• KIPS Transactions on Software and Data Engineering
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• v.6 no.10
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• pp.473-478
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• 2017

Drones require altitude holding in order to achieve flight objectives. The altitude holding of the drone is to repeat the operation of raising or lowering the drone according to the altitude information being measured in real-time. When the drones are maintained altitude, the drone's altitude will continue to change due to external factors such as imbalance in thrust due to difference in motor speed or wind. Therefore, in order to maintain the altitude of drone, we have to exactly measure the continuously changing altitude of the drone. Generally, the acceleration sensor is used for measuring the height of the drones. In this method, there is a problem that the measured value due to the integration error accumulates, and the drone's vibration is recognized by the altitude change. To solve the difficulty of the altitude measurement, commercial drones and existing studies are used for altitude measurement together with acceleration sensors by adding other sensors. However, most of the additional sensors have a limitation on the measurement distance and when the sensors are used together, the calculation processing of the sensor values increases and the altitude measurement speed is delayed. Therefore, it is necessary to accurately measure the altitude of the drone without considering additional sensors or devices. In this paper, we propose a measurement algorithm that improves general altitude measurement method using acceleration sensor and show that accuracy of altitude holding and altitude measurement is improved as a result of applying this algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1022-1027
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• 2003

The Motion controllers provide the sophisticated performance and enhanced capabilities we can see in the movements of robotic systems. Several types of motion controllers are available, some based on the kind of overall control system in use. PLC (Programmable Logic Controller)-based motion controllers still predominate. The many peoples use MCU (Micro Controller Unit)-based board level motion controllers and will continue to in the near-term future. These motion controllers control a variety motor system like robotic systems. Generally, They consist of large and complex circuits. PLC-based motion controller consists of high performance PLC, development tool, and application specific software. It can be cause to generate several problems that are large size and space, much cabling, and additional high coasts. MCU-based motion controller consists of memories like ROM and RAM, I/O interface ports, and decoder in order to operate MCU. Additionally, it needs DPRAM to communicate with host PC, counter to get position information of motor by using encoder signal, additional circuits to control servo, and application specific software to generate a various velocity profiles. It can be causes to generate several problems that are overall system complexity, large size and space, much cabling, large power consumption and additional high costs. Also, it needs much times to calculate velocity profile because of generating by software method and don't generate various velocity profiles like arbitrary velocity profile. Therefore, It is hard to generate expected various velocity profiles. And further, to embed real-time OS (Operating System) is considered for more reliable motion control. In this paper, the structure of chip-based precision motion controller is proposed to solve above-mentioned problems of control systems. This proposed motion controller is designed with a FPGA (Field Programmable Gate Arrays) by using the VHDL (Very high speed integrated circuit Hardware Description Language) and Handel-C that is program language for deign hardware. This motion controller consists of Velocity Profile Generator (VPG) part to generate expected various velocity profiles, PCI Interface part to communicate with host PC, Feedback Counter part to get position information by using encoder signal, Clock Generator to generate expected various clock signal, Controller part to control position of motor with generated velocity profile and position information, and Data Converter part to convert and transmit compatible data to D/A converter.

• Journal of Korean Society of Transportation
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• v.32 no.1
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• pp.1-12
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• 2014

The tier 3 methodology used in estimation of greenhouse gas emissions from road sectors is based on mileage data. However, such data can neither accurately represent the mileage of regional unit nor have sufficient integrated data reflecting the characteristics by region, vehicle type, fuel type and road type. Such estimation of greenhouse gas emissions is not reliable. Accordingly, the purpose of this study is, firstly to accumulate activity data based on distance traveled which enables us to accurately estimate the amount of green gas emitted by regional unit(emission point), and secondly, to develop a methodology for estimation of greenhouse gas emissions using these data. To do this, the study utilizes the mileage data of Korea Transportation Safety Authority(TS), statistics of registered motor vehicles, statistical yearbook of traffic volume from the Ministry of Land, Infrastructure and Transport(MLIT), the Korea Transport Database of the Korea Transport Institute(KOTI), and average road speed by local government. Methodology for estimation by local government level(emission point) is meaningful, because it reflects traffic pattern data including flow in and out and internal traffics. Finally, to verify the methodology presented in this study, it is applied to Seoul. Both greenhouse gas estimates, one by multiplying the average mileage and the number of registered vehicles and the other by multiplying traffic volume and road extension, are less than the amount estimated by the methodology presented in this study.

