• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.21 no.12
• /
• pp.1992-2007
• /
• 1997

A new algorithm for planning a collision-free path is developed based on linear prametric curve. In this paper robot is assumed to a point, and two linear parametric curve is used to construct a path connecting start and goal point, in which single intermediate connection point between start and goal point is considered. The intermediate connection point is set in polar coordinate(${\theta}{\delta}$) , and the interference between path and obstacle is mapped into CPS(connection point space), which is defined a CWS GM(circular work space geometry mapping). GM of all obstacles in workspace creates overlapping images of obstacle in CPS(Connection Point Space). The GM for all obstacles produces overlapping images of obstacle in CPS. The empty area of CPS that is not occupied by obstacle images represents collision-free paths in Euclidian Space. A GM based on connection point in elliptic coordinate(${\theta}{\delta}$) is also developed in that the total length of path is depend only on the variable .delta.. Hence in EWS GM(elliptic work space geometry mapping), increasing .delta. and finding the value of .delta. for collision-free path, the shortest path can be searched without carring out whole GM. The GM of obstacles expersses all possible collision-free path as empty spaces in CPS. If there is no empty space available in CPS, it indicates that path planning is not possible with given number of connection points, i.e. path planning is failed, and it is necessary to increase the number of connection point. A general case collision-free path planning is possible by appling GM to configuration space obstacles. Simulation of GM of obstacles in Euclidian space is carried out to measure performance of algorithm and the resulting obstacle images are reported.

• Korean Journal of Materials Research
• /
• v.5 no.7
• /
• pp.781-785
• /
• 1995

from the $K_{6}$P$_4$ $O_{13}$ flux using a temperature cooling method. According to SHG outpower measurement, phase matching angle is $\theta$=90$^{\circ}$, $\Phi$=23.3$^{\circ}$and angular acceptance of $\Phi$ direction is about 2 degree, Deviation of phase matching angle due to index inhomogeneity in KTP crystal is 0.17 degree. A 20mW green laser was obtained with the combination of a intracavity Nd ; YAG and KTP crystal.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
• /
• 2001.11b
• /
• pp.77-80
• /
• 2001

Crystallographic and magnetic characteristics of CoCr-based magnetic thin film for perpendicular magnetic recording media were influenced on preparing conditions. In these, there is that substrate temperature was parameter that increases perpendicular coercivity of CoCrTa magnetic layer using recording layer. While preparation of CoCr-based doublelayer, by optimizing substrate temperature, we expect to increase perpendicular anisotropy of CoCr magnetic layer and prepare ferromagnetic recording layer with a good quality by epitaxial growth. CoCrTa/Si doublelayer showed a good dispersion angle of c-axis orientation $\Delta\theta_{50}$ caused by inserting amorphous Si underlayer which prepared at underlayer substrate temperature 250C. Perpendicular coercivity was constant, in-plane coercivity was controlled a low value about 200Oe. This result implied that Si underlayer could restrain growth of initial layer of CoCrTa thin film, which showed bad magnetic properties effectively without participating magnetization patterns of magnetic layer. In case of CoCrTa/Si that prepared with ultra thin underlayer, crystalline orientation of CoCrTa was improved rather underlayer thickness 1nm, it was expected that amorphous Si layer played a important role in not only underlayer but also seed layer.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
• /
• 2001.11b
• /
• pp.193-196
• /
• 2001

Single phase $CuInS_2$ thin film with the highest diffraction peak (112) at diffraction angle $(2\theta)$ of $27.7^{\circ}$ and the second highest diffraction peak (220) at diffraction angle $(2\theta)$ of $46.25^{\circ}$ was well made with chalcopyrite structure at substrate temperature of $70^{\circ}C$, annealing temperature of $250^{\circ}C$, annealing time of 60 min. The $CuInS_2$ thin film had the greatest grain size of $1.2{\mu}m$ and Cu/In composition ratio of 1.03. Lattice constant of a and c of that $CuInS_2$ thin film was 5.60 A and 11.12 A respectively. Single phase $CuInS_2$ thin films were accepted from Cu/In composition ratio of 0.84 to 1.3. P-type $CuInS_2$ thin films were appeared at over Cu/In composition ratio of 0.99. Under Cu/In composition ratio of 0.96, conduction types of $CuInS_2$ thin films were n-type. Also, fundamental absorption wavelength, the absorption coefficient and optical energy band gap of p-type $CuInS_2$ thin film with Cu/In composition ratio of 1.3 was 837 nm, $3.0{\times}104cm^{-1}$ and 1.48 eV respectively. When Cu/In composition ratio was 0.84, fundamental absorption wavelength, the absorption coefficient and optical energy band gap of n-type $CuInS_2$ thin film was 821 nm, $6.0{\times}10^4cm^{-1}$ and 1.51 eV respectively.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.40 no.8
• /
• pp.1622-1630
• /
• 2015

In this study, we used EBG(electromagnetic band gap) reflector to change bi-directional radiation of circular polarization into uni-directional radiation of equiangular spiral antenna. When the height of spiral arm from EBG reflector is 0.07 wavelength of the lowest operating frequency, the axial ratio of the circular polarization was deteriorated. In this paper, we analyzed the magnitude and the time phase difference of $E_{\theta},E_{\phi}$ that generates right hand circle polarization that is co-polarization at +z direction and proposed the improving condition for axial ratio at all related frequency range. As a result, we obtained that the axial ratio was below 3[dB] at range of 3 ~ 10[dB], the gain was improved about 3[dB] with comparison to bi-directional radiation at free space, and $S_{11}$ was below -10[dB] at all related frequency range.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
• /
• 2005.11a
• /
• pp.22-23
• /
• 2005

In order to increase the critical current of coated conductor, highly Bi-axially textured substrates are required. Texture uniformity of substrate is also important to fabricate high quality superconducting coated conductor because the amount of current flow along the coated conductor is limited by the defects such as bad textured area. Therefore, we need to evaluate the distribution of texture of Ni substrate along the length before buffer layer deposition on Ni tape. R2R(reel-to-reel) XRD system was used to measure the texture of long Ni substrate continuously. $\theta-2\theta$ scan of 10 m long Ni tape was measured and indicates that some of Ni(111) planes equally remain on Ni(002) textured substrate. The results of continuous Ni(220) $\Phi$-scan indicate that average FWHM is 9$^{\circ}$ within $\pm$1.

