• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.99-104
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• 1999

This paper proposes an efficient method constructing a local map using the data of a scanning laser range finder. A laser range finder yields distance data of polar form, that is, distance data corresponding to every scanning directions. So, the data consists of directional angle and distance. We propose a new method to find a line fitting with a set of such data. The method uses Log-Hough Transformation. Usually, map building from these data requires some transformations between different coordinate systems. The new method alleviates such complication. Also, the method simplifies computation for line recognition and eliminates the slope quantization problems inherent in the classical Cartesian Hough transform method. To show the efficiency of the proposed method, it is applied to find a local map using the data from a laser range finder PLS(Proximity Laser Scanner, made by SICK).

• 한국군사과학기술학회지
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• 제4권2호
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• pp.122-129
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• 2001

A characterization procedure for analyzing symmetric coupled MIS(Metal-Insulator-Semiconductor) transmission line is used the same procedure as a general single layer symmetric coupled line with perfect dielectric substrate from the extraction of the characteristic impedance and propagation constant for even- and odd-mode. In this paper, an analysis for a new substrate shielding symmetric coupled MIS structure consisting of grounded crossbar at the interface between Si and SiO2 layer using the Finite- Difference Time-Domain(FDTD) method is presented. In order to reduce the substrate effects on the transmission line characteristics, a shielding structure consisting of grounded crossbar lines over time-domain signal has been examined. Symmetric coupled MIS transmission line parameters for even- and odd-mode are investigated as the functions of frequency, and the extracted distributed frequency- dependent transmission line parameters and corresponding equivalent circuit parameters as well as quality factor for the new MIS crossbar embedded structure are also presented. It is shown that the quality factor of the symmetric coupled transmission line can be improved without significant change in the characteristic impedance and effective dielectric constant.

• 한국정보전자통신기술학회논문지
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• 제13권1호
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• pp.58-63
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• 2020

본 논문은 스테레오 카메라를 이용한 모바일 로봇의 위치 추정 정확도 향상을 위한 방법을 제안한다. 스테레오 카메라로 획득한 스테레오 이미지로부터 위치 정보를 복원하기 위해서는 왼쪽 영상의 각 픽셀에 대응하는 대응점을 오른쪽 영상에서 찾아야 한다. 일반적으로 에피폴라 라인 위의 점들과 픽셀 유사도를 연산하여 대응점을 찾는 방법이 있다. 하지만 모든 에피폴라 라인 위의 점들을 다 탐색해야한다는 단점이 있고, 픽셀 값에 의해서만 유사도가 계산된다는 단점이 있다. 이를 보완하기 위해 본 논문에서는 좌/우 영상의 특징점을 추출 및 매칭하여 대응하는 점들이 같은 y축 상에 있을 경우, x좌표 값의 차를 구함으로 대응점 탐색방법을 간략하게 구현하였다. 또한 매칭이 되지 않아 소실되는 점들의 정보는 기존 알고리즘을 통해 대응점을 구함으로 특징점 수를 최대한 보존하고자 하였다. 특징점 및 대응점의 좌표를 통해 복원된 특징점의 3D 좌표를 기반으로 모바일 로봇의 위치를 보정하였다. 실험 결과, 제안하는 방법을 통해 좌표 보정을 위한 특징점 수를 증가시켰고, 특징점 추출만 수행한 경우보다 모바일 로봇의 위치도 보정 가능함을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.412-412
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• 2000

This paper presents a task teaching method for off-line programming of a multi-robot system. Teaching commands were developed in order to simplify a complex teaching process, to shorten the setup time for new working environment and to have flexibility for changes in working environment. Four teaching commands can be used to automatically generate trajectories of an end-effector of the robot in electronics assembly line. The robots used in the work cell are a four-axis SCARA robot and six-axis articulated robot. Each robot is controlled in a independent way while objects, working environment and robots are modeled in corresponding modules, respectively. The off- line programming system developed uses OpenGL for a smooth graphic effect in Window s where three dimensional CAD data can be leaded for graphical modeling.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 C
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• pp.1817-1819
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• 2001

For an efficient calculation of scattering matrix of planar transmission line with step discontinuity. Mode Matching Method combined with Vector Finite Element Method is adopted. Calculating effective widths are replaced with their respective equivalent planar waveguide corresponding to the microstrip width, Propagation Constant is calculated from the Vector finite element. Mode matching method is used for deriving scattering parameters.