• Korean Journal of Applied Biomechanics
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• v.25 no.2
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• pp.175-182
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• 2015

Objective : The purpose of this study was to investigate difference in fascicle behavior of the medial gastrocnemius during the locomotion with varying intensities, such as gait and one-legged and two-legged vertical jumping. Methods : Six subjects (3 males and 3 females; age: $27.2{\pm}1.6yrs.$, body mass: $62.8{\pm}9.8kg$, height: $169.6{\pm}8.5cm$) performed normal gait (G) at preferred speed and maximum vertical jumping with one (OJ) and two (TJ) legs. While subjects were performing the given tasks, the hip, knee and ankle joint motion and ground reaction force was monitored using a 8-infrared camera motion analysis system with two forceplates. Simultaneously, electromyography of the triceps surae muscles, and the fascicle length of the medial gastrocnemius were recorded using a real-time ultrasound imaging machine. Results : Comparing to gait, the kinematic and kinetic parameters of TJ and OJ were found to be significantly different. Along with those parameters, change in the medial gastrocnemius (MG) muscle-tendon complex (MTC) length ($50.57{\pm}6.20mm$ for TJ and $44.14{\pm}5.39mm$ for OJ) and changes in the fascicle length of the MG ($18.97{\pm}3.58mm$ for TJ and $20.31{\pm}4.59mm$ for OJ) were observed. Although the total excursion of the MTC and the MG fascicle length during the two types of jump were not significantly different, however the pattern of length changes were found to be different. For TJ, the fascicle length maintained isometric longer during the propulsive phase than OJ. Conclusion : One-legged and two-legged vertical jumping use different muscle-tendon interaction strategies.

• Journal of the Microelectronics and Packaging Society
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• v.21 no.4
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• pp.97-103
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• 2014

Among various lead-free solders, the Sn-58Bi solders have been considered as a highly promising lead-free solders because of its low melting temperature and high tensile strength. However, Sn-58Bi solder has the poor ductility. To enhance the mechanical property of Sn-58Bi solder, epoxy-enhanced Sn-58Bi solders have been studied. This study compared the microstructures and the mechanical properties of Sn-58Bi solder and Sn-58Bi epoxy solder with aging treatment. The solders ball were formed on the printed circuit board (PCB) with organic solderability preservative (OSP) surface finish, and then the joints were aged at 85, 95, 105 and $115^{\circ}C$ for up to 100, 300, 500 and 1000 hours. The shear test was conducted to evaluate the mechanical property of the solder joints. $Cu_6Sn_5$ intermetallic compound (IMC) layer grew with increasing aging time and temperature. The IMC layer for the Sn-58Bi epoxy solder was thicker than that for the Sn-58Bi solder. According to result of shear test, the shear strength of Sn-58Bi epoxy solder was higher than that of Sn-58Bi solder and the shear strength decreased with increasing aging time.

• Journal of Environmental Science International
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• v.21 no.2
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• pp.181-188
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• 2012

Salicornia europaea (glasswort) is succulent, annual, halophytic plant mainly distributed throughout reclaimed land or salt marsh. It has strong tolerance to salt so that it plays the part of the pioneer species in the first succession. According to domestic and foreign studies, S. europaea contains plenty of minerals and antioxidant in the body. Since people take note of an availableness of this plant as health diet, the natural growth sites are threatened. In addition to development of salt marsh and sea shore, imprudent harvest has a bad effect to S. europaea population maintenance. To seek ways to preserve the population of this plant, we carried out the continuity of seed germination and restoration test. Seokmo Island, Daebu Island, Youngjong Island and Sudokwon landfill in Korea are selected sites for research. Result of germination continuity shows that most S. europaea seeds germinate on March but no more after July. However the germination was occurred after that time in the greenhouse. So we concluded that no germination after July is a matter of environmental condition not the number of remaining seeds. Also germination was seldom occurred in the spot where seeds production was not happened. In result of continuity test of seed germination by soil depth, germination was occurred vigorously only in top soil. From these results, we note that most S. europaea germinate in the early spring, and germination is finished by July. And this rapid germination speed makes the number of seeds in soil seed bank rare. If a large number of S. europaea in some area are harvested after July, the number of this species will dramatically decrease in that area the following year. In Seokmo Island, we carried out reintroduction experiment by sowing S. europaea seeds. On the first year, a small number of S. europaea settled and they produced seeds successfully. On April 2010, the second year, we observed many S. europaea in seed sowing sites. And we found out that plowing is more efficient than treatment sea water for settlement of S. europaea.

