• Journal of Information Processing Systems
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• v.11 no.3
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• pp.370-388
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• 2015

The localization of multi-agents, such as people, animals, or robots, is a requirement to accomplish several tasks. Especially in the case of multi-robotic applications, localization is the process for determining the positions of robots and targets in an unknown environment. Many sensors like GPS, lasers, and cameras are utilized in the localization process. However, these sensors produce a large amount of computational resources to process complex algorithms, because the process requires environmental mapping. Currently, combination multi-robots or swarm robots and sensor networks, as mobile sensor nodes have been widely available in indoor and outdoor environments. They allow for a type of efficient global localization that demands a relatively low amount of computational resources and for the independence of specific environmental features. However, the inherent instability in the wireless signal does not allow for it to be directly used for very accurate position estimations and making difficulty associated with conducting the localization processes of swarm robotics system. Furthermore, these swarm systems are usually highly decentralized, which makes it hard to synthesize and access global maps, it can be decrease its flexibility. In this paper, a simple pyramid RAM-based Neural Network architecture is proposed to improve the localization process of mobile sensor nodes in indoor environments. Our approach uses the capabilities of learning and generalization to reduce the effect of incorrect information and increases the accuracy of the agent's position. The results show that by using simple pyramid RAM-base Neural Network approach, produces low computational resources, a fast response for processing every changing in environmental situation and mobile sensor nodes have the ability to finish several tasks especially in localization processes in real time.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.3
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• pp.311-317
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• 2010

In the paper, we propose an improved mobility method of modular robots by physical docking in the uneven environments. The modular robot system consists of autonomous docking device, 3 DOF robotic arm, motion controller, and main controller. Real-time location and direction of the robot are estimated using inner GPS and they are used to control direction and path of each robot for physical docking between modular robots. We design a navigation algorithm of modular robot using physical docking and cooperative navigation in the environment with broken road and low stair. The proposed method is verified by navigation experiments of three developed modular robots in the uneven environments.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.10a
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• pp.276-279
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• 2009

Is introducing ship automation system for the safety of ship and work environment mend recently. Is endeavoring for sea safety and fire at sea prevention solidifying control of standard technology and safety supervision aspect in IMO but sea accident and ship fire are happening continuously. Because using Robot in artistic talent of ship in this treatise, studied that correspond to Risk and manage. Attach fire perception sensor for Robot's Risk confrontation, and because using infrared rays sensor, TOUCH SWITCH, sound perception sensor, gas perception sensor, light perception sensor that is threaded in Robot and is achieved, controlled Robot, and establish Low-High value the speed of sound output use and DC MOTOR and COM SEN of when indicate Risk confrontation to Robot and establish Robot's Risk confrontation administration action.

• Korean Journal of Remote Sensing
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• v.37 no.5_1
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• pp.1095-1109
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• 2021

The technology used to recognize the location and surroundings of autonomous vehicles is called SLAM. SLAM standsfor Simultaneously Localization and Mapping and hasrecently been actively utilized in research on autonomous vehicles,starting with robotic research. Expensive GPS, INS, LiDAR, RADAR, and Wheel Odometry allow precise magnetic positioning and mapping in centimeters. However, if it can secure similar accuracy as using cheaper Cameras and GPS data, it will contribute to advancing the era of autonomous driving. In this paper, we present a method for converging monocular camera with RTK-enabled GPS data to perform RMSE 33.7 cm localization and mapping on the urban road.

• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.5
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• pp.941-946
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• 2021

This paper is a study on the design and implementation of a rehabilitation wearable robotic hand that reduces weight and volume by using a 3D printer and a motor. Rehabilitation wearable robots are important not only for the effect of rehabilitation but also for ease of use. However, most of the currently researched and developed rehabilitation exoskeleton robots are heavy in volume and weight, or they have to be used in place. Therefore, a wearable robot that is easy to wear and does not burden the user is required, so a lightweight electric rehabilitation wearable robot hand is proposed. A 3D printer was used to reduce the weight and volume and to make it easier to wear. In addition, to increase portability, the structure was simplified by adopting an electric method rather than a pneumatic method. Finally, the effectiveness was examined through the experiment of the lightweight electric rehabilitation wearable robot hand.

