• Journal of the Korean Institute of Telematics and Electronics A
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• v.29A no.11
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• pp.19-24
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• 1992

In this paper, a high frequency method is developed which combines the uniform Geometrical Theory of Diffraction(GTD) and the Aperture Integration(AI) to analyze electromagnetic plane wave scattering by a perfectly-conducting, open-ended, semi-infinite parallel plate waveguide with a uniform layer of absorbing material on its inner wall, and with a slanted planar termination inside. In this method, first, the field of an arbitary point inside the paraller plate waveguide is computed by the GTD. Second, the field scattered into exterior region by the waveguide is found using the equivalent current, which can be obtaind from the aperture field of the waveguide and using the AI. Numerical results based on this GTD method are presented and compared with those based on the mode matching method.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2717-2720
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• 2003

A mathematical framework for deriving acceleration bounds from given joint torque limits of two cooperating robots are described in this paper. Especially when the torque limits are given in 2-norm, the resultant geometrical configuration is ellipsoid(the ellipsoid is often called manipulability ellipsoid in many works). At first, the mathematical derivation starts from the dynamics of both object and robots as well as the kinematics of the robots, and is finally arranged in a form of equation relating joint torques to object acceleration through a complete constraint contact(or “very-soft contact”). To show the usefulness of the proposed method, two examples are included, and especially the case where friction effects the ellipsoid shape is also considered In the example.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.32A no.2
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• pp.31-37
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• 1995

A ray-based approach is developed to calculate the scattering from inhomogeneous dielectric objects. This approach is a natural extension of the "shooting and bouncing ray(SBR)" technique developed earlier for calculating the radar cross section of cavity structures and complex targets. In this formulation, a dense grid of rays representing the incident field is shot toward the scatterer. The curved trajectory, amplitude, phase and polarization of the ray fields inside the inhomogeneous object are computed numerically based on the laws of geometrical optics. The contributions of the exting rays to the exterior scattered field are then calculated by using the equivalence principle in conjunction with " a ray-tube integration" scheme. The ray-based approach is applied for the effect of an arcjet plasma plume on satellite reflector performance and backscattering from inhomogeneous objects.

• Proceedings of the IEEK Conference
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• 2005.11a
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• pp.553-556
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• 2005

We present a vision-based hand gesture recognition system for object manipulation in virtual space. Most conventional hand gesture recognition systems utilize a simpler method for hand detection such as background subtractions with assumed static observation conditions and those methods are not robust against camera motions, illumination changes, and so on. Therefore, we propose a statistical method to recognize and detect hand regions in images using geometrical structures. Also, Our hand tracking system employs multiple cameras to reduce occlusion problems and non-synchronous multiple observations enhance system scalability. Experimental results show the effectiveness of our method.

• JSTS:Journal of Semiconductor Technology and Science
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• v.16 no.2
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• pp.191-197
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• 2016

In this paper, we investigated the hotcarrier injection (HCI) mechanism, one of the most important reliability issues, in 10 nm node Input/Output (I/O) bulk FinFET. The FinFET has much intensive HCI damage in Fin-bottom region, while the HCI damage for planar device has relatively uniform behavior. The local damage behavior in the FinFET is due to the geometrical characteristics. Also, the HCI is significantly affected by doping profile, which could change the worst HCI bias condition. This work suggested comprehensive understanding of HCI mechanisms and the guideline of doping profile in 10 nm node I/O bulk FinFET.

• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.322-331
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• 2017

In this paper we present a novel robotic palpation method for the lump shape estimation using contact pressure distribution. Many previous researches about the robotic palpation have used a stiffness map, which is not suitable to obtain geometrical information of a lump. As a result, they require a large data set and long palpation time to estimate the lump shape. Instead of using the stiffness map, the proposed palpation method uses the difference between the normal force direction and the surface normal to detect the lump boundary and estimate its normal. The palpation trajectory is generated by the normal of the lump boundary to track the lump boundary in real-time. The proposed approach requires small data set and short palpation time for the lump shape estimation since the shape can be directly estimated from the optimally generated palpation trajectory. An experiment result shows that our method can find the lump shape accurately in real-time with small data and short time.

• International Journal of Control, Automation, and Systems
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• v.3 no.3
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• pp.444-452
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• 2005

A new scheme for a mobile robot to track and capture a moving object using camera images is proposed. The moving object is assumed to be a point-object and is projected onto an image plane to form a geometrical constraint equation that provides the position data of the object based on the kinematics of the active camera. Uncertainties in position estimation caused by the point-object assumption are compensated for using the Kalman filter. To generate the shortest time path to capture the moving object, the linear and angular velocities are estimated and utilized. In this paper, the experimental results of the tracking and capturing of a target object with the mobile robot are presented.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.4
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• pp.121-127
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• 2005

There is a necessity for the communication between intelligent robots and human beings because of wide spread use of them. Gesture recognition is currently being studied in regards to better conversing. On the basis of previous research, however, the gesture recognition algorithms appear to require not only complicated algorisms but also separate training process for high recognition rates. This study suggests a gesture recognition algorithm based on computer vision system, which is relatively simple and more efficient in recognizing various human gestures. After tracing the hand gesture using a marker, direction changes of the gesture trajectory were analyzed to determine the simple gesture code that has minimal information to recognize. A map is developed to recognize the gestures that can be expressed with different gesture codes. Through the use of numerical and geometrical trajectory, the advantages and disadvantages of the suggested algorithm was determined.

• Journal of the Korean Institute of Telematics and Electronics
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• v.10 no.6
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• pp.5-10
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• 1973

The exact shape of the ceater conductor of a snaked line antenna is not important in determining it's radiating properties. An analysis is therefore made by standard priciples of a snaked line antenna having a simple shape for the center conductor. The approach leads to an explicit formula for the structure attenuation constant in terms of its geometrical parameters. Experimental results support the theory.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.04a
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• pp.253-256
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• 2007

본 논문은 로봇이 영상을 통해 획득한 특정물체의 기하학적 정보를 이용하여 이족로봇이 안정적으로 보행할 수 있게 하기 위한 균형제어기법을 제안한다. 영상은 핀 홀 카메라 모델을 통해 획득하였으며, 영상에 포함되는 특정물체의 특징성분에 대한 변위와 로봇의 자세와의 상관관계는 핀 홀 카메라 모델을 이용하여 공간좌표계의 특징정보를 평면좌표계의 영상정보에 매칭시킨 후, 특징들의 변위에 따른 로봇 관절 좌표계의 변위를 추정하는 방법으로 구할 수 있었다. 본 논문에서 제안하는 균형제어기법은 별도의 센서없이 카메라만을 이용하여 이족보행 로봇의 균형제어가 가능하다는 장점을 가지며, 소형이족로붓을 이용한 실험을 통해 그 효율성을 검증하였다.