• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.8
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• pp.1605-1614
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• 2009

The technique of simultaneous localization and mapping is the most important research topic in mobile robotics. In the process of building a map in its available memory, the robot memorizes environmental information on the plane of grid or topology. Several approaches about this technique have been presented so far, but most of them use mapping technique as either grid-based map or topology-based map. In this paper we propose a frame of solving the SLAM problem of linking map covering, map building, localizing, path finding and obstacle avoiding in an automatic way. Some algorithms integrating grid and topology map are considered and this make the SLAM performance faster and more stable. The proposed scheme uses an occupancy grid map in representing the environment and then formulate topological information in path finding by A${\ast}$ algorithm. The mapping process is shown and the shortest path is decided on grid based map. Then topological information such as direction, distance is calculated on simulator program then transmitted to robot hardware devices. The localization process and the dynamic obstacle avoidance can be accomplished by topological information on grid map. While mapping and moving, pose of the robot is adjusted for correct localization by implementing additional pixel based image layer and tracking some features. A laser range finer and electronic compass systems are implemented on the mobile robot and DC geared motor wheels are individually controlled by the adaptive PD control method. Simulations and experimental results show its performance and efficiency of the proposed scheme are increased.

• Korean Journal of Digital Imaging in Medicine
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• v.9 no.2
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• pp.23-30
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• 2007

This study attempts to propose an appropriate method of using digital medical imaging equipments, by studying the effects of automatic exposure control(AEC), grid ratio and the change of radiography distance on the patient dose and detertor acquisition dose during the procedure of acquiring image through a digital medical imaging detector. The change of dose following the change of grid ratio's exposure and radiography distance was measured, by using an abdominal phantom organized with tissue equivalent materials in an amorphous silicon thin film transistor detecter installed with AWC. The case to use grid ratio 12 : 1, focal distance 180cm to radiography distance 110cm in AEC, the patient dose increased rather when we used grid ration 10 : 1, focal distance 110cm. When AEC was not used,the dose necessary for image acquisition decreased as the grid ratio became higher and the distance became further. but detector acquisition dose was not reduced when in applied AEC. When purchasing digiral medical imaging equipments, optional items such as AEC and grid shall be accurately selected to satisfy the use of the equipments. Radiography error made by radiation technologist and unnenessary patient dose can be reduced by selecting equipments with a radiography distance marker equipment when it did not apply AEC. These equipments can also be helpful in maintaining high imaging quality, one of the merits of digital detectors.

• Proceedings of the Korean Vacuum Society Conference
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• 1999.07a
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• pp.94-94
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• 1999

반도체 Hall 효과를 이용하여 자계를 검출하여 이를 전압신호로 출력하는 자기센서로는 주로 GaAs, InSb, InAs 등의 박막이 사용되고 있다. 자기센서의 응용분야가 최근에는 직류전류의 무접촉 검출, 자동차의 무접촉 회전 검출, 산업용 기계의 제어용 무접촉 위치검출 분야로 확대되고 있어 그 수요가 급증하고 있다. 이중 Hall 소자의 응용분야중 많은 활용이 기대되고 있는 자동차용 무접촉 센서는 -4$0^{\circ}C$~15$0^{\circ}C$의 온도범위에서 안정하게 작동하여야 하므로 온도 안정성이 매우 중요하다. 그러나 Hall 소자 시장의 80%를 점유하고 있는 InSb Hall 소자는 온도가 올라감에 따라 저항이 급격히 낮아지는 성질을 가지고 있으므로 10$0^{\circ}C$ 이상의 온도에서 사용하는 것이 불가능하다. 한편 InAs(에너지갭~0.18eV)는 InSb보다 에너지 갭이 크므로 고온에서도 작동이 가능하고 자계변화에 따른 출력의 직진성이 매우 좋다는 장점을 가지고 있다. 이러한 InAs Hall 소자를 실현하기 위해서 가장 중요한 것이 고품위의 InAs의 박막 성장기술이다. InAs 박막을 성장하기 위해서 사용되고 있는 기판은 GaAs이다. 그러나 GaAs 기판과 InAs 박막 사이에는 약 7% 정도의 격자부정합이 존재하기 때문에 높은 이동도를 가지는 고품위 박막을 성장시키기가 매우 어렵다. 이에 본 연구에서는 분자선에피택시 방법을 이용하여 GaAs 기판위에 고품위의 InAs 박막을 성장하는 기술을 연구하였으며, 성장된 InAs 박막의 특성을 DCX 및 Hall effect 등으로 조사하였다. InAs 박막 성장시 기판은 <0-1-1> 방향으로 2$^{\circ}$ off 된 GaAs(100)를 사용하였다. InAs 박막성장시 기판온도는 48$0^{\circ}C$로 하고 GaAs buffer 두께는 2000$\AA$로 하여 As flux 및 Si doping 농도등을 변화시켰다. 그 결과 Si doping 농도 2.21$\times$1017/am에서 10,952cm2/V.s의 이동도를 얻었다.

