electromagnetic engineering and science
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• v.10 no.4
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• pp.290-295
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• 2010

In this paper, an interference analysis method with a site-specific path loss model for a wireless personal area network (WPAN) is proposed. The site-specific path loss model is based on geometrical optics and geometric probability to consider both site-specific radio propagation characteristics and a closed-form expression to obtain the mean interference from which the uniformly distributed multiple interferers are derived. Therefore, the proposed interference analysis method can achieve more computational simplicity than the Monte-Carlo (MC) simulation, which uses the ray-tracing (RT) technique. In addition, better accuracy than the conventional interference analysis model that uses stochastic method can also be achieved. To evaluate the proposed method, a signal to the interference-noise ratio with a mean interference concept for uniformly distributed interferers is calculated and compared in two simulation scenarios. As a result, the proposed method produces not only better matched results with the MC simulation using the RT technique than the conventional interference analysis model, but also simpler and faster calculation, which is due to the site-specific path loss model and closed-form expression for interference calculation.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.11
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• pp.1-8
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• 1997

A prediction model is proposed to describe the path loss in propagation environment of indoor microcell. This model includes the lineal corridor for line--of-sight(LOS) and T-shaped corridor for non-line-of-sight(NLOS). In computation of receiving power the ray tracing technique based on image method is utilized and also reflected waves bounced on the walls and ceilings are considered. To check validity of the computed resuls cross checks between the predicted and measured are being made, which shows a close agreement for LOS case whereas somewhat disagreement for NLOS case. UTD technique is incorporated with propagation path determination algorithm in the treatment of NLOS case.

• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.117-124
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• 2006

In this paper, we develope the navigation system for patrol robots in indoor environment. The proposed system consists of PDA map modelling, a localization algorithm based on a global position sensor and an automatic charging station. For the practical use in security system, the PDA is used to build object map on the given indoor map. And the builded map is downloaded to the mobile robot and used in path planning. The global path planning is performed with a localization sensor and the downloaded map. As a main controller, we use PXA270 based hardware platform in which embedded linux 2.6 is developed. Data handling for various sensors and the localization algorithm are performed in the linux platform. Also, we implemented a local path planning algorithm for object avoidance with ultra sonar sensors. Finally, for the automatic charging, we use an infrared ray system and develop a docking algorithm. The navigation system is experimented with the two-wheeled mobile robot using North-Star localization system.