• Transactions on Electrical and Electronic Materials
• /
• v.4 no.1
• /
• pp.7-10
• /
• 2003

Single phase CuInS$_2$ thin film with the strongest diffraction peak (112) at diffraction angle (2$\theta$) of 27.7$^{\circ}$ and the second strongest diffraction peak (220) at diffraction angle (2$\theta$) of 46.25$^{\circ}$was well made with chalcopyrite structure at substrate temperature of 70$^{\circ}C$. annealing temperature of 250$^{\circ}C$, annealing time of 60 min. The CuInS$_2$ thin film had the greatest grain size of 1.2 Um when the Cu/In composition ratio of 1.03, where the lattice constant of a and c were 5.60${\AA}$ and 11.12${\AA}$, respectively. The Cu/In stoichiometry of the single-phase CuInS$_2$thin films was from 0.84 to 1.3. The film was p-type when tile Cu/In ratio was above 0.99 and was n-type when the Cu/In was below 0.95. The fundamental absorption wavelength, absorption coefficient and optical band gap of p-type CuInS$_2$ thin film with Cu/In=1.3 were 837nm, 3.OH 104 cm-1 and 1.48 eV, respectively. The fundamental absorption wavelength absorption coefficient and optical energy band gap of n-type CuInS$_2$ thin film with Cu/In=0.84 were 821 nm, 6.0${\times}$10$^4$cm$\^$-1/ and 1.51 eV, respectively.

• Journal of the Institute of Convergence Signal Processing
• /
• v.12 no.4
• /
• pp.348-354
• /
• 2011

Mobile robots performed various missions in various environments. In order to move to target precisely, the mobile robots need a precise position sensing system In this paper, a new high precision docking sensor is proposed. Proposed docking sensor consists of linear CCD(charge coupled device) sensor and ultrasonic sensors. The docking sensor system can measure lateral position(X), longitudinal position(Y) and angle(${\theta}$) between the sensor and flat target with simple mark. Two ultrasonic sensors measure two distances which can be converted to longitudinal position and angle. Linear CCD sensor measures lateral position using center mark of the target. To verify performance of the sensor, the sensor is applied to an omnidirectional mobile robot. Several experimental results show highly precise performance of the sensor. Repeatability of the docking sensor is less than 1mm and $0.2^{\circ}$. Proposed docking sensor can be applied for precise docking of mobile robot.

• Journal of Korean Ophthalmic Optics Society
• /
• v.7 no.1
• /
• pp.51-55
• /
• 2002

This study was to investigate the effect of EEG wave type of visual cortex on conjugate movement of eyeball according to movement of visual target. Visual evoked potential(VEP) system used the Bio-Pag(production in USA) and recorded to 586 computer. The illumination of test room was 50lux and the visual target was red light dot of 3cm size. The results of dextroversion and levoversion as follows : The visual stimulation waves on the visual cortex have about 71% of delta wave, about 12% of beta wave, about 9% theta wave and about 6% of alpha wave respectively. The dextroversion and levoversion state was similar results on the histogram amplitude of EEG wave, frequency of EEG wave type, EEG wave style and phase diagram of amplitude. Expecially the histogram amplitude of EEG wave appeared almost the Gaussian shape and the phase analysis of amplitude of EEG wave was nearly linear shape. On the fast fourier transform of the amplitude and Hz, the frequency was almost low frequency under 20 Hz, and the dextroversion and levoversion shape was similar results.

• Asian-Australasian Journal of Animal Sciences
• /
• v.17 no.4
• /
• pp.445-452
• /
• 2004

Genetic diversity of sub-Saharan African goats was assessed using 19 microsatellite markers. Breeds were sampled from eastern Africa (Maasai, Kigezi, Mubende, North West Highland, Arsi-Bale), southern Africa (Ndebele, Pafuri) and West Africa (West African Dwarf, Maure, Djallonke). European breeds (Grisons Striped, Toggenburg), Asian breeds (Mongolian Cashmere, Bandipur) and a Middle East breed (Arab) were also included. The mean number of alleles per locus and average gene diversity ranged from 5.26$\pm$0.464 (Djallonke) to 7.05$\pm$0.516 (Mubende) and from 0.542$\pm$0.036 (Pafuri) to 0.672$\pm$0.031 (Ndebele), respectively. The between breeds variation evaluated using $$G_{ST}$$ and $\theta$ were found to account for 14.6% ($\theta$) and 15.7% ($$G_{ST}$$) of the total genetic variation. The $D_{A}$ measure of genetic distance between pairs of breeds indicated that the largest genetic distance was between Pafuri and Djallonke while the lowest genetic distance was between Arsi-Bale and North West Highland. A neighbour-joining tree of breed relationships revealed that the breeds were grouped according to their geographic origins. Principal component analysis supported the grouping of the breeds according to their geographic origins. It was concluded that the relationships of sub-Saharan African goat breeds were according to their geographical locations implying that the goats of eastern Africa, West Africa and southern Africa are genetically distinct. Within each sub-region, goat populations could be differentiated according to morphological characteristics.