• Korean Journal of Construction Engineering and Management
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• v.17 no.3
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• pp.32-42
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• 2016

In Korea, the absence of BIM use in existing civil structures and buildings is driving a demand for as-built BIM. As-built BIMs are often created using laser scanners that provide dense 3D point cloud data. Conventional static laser scanning approaches often suffer from limitations in their operability due to the difficulties in moving the equipment, the selection of scanning location, and the requirement of placing targets or extracting tie points for registration of each scanned point cloud. This paper aims at reducing the manual effort using a kinematic 3D laser scanning system based on graph-based simultaneous localization and mapping (SLAM) for continuous indoor mapping. The robotic platform carries three 2D laser scanners: the front scanner is mounted horizontally to compute the robot's trajectory and to build the SLAM graph; the other two scanners are mounted vertically to scan the profiles of surrounding environments. To reduce the accumulated error in the trajectory of the platform through loop closures, the graph-based SLAM system incorporates AdaBoost loop closure approach, which is particularly suitable for the developed multi-scanner system providing more features than the single-scanner system for training. We implemented the proposed method and evaluated it in two indoor test sites. Our experimental results show that the false positive rate was reduced by 13.6% and 7.9% for the two dataset. Finally, the 2D and 3D mapping results of the two test sites confirmed the effectiveness of the proposed graph-based SLAM.

• Journal of Bio-Environment Control
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• v.7 no.3
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• pp.226-236
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• 1998

If the lowest leaves of the cucumber were removed or training cultivable method was changed, a computer vision system could divide well the cucumber fruit from the others, and also an end-effector could reach and grip cucumber fruit and cut well its fruit stalk. Therefore, this study investigated whether removal leaves and training cultivable method of a cucumber could affect its growth and yield. They can help to be designed the vision system and the end-effector. A cucumber fruit grew by 6-l5cm long for 2 days regardless of removing leaves. Removal leaves didn't affect growth of cucumber fruit. Number of cucumber fruit was produced within 10% different values by three methods (A, B, C) of removal leaves. The first grade rate (best quality) of 4 B and C was 56.7%, 53.1%, 56.3% respectively. Consequently, proper removal leaves were better than traditional way, which does not remove a leaf, because they make cucumber plant ventilate more freely and absorb more light.

• Proceedings of the Korean Society of Toxicology Conference
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• 2006.11a
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• pp.65-74
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• 2006

Modem drug discovery requires rapid pharmacokinetic evaluation of chemically diverse compounds for early candidate selection. This demands the development of analytical methods that offer high-throughput of samples. Naturally, liquid chromatography / tandem mass spectrometry (LC-MS/MS) is choice of the analytical method because of its superior sensitivity and selectivity. As a result of the short analysis time(typically 3-5min) by LC-MS/MS, sample preparation has become the rate- determining step in the whole analytical cycle. Consequently tremendous efforts are being made to speed up and automate this step. In a typical automated 96-well SPE(solid-phase extraction) procedure, plasma samples are transferred to the 96-well SPE plate, internal standard and aqueous buffer solutions are added and then vacuum is applied using the robotic liquid handling system. It takes only 20-90 min to process 96 samples by automated SPE and the analyst is physically occupied for only approximately 10 min. Recently, the ultra-high flow rate liquid chromatography (turbulent-flow chromatography)has sparked a huge interest for rapid and direct quantitation of drugs in plasma. There is no sample preparation except for sample aliquotting, internal standard addition and centrifugation. This type of analysis is achieved by using a small diameter column with a large particle size(30-5O ${\mu}$m) and a high flow rate, typically between 3-5 ml/min. Silica-based monolithic HPLC columns contain a novel chromatographic support in which the traditional particulate packing has been replaced with a single, continuous network (monolith) of pcrous silica. The main advantage of such a network is decreased backpressure due to macropores (2 ${\mu}$m) throughout the network. This allows high flow rates, and hence fast analyses that are unattainable with traditional particulate columns. The reduction of particle diameter in HPLC results in increased column efficiency. use of small particles (<2 urn), however, requires p.essu.es beyond the traditional 6,000 psi of conventional pumping devices. Instrumental development in recent years has resulted in pumping devices capable of handling the requirements of columns packed with small particles. The staggered parallel HPLC system consists of four fully independent binary HPLC pumps, a modified auto sampler, and a series of switching and selector valves all controlled by a single computer program. The system improves sample throughput without sacrificing chromatographic separation or data quality. Sample throughput can be increased nearly four-fold without requiring significant changes in current analytical procedures. The process of Bioanalytical Method Validation is required by the FDA to assess and verify the performance of a chronlatographic method prior to its application in sample analysis. The validation should address the selectivity, linearity, accuracy, precision and stability of the method. This presentation will provide all overview of the work required to accomplish a full validation and show how a chromatographic method is suitable for toxirokinetic sample analysis. A liquid chromatography/tandem mass spectrometry (LC-MS/MS) method developed to quantitate drug levels in dog plasma will be used as an example of tile process.

