• 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.

• 대한기계학회논문집B
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• 제24권11호
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• pp.1523-1534
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• 2000

The performance of a number of existing dynamic subgrid-scale(SGS) models is evaluated in large-eddy simulations(LES) of two prototype transitional and turbulent shear flows, a planar jet and a channel flow. The dynamic SGS models applied include the dynamic Smagorinsky model(DSM);Germano et al. 1991, Lully 1992), the dynamic tow-component model(DTM; Akhavan et al. 2000), the dynamic mixed model(DMM;Zang et al, 1993). and the dynamic two-parameter model(DTPM; Salvetti & Banerjee 1995). The results are compared with those for DNS for their evaluation. The LES results demonstrate the superior performance of DTM with use of a sharp cutoff filter and DMM with use of a box filter, as compared to their respect counterpart DSM, in predicting the mean statistics, spectra and large-scale structure of the flow, Such features of DTM and DMM derive from the construction of the models in which tow separate terms are included to represent the SGS interactions; a Smagorinsky edd-viscosity term to account for the non-local interactions, and a local-interaction term to account for the nonlinear dynamics between the resolved and subgrid scales in the vicinity of the LES cutoff. As well, overall the SGS models using a sharp cutoff filter are more successful than those using a box filter in capturing the statistics and structure of the flow. Finally, DTPM is found to be compatible or inferior to DMM.

• The Journal of the Acoustical Society of Korea
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• 제15권4E호
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• pp.14-20
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• 1996

The double mode SAW resonator filters have the serious shortcoming that out-of-band rejection above the passband is quite poor. Hence a new structure of the double mode filter is designed with the COM (Coupling Of MOdes) theory with better out-of-band rejection characteristics while keeping all the beauties of the conventional type. The second goal of the design is to reduce the planar size of the structure so that mass productivity of low frequency devices can be improved. For those purposes, several IDT's and relfector gratings are added to or subtracted from the conventional structure so that the modification can lead to better overall performance as a filter. As results of the investigation, several new double mode SAW resonator filter structures are developed. A new structure shows 10dB more out-of-band rejection that the conventional type with 25% reduced device size. Good agreement is demonstrated between the analytical results and experimental results for an illustrative 325MHz four pole resonator filter on 64°YX LiNbO3.

• 한국초전도저온공학회:학술대회논문집
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• 한국초전도저온공학회 2003년도 학술대회 논문집
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• pp.287-290
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• 2003

For microwave device applications, c-axis oriented high temperature superconducting YBa$_2$Cu$_3$O$_{7-{\delta}}$ (HTS-YBCO) epitaxial thin films on the r-cut sapphire substrate(Al$_2$O$_3$) were prepared. In order to reduce the lattice mismatch with a substrate and to enhance the crystallity of HTS thin films, CeO$_2$ buffer layer on the r-cut sapphire substrate was grown by the RF-magnetron sputtering. The YBCO films on the CeO$_2$ buffer layer were deposited using the pulsed-laser deposition (PLD) method. These HTS YBCO /CeO$_2$/Al$_2$O$_3$ multilayer thin films(30 $\times$ 30 mm$^2$) routinely exhibited a critical temperature(T$_{c}$) of 89 K from the R-T measurement. Using HTS YBCO/CeO$_2$ /Al$_2$O$_3$ multilayer thin film. We fabricated and characterized the microwave passive devices (planar type filters) with cryopack-age such as the coupled -line type low-pass filter (LPF) and the open-loop meander type bandpass filter (BPF).filter (BPF).).

• 드라이브 ㆍ 컨트롤
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• 제16권2호
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• pp.22-29
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• 2019

This study presented a model predictive tracking control algorithm of autonomous truck based on object state estimation using extended Kalman filter. To design the model, the 1-layer laser scanner was used to estimate position and velocity of the object using extended Kalman filter. Based on these estimations, the desired linear path for object tracking was computed. The lateral and yaw angle errors were computed using the computed linear path and relative positions of the truck. The computed errors were used in the model predictive control algorithm to compute the optimal steering angle for object tracking. The performance evaluation was conducted on Matlab/Simulink environments using planar truck model and actual point data obtained from laser scanner. The evaluation results showed that the tracking control algorithm developed in this study can track the object reasonably based on the model predictive control algorithm based on the estimated states.

