• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.815-819
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• 1996

In this work, regular rotational gaits of the quadruped crawling robot required to change its moving direction without affecting be its orientation and its static stability margin are studied. The regular rotational gaits provide the quadruped crawling robot with omnidirectional characteristics. However, the ideal foothold region for each of legs of the quadruped crawling robot is assumed for simplicity. Nonetheless, it is expected that the results of this paper will provide the insight for both design of legs of the crawling robot with omnidirectional characteristics as well as its operation of the crawling robot system with specified stability margin.

• International Journal of Control, Automation, and Systems
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• 제4권4호
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• pp.486-494
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• 2006

In this paper, we present the complete isotropy analysis of a caster wheeled omnidirectional mobile robot (COMR) with nonredundant/redundant actuation. It is desirable for robust motion control to keep a COMR close to the isotropy but away from the singularity as much as possible. First, with the characteristic length introduced, the kinematic model of a COMR is obtained based on the orthogonal decomposition of the wheel velocities. Second, a general form of the isotropy conditions of a COMR is given in terms of physically meaningful vector quantities which specify the wheel configuration. Third, for all possible nonredundant and redundant actuation sets, the algebraic expressions of the isotropy conditions are derived so as to identify the isotropic configurations of a COMR. Fourth, the number of the isotropic configurations, the isotropic characteristic length, and the optimal initial configuration are discussed.

• 융합신호처리학회논문지
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• 제7권4호
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• pp.214-220
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• 2006

This paper presents the systematic isotropy analysis of a fully actuated caster wheeled omnidirectional mobile robot (COMR) with the steering link offset different from the wheel radius, which can be considered as the generalization of the previous analysis. First with the characteristic length introduced, the kinematic model of a COMR is obtained based on the orthogonal decomposition of the wheel velocities. Second, the necessary and sufficient conditions for the isotropy of a COMR are derived and examined to categorize there different groups, each of which can be dealt with in a similar way. Third, for each group, the isotropy conditions are further explored so as to identify four different sets of all possible isotropic configurations. Fourth, for each set the expressions of the isotropic characteristic length required for the isotropy of a COMR are elaborated.

• 수산해양기술연구
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• 제41권3호
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• pp.207-212
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• 2005

Dual frequency acoustic pinger(AP) was manufactured to reduce study effect by long-term use of developed single frequency AP to prevent cetacean bycatch. Directivity characteristic of transducer was the omnidirectional pattern which showed less than ${\pm}3dB$ the change range of sensitivity on the beam pattern of right and left. Source power level(SPL) was 1384311pa with epoxy window before casing however after casing 1170B11Pa at sea. Dual frequency Af was tested to identify the avoidance behavior of bottlenose dolphin by its working. However the efficiency of dual frequency AP about the study effect was verified experiment repeatedly using single and dual frequency AP.

• 한국정보통신학회논문지
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• 제8권7호
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• pp.1558-1564
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• 2004

본 논문에서는 근거리무선 통신용 RF 모듈을 구성하는 핵심 부품인 5.5GHz 대역 LNA와 마이크로스트립 패치 안테나를 설계하였다. LNA는 NEC사의 NE3210S01를 사용하여 잡음특성을 개선하였으며 마이크로 스트립 패치 안테나는 전방향성을 갖도록 설계하였다. 제작된 LNA는 이득이 약15dB, 입출력 반사손실이 -20 dB 이하이며, VSWR은 1.5를 넘지 않는 특성을 보였다. 단일패치 안테나는 입력 반사 손실이 -28 dB이며, VSWR은 1.2 이하의 우수한 특성을 나타내었다.

• Journal of electromagnetic engineering and science
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• 제16권1호
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• pp.35-43
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• 2016

A compact ultra-wide band antenna with a quadruple band-notched characteristic is proposed. The proposed antenna consists of a slotted trapezoid patch radiator, an inverted U-shaped band stop filter, a pair of C-shaped band stop filters, and a rectangular ground plane. To realize the quadruple notch-band characteristic, a U-shaped slot, a complementary split ring resonator, an inverted U-shaped band stop filter, and two C-shaped band stop filters are utilized in this antenna. The antenna satisfies the -10 dB reflection coefficient bandwidth requirement in the frequency band of 2.88-12.67 GHz, with a band-rejection characteristic in the WiMAX (3.43-3.85 GHz), WLAN (5.26-6.01 GHz), X-band satellite communication (7.05-7.68 GHz), and ITU 8 GHz (8.08-8.87 GHz) signal bands. In addition, the proposed antenna has a compact volume of $30mm{\times}33.5mm{\times}0.8mm$ while maintaining omnidirectional patterns in the H-plane. The experimental and simulated results of the proposed antenna are shown to be in good agreement.

• 한국전자통신학회논문지
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• 제13권2호
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• pp.291-298
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• 2018

본 논문에서는 역 F형 안테나 구조를 변형시키고 CPW급전 방법을 적용함으로써 역 F형 안테나의 단점인 협대역 특성을 개선하고, 소형 그리고 저자세의 구조적인 장점을 살리는 안테나를 제안하고자 한다. 실험 결과 중심주파수 3GHz에서 약 40%의 광대역 특성이 있음을 보여, 기존 역 F형 안테나의 단점인 협대역 특성을 개선할 수 있음을 알 수 있었다. 방사패턴은 거의 전방향 특성을 보였고 최대 이득은 약 2.0dBi이다.

• Journal of electromagnetic engineering and science
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• 제14권1호
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• pp.31-35
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• 2014

An ultra-wideband (UWB) circular monopole antenna with a multiband-notched characteristic is proposed. The multiband-notched filter consists of three different sized folded slots, which are distinctly assigned for the notched band at the 3.5-GHz WiMAX, 5-GHz WLAN, and 8-GHz ITU bands. The proposed antenna results in a measured ${\mid}S_{11}{\mid}$ < -10 dB, which completely covers the UWB band (3.1 10.6 GHz) with three notched bands at 3.5, 5.5, and 8.0 GHz. The antenna yields an omnidirectional radiation pattern and high radiation efficiency.

• Journal of electromagnetic engineering and science
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• 제16권4호
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• pp.235-240
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• 2016

In this paper, a low-profile planar inverted-F antenna (PIFA) for ultrawideband (UWB) applications is proposed. The antenna consists of a PIFA and a ground plane with a slot. The addition of the slot not only improves the impedance matching of the PIFA but also forms an additional resonance. Therefore, the proposed antenna has a wideband characteristic covering the full UWB frequency range (3.1 GHz to 10.6 GHz) and a stable and nearly omnidirectional radiation pattern. The antenna also has a smaller volume and thickness compared to previous UWB PIFAs.

• 한국전자파학회논문지
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• 제15권1호
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• pp.89-95
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• 2004

본 논문에서는 광대역 특성을 가지면서 소형화가 용이한 다중 미앤더 스트립 모노폴 안테나를 제안하였다. 제안한 안테나는 미앤더 구조를 이용하여 대역폭을 크게 확장시킬 수 있으며, 높이를 줄여 안테나의 소형화를 실현하였다. 최근 주목을 받고 있는 UWB 통신 대역폭을 포함하는 2.9 ㎓∼10.85 ㎓의 넓은 대역폭을 얻을 수 있었으며, 전방향으로 동일한 이득을 갖는 우수한 모노폴 복사패턴을 갖는다.