• 전자공학회논문지D
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• 제35D권1호
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• pp.84-93
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• 1998

Planar graded index optical waveguides have been formed by Ag$^{+}$ ion exchange in the BK7 optical glass. The experimental results of diffusion and modal characteristics of Ag$^{+}$-Na$^{+}$ exchanged BK7 glass waveguides are presented. Measurements of the mode indices have been measured. We found the relations between the process and device parameters such as the diffusion depth and the square root of the diffusion time, diffusion coefficient and diffusion temperature, and diffusion ion concentration and surface index change. A theoretical gaussian function refractive index profile matched best with the measured data for all the guided modes. The empirical relations between the process and the device parameters are derived and subsequently used to formulate a systematic procedure for fabricating singlemode and multimode waveguides.uides.

• 제어로봇시스템학회논문지
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• 제15권4호
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• pp.353-364
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• 2009

In this paper, a SLAM (Simultaneous Localization and Mapping) method using a single camera and planar fiducial markers is proposed. Fiducial markers are planar patterns that are mounted on the ceiling or wall. Each fiducial marker has a unique hi-tonal identification pattern with square outlines. It can be printed on paper to reduce cost or it can be painted using retro-reflective paint in order to make invisible and prevent undesirable visual effects. Existing localization methods using artificial landmarks have the disadvantage that landmark locations must be known a priori. In contrast, the proposed method can build a map and estimate robot location even if landmark locations are not known a priori. Hence, it reduces installation time and setup cost. The proposed method works good even when only one fiducial marker is seen at a scene. We perform computer simulation to evaluate proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.51.5-51
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• 2001

The sliding and/or skidding motions generally occur to a car - like planar mobile robot consisting of four conventional fixed wheels attached on two parallel axles. Thus, the kinematic model of such mobile robot should include the description of skidding and sliding frictional motions. However, most of previous kinematic models do not take these frictional motions into account the kinematic model, as the work done by Muir and Newman [1]. Thus, does it result in least square solution in estimating sensed forward velocity. In this paper, the sensed forward velocity estimation algorithm for mobile robots is proposed, which not only includes those skidding and sliding frictional motions into kinematic model but also utilizes only the minimal set of dependent internal kinematic variables of the mobile robot. Then, ...

• 한국정밀공학회지
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• 제19권7호
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• pp.28-35
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• 2002

This paper deals with kinematic modeling of a car-like planar mobile robot consisting of four conventional fixed wheels attached on two parallel axles. The kinematic model of such a mobile robot requires the description of skidding and sliding frictional motion. Previous kinematic model proposed by Muir and Newman$^{[1]}$ does not include such frictional motions. Thus, does it result in least square solution in estimating a sensed forward velocity solution. A modified kinematic model is proposed by incorporating transnational friction motion into the original algorithm. It is shown that transnational friction motions should be included into kinematic model of the mobile robot to represent its real physical motion.

• Bulletin of the Korean Chemical Society
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• 제24권9호
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• pp.1281-1283
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• 2003

Proteins in highly oriented lipid bilayer samples are useful to study membrane protein structure determination. Planar lipid bilayers aligned and supported on glass slide were prepared. These stack of glass slide with planar lipid bilayers are not well fit for commercial solid-state NMR probe with round coil. Therefore, homebuilt solid-state NMR probe was built and used for a stack of thin glass plates and RF coil is wrapping directly around the flat square sample. The overall filling factor of the coil is much better and the large surface area enhances the extent to orientation by providing uniform environments for the phospholipids and the high ratio of circumference to area reduces edge effects. $^1H\;and\;^{15}N$ double resonance probe for 400 MHz NMR (9.4T) with a flat coil (coil size: 11 mm ${\times}$ 20 mm ${\times}$ 4 mm) is constructed and tested.

• 한국항해항만학회지
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• 제38권1호
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• pp.11-18
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• 2014

To confirm whether the square tank at Changwon National University (CWNU) can be used for estimation of maneuverability, planar motion mechanism (PMM) test and circular motion (CM) test were performed for various conditions. PMM test can be implemented using an XY carriage and a yaw table in the square tank. However, sometimes test section is insufficient for PMM test owing to low length-breadth ratio of the tank. In addition, the speed of a towing carriage is also quite limited. Therefore, it would be useful if PMM test could be effectively performed diagonally, by establishing coupled control logic to drive three servomotors. In addition, Froude number dependency on the estimated hydrodynamic coefficients was checked. Furthermore, CM tests, which cannot be completed in a conventional linear towing tank, were performed, and its results were compared with the results of PMM test. The results of the PMM tests in the diagonal direction were consistent with the results of the test performed in the direction parallel to the sidewall. However, the results of the CM test were greater than those of the PMM test. This tendency was also observed in the results published at Ulsan University.