• Proceedings of the Korean Vacuum Society Conference
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• 2012.02a
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• pp.156-157
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• 2012

단일 셀에서 비휘발성 및 고속의 휘발성 메모리를 모두 구동할 수 있는 다기능 메모리는 모바일 기기 및 embedded 장치의 폭발적인 성장에 있어 그 중요성이 커지고 있다. 따라서 최근 이러한 fusion기술을 응용한 unified RAM (URAM)과 같은 다기능 메모리의 연구가 주목 받고 있다. 이러한 다목적 메모리는 주로 silicon on insulator (SOI)기반의 1T-DRAM과 SONOS기술 기반의 비휘발성 메모리의 조합으로 이루어진다. 하지만 이런 다기능 메모리는 주로 단결정기반의 SOI wafer 위에서 구현되기 때문에 값이 비싸고 사용범위도 제한되어 있다. 따라서 이러한 다기능메모리를 다결정 실리콘을 이용하여 제작한다면 기판에 자유롭게 메모리 적용이 가능하고 추후 3차원 적층형 소자의 구현도 가능하기 때문에 다결정실리콘 기반의 메모리 구현은 필수적이라고 할 수 있겠다. 본 연구에서는 다결정실리콘을 이용한 channel recessed구조의 다기능메모리를 제작하였으며 각 1T-DRAM 및 NVM동작에 따른 memory 특성을 살펴보았다. 실험에 사용된 기판은 상부 비정질실리콘 100 nm, 매몰산화층 200 nm의 SOI구조의 기판을 이용하였으며 고상결정화 방법을 이용하여 $600^{\circ}C$ 24시간 열처리를 통해 결정화 시켰다. N+ poly Si을 이용하여 source/drain을 제작하였으며 RIE시스템을 이용하여 recessed channel을 형성하였다. 상부 ONO게이트 절연막은 rf sputter를 이용하여 각각 5/10/5 nm 증착하였다. $950^{\circ}C$ N2/O2 분위기에서 30초간 급속열처리를 진행하여 source/drain을 활성화 하였다. 계면상태 개선을 위해 $450^{\circ}C$ 2% H2/N2 분위기에서 30분간 열처리를 진행하였다. 제작된 Poly Si MFM에서 2.3V, 350mV/dec의 문턱전압과 subthreshold swing을 확인할 수 있었다. Nonvolatile memory mode는 FN tunneling, high-speed 1T-DRAM mode에서는 impact ionization을 이용하여 쓰기/소거 작업을 실시하였다. NVM 모드의 경우 약 2V의 memory window를 확보할 수 있었으며 $85^{\circ}C$에서의 retention 측정시에도 10년 후 약 0.9V의 memory window를 확보할 수 있었다. 1T-DRAM 모드의 경우에는 약 $30{\mu}s$의 retention과 $5{\mu}A$의 sensing margin을 확보할 수 있었다. 차후 engineered tunnel barrier기술이나 엑시머레이저를 이용한 결정화 방법을 적용한다면 device의 특성향상을 기대할 수 있을 것이다. 본 논문에서는 다결정실리콘을 이용한 다기능메모리를 제작 및 메모리 특성을 평가하였다. 제작된 소자의 단일 셀 내에서 NVM동작과 1T-DRAM동작이 모두 가능한 것을 확인할 수 있었다. 다결정실리콘의 특성상 단결정 SOI기반의 다기능 메모리에 비해 낮은 특성을 보여주었으나 이는 결정화방법, high-k절연막 적용 및 engineered tunnel barrier를 적용함으로써 해결 가능하다고 생각된다. 또한 sputter를 이용하여 저온증착된 O/N/O layer에서의 P/E특성을 확인함으로써 glass위에서의 MFM구현의 가능성도 확인할 수 있었으며, 차후 system on panel (SOP)적용도 가능할 것이라고 생각된다.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.27 no.8A
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• pp.739-752
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• 2002