• 전자공학회논문지D
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• 제36D권7호
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• pp.42-49
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• 1999

측면이 코어 가까이 연마된 단일모드 광섬유와 평면도파로의 소산장 결합을 이용한 광필터의 동작특성을 측정할 수 있는 간단한 방법이 제안되었다. 측면이 연마된 하나의 광섬유 블록(block)과 실리콘 산호막위에 평면도파로를 독립적으로 제작한 후 특성을 측정하기 위하여 물리적 압력으로 광결합을 시켰다. 굴절률이 다른 몇 가지 폴리머를 평면도파로의 코어층으로 이용하였다. 이 측정방법으로 소자제작 과정에서 광 결합기의 중심파장, 대역폭, 소멸비, 그리고 편광 의존성들이 간단하게 측정될 수 있다. 광도파로 물질의 굴절률이 높을수록 파장선택성이 높아졌다. 평면도파로의 대칭적 도파로 구조와 도파 물질의 등방성 때문에 편광의존성이 작게 나타났다. 삽입 손실을 0.5dB이하였다. 본 연구에서 제안한 측정방법은 광섬유와 평면도파로 결합기를 이용한 광변조기와 광필터 등 다양한 소자개발에 도움이 될 수 있을 것으로 기대된다.

• 한국광학회:학술대회논문집
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• 한국광학회 2002년도 하계학술발표회
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• pp.192-193
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• 2002

지금까지 측면이 코어 가까이 연마된 잔일모드 광섬유와 평면 도파로 사이의 광결합을 이용한 소자들이 많이 연구되고 있다. 이를 이용한 소자들로는 광필터, 광변조기, 광스위치, 굴절계, 편광기 등이 있으며 최근에는 파장분할다중화(WDM)에서 인접채널간의 채널분리를 위한 소자로서 빗살필터의 연구 또한 활발히 이루어지고 있다. 이에 본 논문에서는 측면이 코어 가까이 연마된 단일모드 광섬유와 평면도파로 사이의 광결합을 이용한 빗살필터를 제작하였으며 열광학 효과를 이용하여 파장 가변 빗살 필터를 구현해 보았다. (중략)

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 1996년도 추계학술대회 논문집
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• pp.101-104
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• 1996

A new detecting system for moving objects of coastal region has been designed by directional antenna and driving circuits. The designed system has been investigated by CAD for linear and planar antenna arrays of various radiating elements for antenna simulations and by P-spice of device simulations. For detecting the displacement of moving objects, we constructed four wideband dipole antenna, diode switching circuit, mixer, filter and amplifier. The results of antenna receiver were shown a possibility of distance measuring system through phase difference of radiation patterns in antenna simulation

• 한국정보통신설비학회:학술대회논문집
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• 한국정보통신설비학회 2008년도 정보통신설비 학술대회
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• pp.425-428
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• 2008

A new type of cross-coupled planar microwave filter using coupled microstrip square open-loop resonators diplexer pro-posed. A method for the rigorous calculation of the coupling coefficients of basic four pole electric and magnetic coupling structures encountered. Simple empirical models are derived for estimation of the coupling coefficients. Experiments are performed to verify the theory. And a method for diplexer matching is conjugate matching that has characteristic better than open matching method.

• 한국초전도저온공학회:학술대회논문집
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• 한국초전도저온공학회 2002년도 학술대회 논문집
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• pp.358-361
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• 2002

The millirneterwave high-T$_{c}$ superconducting(HTS) down-converter sub-system with the HTS/III-V integrated mixer as the central device is demonstrated first. The constituent components of HTS down-converter sub-system such as a single balanced type integrated mixer with rat-race coupler, a cavity type bandpass filter (26 GHz), and a HTS planar lowpass filter(1 GHz), semiconductor LNA and IF-power amplifier, a driving electronic module for A/D converter, and a Stirling type mini-cooler module were combined into an International stand- and rack of 19-inch. From the RF(-61 dBm, 26.5GHz)and LO signal(-1 dBm, 25.6 GHz), IF signal(0dBm, 0.9 GHz) agreed with simulated results is obtained.d.