• Journal of the Korean Institute of Telematics and Electronics D
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• v.36D no.12
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• pp.43-52
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• 1999

We propose a new method for tuning of center wavelength in photorefractive filter using $LiNbO_3$ crystal doped with 0.015Wt.% Fe. through the filter bandwidth property analysis using the geometrical method, a new wavelength selectivity theory was presented. In this scheme, the tuning of the center wavelength can be achieved by the real time incident angle control of the received heam, which was gotten by the spatial light modulator. So, tuning time depend on the response time of the SLM and results in the high speed turing. Because the use of thermally fixed grating in our filter, it has uniform diffraction property to the all filtering wavelength. Designed tunable filter has 4nm bandwidth and composed of the three channel with 10nm space. From the optical experiment, we get the 4.5nm, 4.25nm, 4nm bandwidth and 1530.5nm, 1540.5nm, 1549.5nm center wavelength respectively.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.4
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• pp.417-424
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• 2011

A fuel assembly consists of five major components, i.e., a top end piece (TEP), a bottom end piece (BEP), spacer grids (SGs), guide tubes (GTs) and an instrumentation tube (IT); in addition, it also includes fuel rods (FRs). The TEP/BEP should satisfy stress intensity limits according to the conditions A and B of ASME, Section III, Division 1-Subsection NB. In a dual-cooled fuel assembly, the array and position of fuel rods are different from those in a conventional PWR fuel assembly; these changes are necessary for achieving power uprating. The flow plates of the TEP and BEP have to be modified accordingly. The pattern and shape of the flow holes were newly designed. To verify the strength compatibility, the Tresca stress limit according to the ASME code was investigated in the case of an axial load of 22.241 kN. In this paper, the stress linearization procedure for strength evaluation of a newly designed TEP is presented.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2007.04a
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• pp.281-285
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• 2007

The flow characteristics in the thruster should be analyzed considering its geometry and the pressure ratio to estimate its performance and etc. This paper suggests the computational result of an axisymmetric real nozzle for the altitude control of a satellite to find out the application limit that the assumption of continuum mechanics holds. The steady non-reacted compressible flow field in the unstructured grid system is computed and analyzed with varying the environmental pressure (or the degree of vacuum) under the fixed pressure ratio in a real thruster of which the area ratio of exit to throat is 56. The assumption of the continuum mechanics is not approved when the environmental pressure is reduced less than $10^{-3}$ atm.

• Clean Technology
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• v.2 no.1
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• pp.60-68
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• 1996

The oxidation of carbon monoxide of low concentration on the natural manganese dioxide (NMD) has been investigated in a fixed bed reactor. The experimental variables were concentration of oxygen (500ppm~99.8%) and carbon monoxide (500ppm~10000ppm) and catalyst temperature ($50{\sim}750^{\circ}C$). The NMD(Natural Manganese Dioxide) has been characterized by temperature - program reduction(TPR) using 2.4% $CO/H_2$ as a reducing agent, thermogravimetric analysis (TGA), and reduction of NMD by 2.4% $CO/H_2$. It was found that the NMD catalyst activity on the unit area was greater than the $MnO_2$ catalyst for oxidation of CO at the same temperature. The thermal stability of oxidation activity was considered to be maintained when the NMD was heated to $750^{\circ}C$. The TGA, reduction by CO, and TPR of the NMD showed that the NMD had active lattice oxygen which was easily liberated on heating in the absence and low concentration of oxygen. The reaction order in CO is 0.701 between 500~3500ppm and almost zero between 3500~10000ppm of CO.

• Journal of the Korean Society of Hazard Mitigation
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• v.7 no.3
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• pp.69-78
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• 2007

In this study, a time-dependent aspect of an embankment failure is considered to simulate a flood inundation map and calculate overtopping discharge induced by an embankment failure. A numerical model has been developed by solving the two dimensional nonlinear shallow water equations with a finite volume method on unstructured grids. To analyze a Riemann problem, the HLLC approximate Riemann solver and the Weighted Averaged Flux method are employed by using a TVD limiter and the source term treatment is also employed by using the operator splitting method. Firstly, the numerical model is applied to a dam break problem and a sloping seawall. Obtained numerical results show good agreements with experimental data. Secondly, the model is applied to a flow induced by an embankment failure by assuming that the width and elevation of embankment are varied with time-dependent functions. As a result of the comparison with each numerical overtopping discharge, established flood inundation discharges in the previous studies are overestimated than the result of the present numerical model.

• Journal of the Korea institute for structural maintenance and inspection
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• v.24 no.4
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• pp.81-90
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• 2020

A textile and capillary tube composite panel(TCP) was developed to simultaneously retrofit the seismic performance and the energy efficiency (e.g. heating or insulation performance) of existing unreinforced masonry (URM) buildings. TCP is a light-weight mortar panel in which carbon textile reinforcements and capillary tubes are embedded. Textile reinforcements plays a role of seismic retrofit and capillary tubes that hot water circulates contribute to the energy retrofit. In this paper, the static cyclic loading tests were performed on the masonry walls with/without TCP to understand the seismic retrofit effect of TCP retrofit and the results were summarized. The results of the test showed that the TCP contributed to increase the capacity of the Shear strength and ductility of the URM walls. In addition, the deformation of the wall after cracking was substantially controlled by the carbon textile.

• Journal of the Korean Society of Propulsion Engineers
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• v.17 no.5
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• pp.1-9
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• 2013

Variable area nozzle, where both throat and exit area vary, is required for optimal expansion and optimal nozzle shape upon operation of after-burner. Steady-state and transient analyses are carried out for each condition with and without afterburner operation and as a function of the location of the nozzle flap. Effects of that nozzle displacement on flow and thrust characteristics are analyzed from numerical results. With variable area nozzle adopted, the combustion field is variable in time, leading to periodically variable thrust. For off-design conditions, flow separation shows up due to over expansion at the flap tips and shock wave does in the nozzle due to under expansion. The undesirable phenomena can be solved by control of variable area nozzle.