• 대한화학회지
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• 제32권5호
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• pp.428-435
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• 1988

Isonitrosoacetylacetone 및 여러가지 디아민으로 부터 유도된 리간드와의 니켈(Ⅱ) 및 팔라듐(Ⅱ) 착물들, 즉, $Ni(IAA)_2-en$, $Ni(IAA)_2-pn$, $Ni(IAA)_2-tn$, Pd(IAA)$_2$-en, PdCl(IAA)-pn, 그리고 Pd(IAA)$_2$-tn을 합성하였다. 여기서 (IAA)$_2$-en, (IAA)$_2$-pn, (IAA)$_2$-tn, 그리고 (IAA)-pn 은 각각 N,N'-enthylenbis(isonitrosoacetylacetone imine), N,N'-propylenebis(isonitrosoacetylacetone imine), N,N'-trimethylenebis(isonitrosoacetylacetone imine), 그리고 N-(2-aminopropyl)isonitrosoacetylacetone imine 을 표시한다. 합성된 이들 니켈(Ⅱ) 및 팔라듐(Ⅱ) 착물들의 원소분석, 적외선 스펙트럼, 핵자기공명스펙트럼, 그리고 전자스펙트럼등을 측정한 결과, $Ni(IAA)_2$-tn 및 Pd(IAA)$_2$-en에서 리간드의 한 isonitroso 기는 질소원자를 통하여 금속이온에 배위되어 5각형 고리를 이루고, 다른 isonitroso기는 산소원자를 통하여 금속이온에 배위되어 6각형 고리를 이룬다. 그리고, $Ni(IAA)_2$-en, Ni(IAA)$_2$-pn, 그리고 Pd(IAA)$_2$-tn에서 리간드의 두개의 isonitroso기는 모두 질소원자를 통하여 금속이온에 배위되어 5각형 고리를 이룬다. 한편, PdCl(IAA)-pn 은 팔라듐과 한분자의 isonitrosoacetylacetone 및 propylenediamine의 반응으로 생성된다.

• 분석과학
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• 제6권1호
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• pp.107-119
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• 1993

본 연구에서는 백금족 금속-아세틸아세톤 킬레이트들의 역상 액체 크로마토그래피에서 용리 거동을 조사하여 머무름 메카니즘을 연구하고 이들의 최적 분리 조건을 알아내었다. 중성의 백금족 금속-아세틸아세톤 킬레이트들의 머무름에 소용매성 효과가 크게 영향을 준다는 것을 알았다. 또한, 백금족 금속-아세틸아세톤 킬레이트들의 기하학적 구조가 머무름에 많은 영향을 준다는 것을 알았다. 팔면체 구조인 $Rh(acac)_3$, $Ir(acac)_3$보다는 평면 사각형 구조인 $Pd(acac)_2$, $Pt(acac)_2$가 비극성 정지상과 상호 작용할 수 있는 표면적이 더 크므로 더 늦게 용리된다. 컬럼의 온도를 $25{\sim}45^{\circ}C$까지 변화시키면서 각 이동상 조성에서 van't Hoff plot를 구한 결과 온도에 따른 머무름 메카니즘은 일정함을 알 수 있었다. 이동상의 조성변화에 따라 용질의 머무름 메카니즘이 변화하는가를 알아보기 위하여 엔탈피-엔트로피 상쇄 현상을 조사하였다. 메탄올-물 용매의 조성이 40~70%로 변할 때 팔면체 구조인 $Rh(acac)_3$, $Ir(acac)_3$와 평면 사각형 구조인 $Pd(acac)_2$, $Pt(acac)_2$는 각각 엔탈피-엔트로피 상쇄 현상이 관찰되었으므로 머무름 메카니즘이 킬레이트의 구조에 따라 일정함을 알았다. 아세토니트릴-물 용매 조성이 30~60%로 변할 때는 엔탈피-엔트로피 상쇄 형상이 관찰되지 않았으므로 머무름 메카니즘이 복잡함을 알았다. 백금족 금속-아세틸아세톤 킬레이트들의 최적 분리 조건은 40% 메탄올, polymeric C18 컬럼, $45^{\circ}C$이다.

• 한국자기학회지
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• 제12권3호
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• pp.109-116
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• 2002

평면변압기의 설계방법 확립과 응용가능성을 파악하기 위해 입/출력전압이 70V/8.2V인 8W급 플라이-백 평면변압기를 설계하였다. 스위칭 주파수 120kHz에서 인덕턴스는 1650 $\mu$H로서 이론치의 약 85%~87%인 인덕턴스 효율을 나타내었고, 도전체의 교류저항은 주파수가 증가할수록 증가하여 스위칭파수 120 kHz에서 1차/2차 코일의 교류저항이 각각 3.9 $\Omega$, 0.16 $\Omega$이었고, 성능지수는 각각 158, 75로 나타났으며, 결합인자 k값은 스위칭 주파수 120 kHz에서 0.96~0.97 범위의 값을 나타내었다. 또한 자성체의 평면부분의 두께가 1.4mm까지는 인덕턴스가 평면두께가 증가할수록 큰 폭으로 증가하였고, 1.4mm이상의 두께에서는 거의 일정한 값을 나타내어 자성체의 임계 평면두께는 1.4mm로 나타났다. 그리고 70V의 입력 전압에 대하여 안정한 구형파의 출력 파형을 나타내었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1601-1606
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• 1991

We present an algorithm to approximate the Voronoi diagrams of 2D objects bounded by algebraic curves. Since the bisector curve for two algebraic curves of degree d can have a very high algebraic degree of 2 * d$^{4}$, it is very difficult to compute the exact algebraic curve equation of Voronoi edge. Thus, we suggest a simple polygonal approximation method. We first approximate each object by a simple polygon and compute a simplified polygonal Voronoi diagram for the approximating polygons. Finally, we approximate each monotone polygonal chain of Voronoi edges with Bezier cubic curve segments using least-square curve fitting.