Recently, to utilize the limited bandwidth effectively, the concept of partial response (PR) signaling has widely been adopted in both the high-speed data transmission and high-density digital recording/playback systems such as digital microwave, digital subscriber loops, hard disk drives, digital VCR's and digital versatile recordable disks and so on. This paper is concerned with adaptive equalization of partial response channels particularly for the magnetic recording channels. Specifically we study how the PR channel equalizers work for different choices of desired or reference signals used for adjusting the equalizer weights. In doing so, we consider three different configurations that are actually implemented in the commercial products mentioned above. First of all, we show how to compute the theoretical values of the optimum Wiener solutions derived by minimizing the mean-squared error (MSE) at the equalizer output. Noting that this equalizer MSE measure cannot be used to fairly compare the three configurations, we propose to use the data MSE that is computer just before the final detector for the underlying PR system. We also express the data MSE in terms of the channel impulse response values, source data power and additive noise power, thereby making it possible to compare the performance of the configurations under study. The results of extensive computer simulation indicate that our theoretical derivation is correct with high precision. Comparing the three configurations, it also turns out that one of the three configurations needs to be further improved in performance although it has an apparent advantage over the others in terms of memory size when implemented using RAM's for the decision feedback part.

• Journal of Korea Foundry Society
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• v.39 no.2
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• pp.26-31
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• 2019

In this study, the mechanical characteristics and microstructure of hypereutectic Al-17Si-5Fe extruded alloys prepared by a rapid solidification process (RSP) were investigated. The hypereutectic Al alloy was fabricated by means of RSP and permanent casting. For RSP, the Al alloy melted at $920^{\circ}C$, cooling the specimens at a rate of $10^6^{\circ}C/s$ when the RSP was used, thus allowing the refining of primary Si particles more than when using permanent casting, at a rate of about 91%. We tested an extrusion RSP billet and a permanent-cast billet. Before the hot-extrusion process, heating to $450^{\circ}C$ took place for one hour. The samples were then hotextruded with a condition of extrusion ratio of 27 and a ram speed of 0.5 mm/s. Microstructural analyses of the extruded RSP method and the permanent casting method were carried out with OM and SEM-EDS mapping. The mechanical properties in both cases were evaluated by Vickers micro-hardness, wear resistance and tensile tests. It was found that when hypereutectic Al-17Si-5Fe alloys were fabricated by a rapid solidification method, it becomes possible to refine Si and intermetallic compounds. During the preparation of the hypereutectic Al-17Si-5Fe alloy by the rapid solidification method, the pressure of the melting crucible was low, and at faster drum speeds, smaller grain alloy flakes could be produced. Hot extrusion of the hypereutectic Al-17Si-5Fe alloy during the rapid solidification method required higher pressure levels than hot extrusion of the permanent mold-casted alloy. However, it was possible to produce an extruded material with a better surface than that of the hot extruded material processed by permanent mold casting.

• Journal of Biosystems Engineering
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• v.7 no.2
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• pp.18-29
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• 1983

A low cost and versatile data acquisition system for the field and laboratory use was developed by using a single board microcomputer. Data acquisition system based on a Z80 microprocessor was built, tested and modified to obtain the present functional system. The microcomputer developed consists of 6 kB ROM, 5 kB RAM, 6-seven segment LED display, 16-Hex. key and 8 command key board. And it interfaces with an 8 channel, 12 bits A/D converter, a microprinter, EPROM programmer for 2716, and RS232C interface to transfer data between the system and HP3000 mini-computer manufactured by Hewlett Packard Co., A software package was also developed, tested, and modified for the system. This package included drivers for the AID converter, LED display, key board, microprinter, EPROM programmer, and RS232c interface. All of these programs were written in 280 assembler language and converted to machine codes using a cross assembler by HP3000 computer to the system during modifying stage by data transferring unit of this system, then the machine language wrote to the EPROM by this EPROM programmer. The results are summarized as follows: 1. Measuring program developed was able to control the measuring intervals, No. of channels used, and No. of data, where the maximum measuring speed was 58.8 microsec. 2. Calibration of the system was performed with triangle wave generated by a function generator. The results of calibration agreed well to the test results. 3. The measured data was able to be written into EPROM, then the EPROM data was compared with original data. It took only 75 sec. for the developed program to write the data of 2 kB the EPROM. 4. For the slow speed measurements, microprinter instead of EPROM programmer proved to be useful. It took about 15 min. for microprinter to write the data of 2 kB. 5. Modified data transferring unit was very effective in communicating between the system and HP3000 computer. The required time for data transferring was only 1~2 min. 6. By using DC/DC converting devices such as 78-series, 79-series. and TL497 IC, this system was modified to convert the only one input power sources to the various powers. The available power sources of the system was DC 7~25 V and 1.8 A.