• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.2
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• pp.381-389
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• 2012

This paper proposes a method which corrects location data of GPS for navigation of outdoor mobile robot. The method uses a Bayesian filter approach called the particle filter(PF). The method iterates two procedures: prediction and correction. The prediction procedure calculates robot location based on translational and rotational velocity data given by the robot command. It incorporates uncertainty into the predicted robot location by adding uncertainty to translational and rotational velocity command. Using the sensor characteristics of the GPS, the belief that a particle assumes true location of the robot is calculated. The resampling from the particles based on the belief constitutes the correction procedure. Since usual GPS data includes abrupt and random noise, the robot motion command based on the GPS data suffers from sudden and unexpected change, resulting in jerky robot motion. The PF reduces corruption on the GPS data and prevents unexpected location error. The proposed method is used for navigation of a mobile robot in the 2011 Robot Outdoor Navigation Competition, which was held at Gwangju on the 16-th August 2011. The method restricted the robot location error below 0.5m along the navigation of 300m length.

• Proceedings of the Korea Contents Association Conference
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• 2005.11a
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• pp.633-638
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• 2005

The extraction of a face is a very important part for human interface, biometrics and security. In this paper, we applies DCM(Dilation of Color and Motion) filter and Active Contour Models to extract facial outline. First, DCM filter is made by applying morphology dilation to the combination of facial color image and differential image applied by dilation previously. This filter is used to remove complex background and to detect facial outline. Because Active Contour Models receive a large effect according to initial curves, we calculate rotational degree using geometric ratio of face, eyes and mouth. We use edgeness and intensity as an image energy, in order to extract outline in the area of weak edge. We acquire various head-pose images with both eyes from five persons in inner space with complex background. As an experimental result with total 125 images gathered by 25 per person, it shows that average extraction rate of facial outline is 98.1% and average processing time is 0.2sec.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.3C
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• pp.419-425
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• 2004

This paper presents a new method which is calculated to use only three vanishing points in order to compute the dimensions of object and its pose from a single image of perspective projection taken by a camera. Our approach is to only compute three vanishing points without informations such as the focal length and rotation matrix from images in the case of perspective projection. We assume that the object can be modeled as a linear function of a dimension vector v. The input of reconstruction is a set of correspondences between features in the model and features in the image. To minimize each the dimensions of the parameterized models, this reconstruction of optimization can be solved by standard nonlinear optimization techniques with a multi-start method which generates multiple starting points for the optimizer by sampling the parameter space uniformly.

• Journal of the Korean Vacuum Society
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• v.6 no.1
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• pp.85-90
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• 1997

A new ionized sputtering process was developed to fill small trench or via using additional ionizing mechanism of sputtered particles from 32cm $AlCu_x$(x=0.5%) cathode target with rotating magnet, then drawn toward substrate by small negative DC potential. The radial uniformity in RFI magnetron sputtering was studied by plasma diagnosis and appropriate RFI coil design to improve it. Optical emission intensities of excited species. $Ar^{\circ}, \;Ar^+;Al^+, \;Al^{\circ}$ are measured across the radial direction and showed close correlation with deposit's bottom to top thickness ratios in trenches and vias of submicron opening and 1.5 aspect ratio. After increase of the diameter of RF coil from 29 cm to 32 cm and improved the power leading feedthrough symmetry by removal of asymmetric single turn region, there was an increase of uniformity from 7.5% to 1.5% in bottom to top thickness ratio in 0.6 $\mu\textrm{m}$ vias.

• Proceedings of the Korean Vacuum Society Conference
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• 2011.02a
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• pp.506-507
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• 2011

경사코팅 기술(Oblique Angle Deposition; OAD)은 입사 증기가 기판에 수직으로 입사하지 않고 90도 보다 작은 각도로 비스듬히 입사하도록 조절하여 코팅하는 물리증착 기술의 하나로 피막의 조직을 다양하게 제어할 수 있는 방법으로 알려져 있다. 초기의 경사 코팅 기술은 경사각을 가진 정지된 기판 상에 코팅하였으나 최근에는 기판의 각도와 회전을 동시에 조절하여 이루어지는 소위 스침각 증착(Glancing Angle Deposition; GLAD) 기술이 개발되어 다양한 형태의 구조를 제어하는 연구가 활발히 진행되고 있다. 특히, 컴퓨터를 이용하여 입사각과 방위각을 정밀 제어함에 의해 나노 스케일의 Zigzag 및 나선형, 기둥형 조직 등 복잡한 형태의 박막을 제조하는 것이 가능하게 되었다. 현재, GLAD 기술과 다양한 형태의 나노 조직을 이용하여 각종 센서는 물론 태양전지와 같은 에너지 소자, 필터와 같은 광학코팅 등에 응용하기 위한 연구가 세계적으로 폭넓게 진행되고 있다. 본 연구에서는 조직의 치밀도 향상을 통한 특성 향상을 위해 Al 및 TiN 박막을 제조함에 있어서 경사코팅 기술을 응용하여 단층 및 다층 피막(각도를 반대로 하여 여러 층을 제조)을 제조하고 그 특성을 비교하였다. Al 박막은 UBM (Un-Balanced Magnetron) 스퍼터링 소스를 이용하여 타겟 표면과 기판 표면이 이루는 각도 즉, 입사빔과 기판이 이루는 각도를 각각 0, 30, 45, 60 및 90도의 각도에서 강판 및 실리콘 웨이퍼 상에 시편을 제조하되 단층 및 다층으로 시편을 제조하고 치밀도 및 내식성과 반사율 및 조도 등의 특성을 비교하였다. 그 결과 경사각으로 코팅한 시편에서 조도 및 반사율이 향상됨은 물론 치밀도 및 내식성이 향상됨을 확인하였다. 특히, 염수분무에 의한 내식성 시험에서 경사 코팅된 시편의 경우 내식성이 현저히 향상되었는데, 이는 경사 코팅 방법이 박막의 치밀도를 향상시켜 나타난 현상으로 판단된다. TiN 박막은 Cathodic Arc 방식을 이용하되 Al 박막과 동일한 방법으로 코팅을 하고 내식성 및 경도 등의 특성을 비교하였다. TiN 박막은 경사각이 커지면서 경도가 낮아지며 특히 다층막의 경우 경도 감소가 현저함을 알 수 있었다. 다만, 45도에서는 다른 경사각에 비해 약간의 경도 상승이 측정되었다. 경사각 코팅에서의 경도 감소는 피막의 경사에 의해 탐침이 미끄러지거나 또는 우선 방위에 의한 경도 증가 효과가 나타나지 않아 생기는 현상으로 판단되었다. Ferroxyl 시험을 이용한 기공도 시험에서는 경사각 코팅의 경우가 기공이 다소 감소함을 확인하였다.

