• 한국전자파학회논문지
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• 제15권11호
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• pp.1019-1025
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• 2004

직각 도파관 내의 주 모드인 TE$_{10}$ 모드의 필드 분포를 기준으로 만든 전송선 등가 모델을 바탕으로 슬롯 결합의 결합을 통해 급전하는 도파관 슬롯 배열 안테나를 설계하였다. 이를 위해 도파관 중심에 위치한 기울어진 슬롯(결합 슬롯)의 적절한 각도와 도파관 축 방향 슬롯(방사 슬롯)의 이격거리를 구해낸 후, 이를 EM 시뮬레이션을 통해 전자기적 특성을 파악하고 특성을 분석하였으며 실제 제작품 측정 결과 비교하였다. 측정된 반사손실 대역폭은 중심주파수 9.15 GHz에서 180 MHz, 부엽레벨은 -25 dB 이하, 반 전력 빔폭은 약 9$^{\circ}$, 이득은 25.5 dB이며 이러한 결과는 시뮬레이션 데이터와 유사하다.

• 대한원격탐사학회지
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• 제36권3호
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• pp.441-448
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• 2020

GMTI (Ground Moving Target Indication) 레이다 시스템은 항공기와 위성과 같이 이동하는 플랫폼에 탑재되어 지상에서 이동하는 표적을 탐지하고, 그 표적의 위치와 속도 정보를 제공하기 때문에 결과에 해당하는 표적의 위치 정확도가 중요하다. 그러나 안테나 혹은 김발 자체의 지향 정확도, EGI 자이로 센서와 하우징 간의 정렬 오차, EGI 정렬치구의 공차 등의 기계적 오차와 측정 센서 등에서 발생하는 전기적 오차로 인해 표적의 위치 결과에서 방위각 오차가 발생할 수 있다는 문제점이 있다. 이러한 경우, 모노펄스 기울기(Monopulse ratio) 정보가 아무리 정확하더라도 표적의 방위각 정확도가 저하된다는 문제점이 있다. 따라서 본 논문에서는 발생한 표적의 위치 오차를 보정하기 위해 모노펄스 레이다 시스템으로부터 수신한 합/차 신호를 이용하여 표적의 방위각 오차를 추정하고 그 위치를 보상하는 방법을 제안하고자 한다. 제안한 방법은 하드웨어 변경 없이 소프트웨어적으로 구현이 간단하지만 다양한 환경에서 적응적으로 사용할 수 있어 보다 정확한 표적 위치 정보를 획득할 수 있다는 장점이 있다.

• International Journal of Automotive Technology
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• 제7권5호
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• pp.609-618
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• 2006

This paper presents the lateral control of an autonomous vehicle by using a look-ahead sensing system. In look-ahead sensing by an absolute positioning system, a reference lane, constructed by straight lanes or circular lanes, was switched by a segment switching algorithm. To cope with sensor noise and modeling uncertainty, a robust LMI-based $H_{\infty}$ lateral controller was designed by the feedback of lateral offset and yaw angle error at the vehicle look-ahead. In order to verify the safety and the performance of lateral control, a scaled-down vehicle was developed and the location of the vehicle was detected by using an ultrasonic local positioning system. In the mechatronic scaled-down vehicle, the lateral model and parameters are verified and estimated by a J-turn test. For the lane change and reference lane tracking, the lateral controllers are used experimentally. The experimental results show that the $H_{\infty}$ controller is robust and has better performance compared with look-down sensing.

• Journal of Welding and Joining
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• 제18권3호
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• pp.60-67
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• 2000

In this study, we constructed a preview-sensing visual sensor system for weld seam tracking in GMA welding. The visual sensor consists of a CCD camera, a diode laser system with a cylindrical lens and a band-pass-filter to overcome the degrading of image due to spatters and/or arc light. To obtain weld joint position and edge points accurately from the captured image, we compared Hough transform method with central difference method. As a result, we present Hough transform method can more accurately extract the points and it can be applied to real time weld seam tracking. Image processing is carried out to extract straight lines that express laser stripe. After extracting the lines, weld joint position and edge points is determined by intersecting points of the lines. Although a spatter trace is in the image, it is possible to recognize the position of weld joint. Weld seam tracking was precisely implemented with adopting Hough transform method, and it is possible to track the weld seam in the case of offset angle is in the region of $\pm15^{\circ}$.

• Journal of Mechanical Science and Technology
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• 제15권8호
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• pp.1097-1107
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• 2001

In this paper, the wall following navigation algorithm of the mobile robot using a mono vision system is described. The key points of the mobile robot navigation system are effective acquisition of the environmental information and fast recognition of the robot position. Also, from this information, the mobile robot should be appropriately controlled to follow a desired path. For the recognition of the relative position and orientation of the robot to the wall, the features of the corridor structure are extracted using the mono vision system, then the relative position, the offset distance and steering angle of the robot from the wall, is derived for a simple corridor geometry. For the alleviation of the computation burden of the image processing, the Kalman filter is used to reduce search region in the image space for line detection. Next, the robot is controlled by this information to follow the desired path. The wall following control scheme by the PD control scheme is composed of two control parts, the approaching control and the orientation control, and each control is performed by steering and forward-driving motion of the robot. To verify the effectiveness of the proposed algorithm, the real time navigation experiments are performed. Through the result of the experiments, the effectiveness and flexibility of the suggested algorithm are verified in comparison with a pure encoder-guided mobile robot navigation system.

