• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.776-787
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• 2002

Automation of welding process in shipyards is ultimately necessary, since the welding site is spatially enclosed by floors and girders, and therefore welding operators are exposed to hostile working conditions. To solve this problem, a welding mobile robot that can navigate autonomously within the enclosure has been developed. To achieve the welding task in the closed space, the robotic welding system needs a sensor system for the working environment recognition and the weld seam tracking, and a specially designed environment recognition strategy. In this paper, a three-dimensional laser vision system is developed based on the optical triangulation technology in order to provide robots with 3D work environmental map. Using this sensor system, a spatial filter based on neural network technology is designed for extracting the center of laser stripe, and evaluated in various situations. An environment modeling algorithm structure is proposed and tested, which is composed of the laser scanning module for 3D voxel modeling and the plane reconstruction module for mobile robot localization. Finally, an environmental recognition strategy for welding mobile robot is developed in order to recognize the work environments efficiently. The design of the sensor system, the algorithm for sensing the partially structured environment with plane segments, and the recognition strategy and tactics for sensing the work environment are described and discussed with a series of experiments in detail.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.10
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• pp.1025-1031
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• 2007

GPS is widely used for positioning applications and attitude of a vehicle can be found also with multiple antennas. However, extremely weak signal level prevents GPS from indoor operation. DR with accelerometers and gyros and landmark based localization method used for indoor applications increase complexity and cost. In this paper, a simple but very efficient ultrasound based attitude determination system which determines both position and attitude in WSN is given. The range between transmitter and receivers are measured using the arrival time difference between ultrasound and RF signal. The 3 dimensional positions can be found using more than 3 range measurements. Furthermore, if more than 2 transmitters are used, the attitude can be determined using the baseline vectors obtained by differencing transmitter and receiver positions. The prototype system is implemented to evaluate the performance of the proposed method. In addition, an error analysis shows the relation between the attitude error and basel me length, quality of measurement and orientation of a vehicle. The static and dynamic experiments performed by micro mobile robot shows accurate position with less than 1.5cm error and attitude with less than 1 degree error can be obtained continuously with 20cm baseline. It is expected that these results can be adapted without modification to indoor applications such as home cleaning robot and autonomous wheelchair maneuvering.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.39 no.3
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• pp.49-60
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• 2002

A systematic design approach for Power distribution network (PDN) is presented aiming at applications to DRAM module designs. Three main stages are comprised in this design approach: modeling and simulation of a PDN based on a two-dimensional transmission line structure employing a partial element equivalent circuit (PEEC); verification of the simulation results through comparison to measured values; and design space scanning with PDN parameters. Impedance characteristics for do-coupling capacitors are analyzed to devise an effective way to stabilize power and ground plane Performance within a target level of disturbances. Self-impedance and transfer-impedance are studied in terms of distance between circuit features and the size of do-coupling capacitors. A simple equation has been derived to find the do-coupling capacitance values yielding impedance lower than design target, and thereby reducing the overall computation time. The effectiveness of the design methodology has been demonstrated using a DRAM module with discrete do-coupling capacitors and a strip structure.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.3
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• pp.406-412
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• 2018

This paper describes the fabrication process of laser induced graphene (LIG) and its transfer method on to a flexible and stretchable PDMS substrate. By irradiating CO2 laser on a polyimide(PI) film surface, a localized high temperature is created, resulting in a three-dimensional porous graphene network structure with good conductivity. This LIG electrode is relatively easy to fabricate and since it is very weak the LIG electrode was transferred to a flexible PDMS substrate to increase the sturdiness as well as possible use in flexible applications. Sheet resistance, thickness, and electrochemical activity of the fabricated in-situ LIG electrodes have been examined and compared with the LIG electrodes after transferring to PDMS elastomer. The properties of the LIG electrodes were also examined depending on the $CO_2$ laser power. As the irradiated laser power increased, the LIG electrode resistance decreases and the LIG electrode thickness increased. At 4.8 W of laser power, the average sheet resistance and thickness of the fabricated LIG electrodes were approximately $31.7{\Omega}/{\Box}$ and $62.67{\mu}m$, respectively. Moreover, the electrochemical activity of the fabricated LIG electrode at 4.8 W of laser power showed a high oxidation current of $28.2{\mu}A$ after transferring to PDMS.

• Applied Chemistry for Engineering
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• v.10 no.7
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• pp.1046-1051
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• 1999

Cure behavior and thermal stability of the different ratio of diglycidylether of bisphenol A(DGEBA)/trimethylolpropane triglycidylether(TMP) epoxy blends initiated by 1 wt % N-benzylpyrazinium hexafluoroantimonate (BPH) as a cationic latent catalyst were studied using DSC and TGA, respectively. Latent properties were performed by measurement of the conversion as a function of temperature using dynamic DSC. Dynamic DSC thermograms of DGEBA/TMP blends revealed that the weak peak was formed by complex formation between the hydroxyl groups in DGEBA and BPH, and between epoxides and BPH in low temperature ranges. The strong peak was considered as an exothermic reaction by the formation of three-dimensional network in high temperature ranges. Isothermal DSC revealed that the reaction rate of the blends was found to be higher than that of the neat TMP. The thermal stabilities in the cured resins were increased with increasing the DGEBA content. These results could be interpreted in terms of the stable aromatic structure, existence of hydroxyl group and high molecular weight of DGEBA.