• Journal of the Korea Society for Simulation
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• v.18 no.3
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• pp.73-82
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• 2009

Due to the many advantages including low price, low power consumption, and miniaturization, the CMOS camera has been utilized in many applications, including mobile phones, the automotive industry, medical sciences and sensoring, robotic controls, and research in the security field. In particular, the 360 degree omni-directional camera when utilized in multi-camera applications has displayed issues of software nature, interface communication management, delays, and a complicated image display control. Other issues include energy management problems, and miniaturization of a multi-camera in the hardware field. Traditional CMOS camera systems are comprised of an embedded system that consists of a high-performance MCU enabling a camera to send and receive images and a multi-layer system similar to an individual control system that consists of the camera's high performance Micro Controller Unit. We proposed the SL-AVS (Small Size/Low power Around-View System) to be able to control a camera while collecting image data using a high speed synchronization technique on the foundation of a single layer low performance MCU. It is an initial model of the omni-directional camera that takes images from a 360 view drawing from several CMOS camera utilizing a 110 degree view. We then connected a single MCU with four low-power CMOS cameras and implemented controls that include synchronization, controlling, and transmit/receive functions of individual camera compared with the traditional system. The synchronization of the respective cameras were controlled and then memorized by handling each interrupt through the MCU. We were able to improve the efficiency of data transmission that minimizes re-synchronization amongst a target, the CMOS camera, and the MCU. Further, depending on the choice of users, respective or groups of images divided into 4 domains were then provided with a target. We finally analyzed and compared the performance of the developed camera system including the synchronization and time of data transfer and image data loss, etc.

• Korean Journal of Remote Sensing
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• v.39 no.5_3
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• pp.933-948
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• 2023

Atmospheric aerosols not only have adverse effects on human health but also exert direct and indirect impacts on the climate system. Consequently, it is imperative to comprehend the characteristics and spatiotemporal distribution of aerosols. Numerous research endeavors have been undertaken to monitor aerosols, predominantly through the retrieval of aerosol optical depth (AOD) via satellite-based observations. Nonetheless, this approach primarily relies on a look-up table-based inversion algorithm, characterized by computationally intensive operations and associated uncertainties. In this study, a novel high-resolution AOD direct retrieval algorithm, leveraging machine learning, was developed using top-of-atmosphere reflectance data derived from the Geostationary Ocean Color Imager-II (GOCI-II), in conjunction with their differences from the past 30-day minimum reflectance, and meteorological variables from numerical models. The Light Gradient Boosting Machine (LGBM) technique was harnessed, and the resultant estimates underwent rigorous validation encompassing random, temporal, and spatial N-fold cross-validation (CV) using ground-based observation data from Aerosol Robotic Network (AERONET) AOD. The three CV results consistently demonstrated robust performance, yielding R²=0.70-0.80, RMSE=0.08-0.09, and within the expected error (EE) of 75.2-85.1%. The Shapley Additive exPlanations(SHAP) analysis confirmed the substantial influence of reflectance-related variables on AOD estimation. A comprehensive examination of the spatiotemporal distribution of AOD in Seoul and Ulsan revealed that the developed LGBM model yielded results that are in close concordance with AERONET AOD over time, thereby confirming its suitability for AOD retrieval at high spatiotemporal resolution (i.e., hourly, 250 m). Furthermore, upon comparing data coverage, it was ascertained that the LGBM model enhanced data retrieval frequency by approximately 8.8% in comparison to the GOCI-II L2 AOD products, ameliorating issues associated with excessive masking over very illuminated surfaces that are often encountered in physics-based AOD retrieval processes.