• 한국추진공학회지
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• 제15권1호
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• pp.76-82
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• 2011

우주발사체의 추력 축 정렬이 제대로 안되면 발사체의 자세제어가 불안정해지고 심할 경우 임무 실패를 초래 할 수 있으므로 추력 축 정렬은 매우 중요하다. 일반적으로 추력 축 정렬은 데오돌라이트나레이져 트렉커와 같은 광학 방식을 사용하거나 턴테이블을 사용하는 기계식 방식을 사용한다. 본 연구에는 중력 방향과 관련된 경사도계를 이용하는 쉬운 방법을 다룬다. 경사도계는 지구 중력방향과 수직이 되면 0도를 가리킨다. 이 방법은 두 개의 경사도계가 필요한데, 하나는 기준이고 다른 하나는 정렬용이다. 두 경사도계의 각도차이는 TVC 구동기를 조정하는 참고치가 된다.

• 대한기계학회논문집B
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• 제27권6호
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• pp.773-780
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• 2003

The three-dimensional spatial structures of impeller flow created by a six bladed Rushton turbine have identified based on the volumetric velocity information from multi-plane stereoscopic PIV measurements. A total of 10 planes with 2 mm space and a 50 mm by 64 mm size of the field of view were targeted. To reduce the depth of focus, we adopted an angle offset configuration which satisfied the Scheimpflug condition. The distortion compensation procedure was utilized during the in situ calibration. Phase-locked instantaneous data were ensemble averaged and interpolated in order to obtain mean 3-D. volumetric velocity fields on a 60 degree sector of a cylindrical ring volume enclosing the turbine blade. Using the equi-vorticity surface rendering, the spatial structure of the trailing vortices was clearly demonstrated. Detail flow characteristics of the radial jet reported in previous studies of mixer flows were easily identified.

• 대한기계학회논문집A
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• 제28권3호
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• pp.230-237
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• 2004

Lane Sensing techniques based on vision sensors are regarded promising because they require little infrastructure on the highway except clear lane markers. However, they require more intelligent processing algorithms in vehicles to generate the previewed roadway from the vision images. In this paper, a lane sensing algorithm using vision sensors is developed to improve the sensing robustness. The parallel stereo-camera is utilized to regenerate the 3-dimensional road geometry. The lane geometry models are derived such that their parameters represent the road curvature, lateral offset and heading angle, respectively. The parameters of the lane geometry models are estimated by the Kalman filter and utilized to reconstruct the lane geometry in the global coordinate. The inverse perspective mapping from the image plane to the global coordinate considers roll and pitch motions of a vehicle so that the mapping error is minimized during acceleration, braking or steering. The proposed sensing system has been built and implemented on a 1/10-scale model car.

• International Journal of Automotive Technology
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• 제7권6호
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• pp.715-720
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• 2006

This research investigates injury values and vehicle deformation for vehicle frontal crash compatibility. To investigate compatibility in an individual case, it is possible to impact two vehicles and evaluate the injury values and deformations in both vehicles. In this study, four tests were conducted to evaluate compatibility. A large and mini vehicle were subjected to a frontal car-to-car crash test at a speed of 48.3 km/h with an offset of 40%. An inclination car-to-car crash test using the large and small vehicle were conducted at 30 km/h at a $30^{\circ}$ angle. The results of the 48.3 km/h, car-to-car frontal crash revealed extremely high injury values on the chest and upper leg of the Hybrid III 50% driver dummy with seatbelt in the mini vehicle compared to the large vehicle. For the 30 km/h, car-to-car inclination crash, however, injury values in the small vehicle were 1.5 times higher compared to the large vehicle.

• 조명전기설비학회논문지
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• 제29권12호
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• pp.1-7
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• 2015

In this paper, we propose a second-order fiber flexible comb filter based on a polarization-diversity loop(PDL). The proposed filter consists of a polarization beam splitter, four half-wave plates(HWPs), and three high birefringence fiber(HBF) segments. In the previous Solc-type second-order filter based on the PDL, HBF segments were fusion-spliced with a fixed angle offset between their principal axes with each other. But, the proposed filter implemented by inserting two HWPs between three HBF segments has a great flexibility in adjusting relative angular difference between the principal axes of two adjacent HBF segments. Owing to this flexibility, second-order transmission spectra, which had a channel spacing of ~0.8nm, could be interleaved by controlling the orientation angles of four HWPs. The output transmission spectra of the proposed filter were theoretically analyzed and experimentally verified.