• Journal of the Korean Magnetics Society
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• v.23 no.2
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• pp.37-42
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• 2013

The out-of-plane and in-plane angular dependence of ferromagnetic resonance field was measured in NiFe thin films fabricated by magnetron sputtering. The effective magnetization was obtained from the out-of-plane angular dependence of ferromagnetic resonance field, which was well agreed with calculated one. The decrease of effective magnetization with NiFe thickness was due to the surface anisotropy constant of $K_s=-0.23\;erg/cm^2$. The in-plane uniaxial anisotropy fields were obtained from the in-plane angular dependence of ferromagnetic resonance field. The easy axis of in-plane uniaxial anisotropy field was rotated to the reverse direction of applied magnetic field during sample fabrication, which was explained by the antiferromagnetic NiFeO layer at sample surface.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.4
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• pp.456-462
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• 2015

The objective of this study was to develop an advanced pump technology using tornado and axial pumping principles without priming water. The developed rotor type slurry pump consisted of an electric motor, driving shaft and coupling, a rotor, an impeller, suction and discharge pipes. For the clean water test, the experimental results are presented for the discharge flowrate, electric power input and vacuum pressure with the rotor design parameters as a function of the motor rpm. The slurry discharge characteristics with the solid concentration of the cement slurry was performed. As the rotor diameter and height increase, the discharge flowrate and electric power input increase while the vacuum pressure in the suction pipe decreases. The rotor thickness had no significant effect on the discharge flowrate and electric power input. Slurries with more than 18 % solid concentration, which is the development factor, can be pumped.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.34 no.3
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• pp.325-331
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• 2010

Three-cup anemometers are popular devices for measuring wind speeds in automated weather stations, environmental monitoring systems, and wind turbines. Cup anemometers usually suffer from lack of long-term stability owing to the wear of the bearing systems that support the rotational parts. The bearing systems are susceptible to external pollutants, vibrations, and gusts. Therefore, these anemometers have to be calibrated regularly to maintain the desired characteristics for measuring wind speed. In the present study, a new in-situ calibration system to help reduce cost and save time by calibrating the cup anemometers at the installation site is proposed. A portable in-situ calibrator was fabricated. After the characteristics of this calibrator were verified, it was used to calibrate cup anemometers. Some of the calibration results were compared with the data obtained by wind tunnel testing.

• Journal of the Korean Institute of Telematics and Electronics D
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• v.35D no.12
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• pp.83-91
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• 1998

Fiber Bragg grating which has a blazed ang1e to the plane of incident wave generates a side-mode as well as main-mode. The side-mode has an identical characteristics with a long period grating that couples with a cladding mode, so rejects the special wavelength. We experimented on the side-mode characteristics with two fibers which Ge doped depressed index fiber and very high photosensitive H$_2$ loaded step index fiber according to the tilted angle. Also, using a phase mask equipped with rotation plate which has 0.02$^{\circ}$ resolution, we can control the bandwidth and the peak value of a total loss spectrum by aligned tilted grating in a fiber and using this, tried to compose the ASE band rejection filter of the Erbium doped fiber amplifier.

• Korean Journal of Crystallography
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• v.1 no.2
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• pp.76-83
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• 1990

The structures of dehydrated fully Ca2+ _exchanged zeolite A (a: 12.2a3(2) A and of its iodine sorption complex (a=12.258(2) A) have been determined by single-crystal X-ray diffraction methods in the cubic space group. Pm3m at 21(1)℃.the structures were refined to final R(weighted) indices of 0.081 with 206 reflections and 0.084 with 173 reflections, respectively for which I>3 w (I). In each structure. six divalent cations are located on three different theefold axes associated with 6-ring oxygens. Dehydrated Ca2+_A sorbs ca. 6.0 diiodine molecules per unit cell at 80℃(vapor pressure of I: is ca. 14.3 Torr). Each iodine molecule makes a close approach. along its ahs to framework oxygen atom with I-I distance of 2.71(2) A, I-O distance of 3.32(3) k. and I-I-0=180℃. The result indicates that diiodine molecule forms charge transfer complex with framework oxygen.