• Proceedings of the Korean Society for Bioinformatics Conference
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• 2005.09a
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• pp.319-324
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• 2005

An integrated approach for prostate cancer detection using proteomic data is presented. Due to the high-dimensional feature of proteomic data, the discrete wavelet transform (DWT) is used in the first-stage for data reduction as well as noise removal. After the process of DWT, the dimensionality is reduced from 43,556 to 1,599. Thus, each sample of proteomic data can be represented by 1599 wavelet coefficients. In the second stage, a voting method is used to select a common set of wavelet coefficients for all samples together. This produces a 987-dimension subspace of wavelet coefficients. In the third stage, the Autoassociator algorithm reduces the dimensionality from 987 to 400. Finally, the artificial neural network (ANN) is applied on the 400-dimension space for prostate cancer detection. The integrated approach is examined on 9 categories of 2-class experiments, and also 3- and 4-class experiments. All of the experiments were run 10 times of ten-fold cross-validation (i. e. 10 partitions with 100 runs). For 9 categories of 2-class experiments, the average testing accuracies are between 81% and 96%, and the average testing accuracies of 3- and 4-way classifications are 85% and 84%, respectively. The integrated approach achieves exciting results for the early detection and diagnosis of prostate cancer.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.17 no.5 s.108
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• pp.483-489
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• 2006

In this paper, new wideband lens amplifiers are proposed for C-band wireless communication service. In order to obtain the wideband property, all components of the proposed lens amplifiers are designed with balanced structure and wideband characteristics. Fat dipole antenna as the input and output antenna, balanced amplifier as amplifying components, and coplanar stripline(CPS) as the delay line fer the beam focusing are used fur composing the stable wideband lens amplifier. The $5{\times}5$ 2D lens amplifier has the characteristics that the absolute gain is 7.5 dB, the EIPG is 37.4 dB at 6 GHz, and the 3-dB gain bandwidth is 19.8 %.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.3
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• pp.2141-2145
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• 2015

A new broadcasting signal transmission, which can save its channel bandwidth using compressive sensing(CS), is proposed in this paper. A new compression technique, which uses two dimensional discrete wavelet transform technique, is proposed to get high sparsity of multimedia image. A L1 minimization technique based on orthogonal matching pursuit is also introduced in order to reconstruct the compressed multimedia image. The CS enables us to save the channel bandwidth of wired and wireless broadcasting signal because various transmitted data are compressed using it. A $256{\times}256$ gray-scale image with compression rato of 20 %, which is sampled by 10 Gs/s, was transmitted to an optical receiver through 20-km optical transmission and then was reconstructed successfully using L1 minimization (bit error rate of $10^{-12}$ at the received optical power of -12.2 dB).

• KIISE Transactions on Computing Practices
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• v.21 no.3
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• pp.239-246
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• 2015

QR(Quick Response) Code has been developed to provide greater storage capacity and more functionality compared to 1D bar codes. With the emergence of increasingly mobile devices equipped with cameras such as smart-phones and tablets, QR codes have become very popular and more important in mobile businesses. Typically, most QR codes are used as a URL link for redirecting users to webpages. However, the URL based QR codes are required to be connected over the internet and to be run a server. This can incur unnecessary traffics in the Internet. Furthermore, it is not suitable for the country lagging behind others in its network infrastructure. In this paper, we propose a server-less ${\mu}$-webpage to provide mobile web services and be optimized for the capabilities and limitations of QR Code. We have implemented the ${\mu}$-webpage in Android, and the results showed that the proposed mechanism can provide web-services without requiring extra servers or incurring mobile traffic data compared to the URL-based QR Codes.

• Journal of KIISE:Software and Applications
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• v.30 no.11
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• pp.1072-1079
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• 2003

This study is purported for suggesting a new clustering algorithm that enables incremental categorization of numerous documents. The suggested algorithm adopts the natures of the spherical k-means algorithm, which clusters a mass amount of high-dimensional documents, and the fuzzy ART(adaptive resonance theory) neural network, which performs clustering incrementally. In short, the suggested algorithm is a combination of the spherical k-means vector space model and concept vector and fuzzy ART vigilance parameter. The new algorithm not only supports incremental clustering and automatically sets the appropriate number of clusters, but also solves the current problems of overfitting caused by outlier and noise. Additionally, concerning the objective function value, which measures the cluster's coherence that is used to evaluate the quality of produced clusters, tests on the CLASSIC3 data set showed that the newly suggested algorithm works better than the spherical k-means by 8.04% in average.