• 한국음향학회지
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• 제19권5호
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• pp.41-45
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• 2000

단결정 초격자 다층박막의 유효탄성계수를 표면탄성파 전파속도에 근거하는 두 가지 방법에 의하여 결정하였다. 첫째 방법은 구성층의 탄성계수로부터 초격자의 유효탄성계수를 계산하는 공식을 사용한다. 계산된 유효탄성계수로 계산한 기판 위 박막의 표면탄성파 전파속도와 선집속 초음파현미경으로 측정한 표면탄성파 전파속도를 비교하여 그 유효탄성계수를 검증한다. 둘째 방법은 선집속 초음파현미경으로 측정한 표면탄성파 전파속도 분산 데이터로부터 역산하여 초격자 다층박막의 유효탄성계수를 결정한다. 두 가지 방법을 TiN/NbN 초격자 다층박막에 적용하여 서로 잘 일치하는 결과를 얻었다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1998년도 추계종합학술대회 논문집
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• pp.1137-1140
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• 1998

In this paper, we propose the new hardware architecture which implements the stereo matching algorithm using the dynamic programming method. The dynamic programming method is used in finding the corresponding pixels between the left image and the right image. The proposed MOEPE(Merged Odd-Even PE) architecture operates in the systolic manner and finds the disparities from the intensities of the pixels on the epipolar line. The number of PEs used in the MOEPE architecture is the number of the range constraint, which reduced the number of the necessary PEs dramatically compared to the traditional method which uses the PEs with the number of pixels on the epipolar line. For the normal method by 25 times. The proposed architecture is modeled with the VHDL code and simulated by the SYNOPSYS tool.

• 대한조선학회논문집
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• 제52권5호
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• pp.365-371
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• 2015

Hull plate consists of various types of curved plates and there also exists corresponding processing methods. Typically, curved plates can be divided into convex type and saddle type. Large amount of research has been conducted mainly focusing on application of processing method of convex type, saddle type and hybrid type, but research on determination and processing method application of the most difficult S-shaped curved plate that has inflection lines has not been carried out yet. In this paper, as the fundamental research of appropriate processing method application, a calculation method is proposed to calculate inflection lines on curved plates. In order to calculate inflection lines, normal curvature and information of fabricated curved plates should be utilized. We compare the workability of the fabrication for hull plate using inflection line.

• 전자공학회논문지B
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• 제31B권9호
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• pp.150-158
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• 1994

In this paepr, Fuzzy Constraint Line Clustering (FCLC) method for optical flow estimation is proposed. FCLC represents the spatical and temporal gradients as fuzzy sets. Based on these sets, several constraint lines with different membership values are generated for the poxed whose velocity is to be estimated. We describe the process for obtaining the membership values of the spatial and temporal gradients and that of the corresponding constraint line. We also show the process for deciding the tightest cluster of point formalated by intersection between constraint lines. For the synthetic and real images, the results of FCLC are compared with of CLC.

• 한국멀티미디어학회논문지
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• 제23권2호
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• pp.127-134
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• 2020

In this paper, we propose a map alignment method for maps generated by point-line monocular SLAM. In the proposed method, the information of feature lines as well as feature points extracted from multiple maps are fused into a single map. To this end, the proposed method first searches for similar areas between maps via Bag-of-Words-based image matching. Thereafter, it calculates the similarity transformation between the maps in the corresponding areas to align the maps. Finally, we merge the overlapped information of multiple maps into a single map by removing duplicate information from similar areas. Experimental results show that maps created by different users are combined into a single map, and the accuracy of the fused map is similar with the one generated by a single user. We expect that the proposed method can be utilized for fast imagery map generation.