• Journal of the Korean Magnetics Society
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• v.5 no.6
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• pp.921-927
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• 1995

The micro particle,s shapes of the magnetic films obtained by electrode position of Iron ions and Cobalt-Iron mixed ions in aluminum anodic oxidized films are dependent on the size of particle diameter. When the diameter of deposited particles is larger than $300\AA$, the film plane anisotropy caused by bottom extremity increases, and the crystalization orientation of FeC deposited unusually in the part of the bottom extremities affects on the coercive force Hc and the magnetic anisotropy energy Ku. It was confirmed that the shape anisotropy of particle affects on the both Hc and Ku because the FeC did not deposit in the Iron deposited samples entirely, but in the Cobalt-Iron alloy deposited samples, the effects by the very strong crystalization orientation of the FeC is larger than that of the shape anisotropy. From these results, the Cobalt-Iron alloyed films could switchover the film plane magnetic anisotropy to the perpendicular magnetic anisotropy energy by using the constrainting method of FeC deposition with Cu deposition instead of Cobalt-Iron alloy in the bottom extremities.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.37 no.8
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• pp.11-23
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• 2000

Head-eye calibration is a process for estimating the unknown orientation and position of a camera with respect to a mobile platform, such as a robot wrist. We present a new head-eye calibration technique which can be applied for platforms with rather limited motion capability In particular, the proposed calibration technique can be applied to find the relative orientation of a camera mounted on a linear translation platform which does not have rotation capability. The algorithm find the rotation using a calibration data obtained from pure Translation of a camera along two different axes We have derived a calibration algorithm exploiting the rectification technique in such a way that the rectified images should satisfy the epipolar constraint. We present the calibration procedure for both the rotation and the translation components of a camera relative to the platform coordinates. The efficacy of the algorithm is demonstrated through simulations and real experiments.

• Journal of the Korean Society for Nondestructive Testing
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• v.23 no.1
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• pp.21-29
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• 2003

It is very important to reduce the computational time in estimating the parameters of vision control algorithm for robot's position control in real time. Unfortunately, the batch estimation commonly used requires too murk computational time because it is iteration method. So, the batch estimation has difficulty for robot's position control in real time. On the other hand, the Extended Kalman Filtering(EKF) has many advantages to calculate the parameters of vision system in that it is a simple and efficient recursive procedures. Thus, this study is to develop the EKF algorithm for the robot's vision control in real time. The vision system model used in this study involves six parameters to account for the inner(orientation, focal length etc) and outer (the relative location between robot and camera) parameters of camera. Then, EKF has been first applied to estimate these parameters, and then with these estimated parameters, also to estimate the robot's joint angles used for robot's operation. finally, the practicality of vision control scheme based on the EKF has been experimentally verified by performing the robot's position control.

• Journal of the Korean Vacuum Society
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• v.19 no.4
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• pp.281-286
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• 2010

Thickness effects on the structural and optical properties of ZnO thin films fabricated by spin coating method have been carried out. With increase in the thickness of the ZnO thin films, the width and density of striation shape are increased. The ZnO thin film with thickness of 450 nm has a smooth surface morphology. For the ZnO thin film with a smooth surface, orientation factor ${\alpha}_{(002)}$ is sharply increased and FWHM of (002) diffraction peak is decreased compared to the ZnO thin films with a striation shape surface. Thickness and surface morphology of the ZnO thin films hardly affect the NBE peak position. However, the DLE peak position is blue-shifted as the surface morphology is changed from striation to smooth surface. The PL intensity ratio of the NBE to DLE is increased and the FWHM of NBE peak is decreased as the thickness of the ZnO thin films is increased.

• Journal of Korean Society for Geospatial Information Science
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• v.17 no.1
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• pp.21-35
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• 2009

KOMPSAT-2 is the seventh high-resolution image satellite in the world that provides both 1m-grade panchromatic images of the GSD and 4m-grade multispectral images of the GSD. It's anticipated to be used across many different areas including mapping, territory monitoring and environmental watch. However, due to the complexity and security concern involved with the use of the MSC, the use of KOMPSAT-2 images are limited in terms of geometric images, such as satellite orbits and detailed mapping information. Therefore, this study aims to produce DEM and orthoimage by using the stereo images of KOMPSAT-2, and to explore the applicability of geo-spatial information with KOMPSAT -2. Orientation interpretations were essential for the production of DEM and orthoimage using KOMPSAT-2 images. In the study, they are performed by utilizing both RPC and GCP. In this study, the orientation interpretations are followed by the generation of DEM and orthoimage, and the analysis of their accuracy based on a 1:5,000 digital map. The accuracy analysis of DEM is performed and the results indicate that their altitudes are, in general, higher than those obtained from the digital map. The altitude discrepancies on plains, hills and mountains are calculated as 1.8m, 7.2m, and 11.9m, respectively. In this study, the mean differences between horizontal position between the orthoimage data and the digital map data are found to be ${\pm}3.081m$, which is in the range of ${\pm}3.5m$, within the permitted limit of a 1:5,000 digital map. KOMPSAT-2 images are used to produce DEM and orthoimage in this research. The results suggest that DEM can be adequately used to produce digital maps under 1:5,000 scale.

• Korean Journal of Remote Sensing
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• v.31 no.5
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• pp.461-471
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• 2015

In this study, we generated orthoimages and Digital Elevation Model (DEM) from Unmanned Aerial Vehicle (UAV) to confirm the accuracy of possibility of geospatial information system generation, then compared the DEM with the topographic height values measured from Real Time Kinematic-GPS (RTK-GPS). The DEMs were generated from aerial triangulation method using fixed-wing UAV and rotary-wing UAV, and DEM based on the waterline method also generated. For the accurate generation of mosaic images and DEM, the distorted images occurred by interior and exterior orientation were corrected using camera calibration. In addition, we set up the 30 Ground Control Points (GPCs) in order to correct of the UAVs position error. Therefore, the mosaic images and DEM were obtained with geometric error less than 30 cm. The height of generated DEMs by UAVs were compared with the levelled elevation by RTK-GPS. The value of R-square is closely 1. From this study, we could confirm that accurate DEM of the tidal flat can be generated using UAVs and these detailed spatial information about tidal flat will be widely used for tidal flat management.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.10
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• pp.1025-1031
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• 2007

GPS is widely used for positioning applications and attitude of a vehicle can be found also with multiple antennas. However, extremely weak signal level prevents GPS from indoor operation. DR with accelerometers and gyros and landmark based localization method used for indoor applications increase complexity and cost. In this paper, a simple but very efficient ultrasound based attitude determination system which determines both position and attitude in WSN is given. The range between transmitter and receivers are measured using the arrival time difference between ultrasound and RF signal. The 3 dimensional positions can be found using more than 3 range measurements. Furthermore, if more than 2 transmitters are used, the attitude can be determined using the baseline vectors obtained by differencing transmitter and receiver positions. The prototype system is implemented to evaluate the performance of the proposed method. In addition, an error analysis shows the relation between the attitude error and basel me length, quality of measurement and orientation of a vehicle. The static and dynamic experiments performed by micro mobile robot shows accurate position with less than 1.5cm error and attitude with less than 1 degree error can be obtained continuously with 20cm baseline. It is expected that these results can be adapted without modification to indoor applications such as home cleaning robot and autonomous wheelchair maneuvering.

• Journal of Microbiology and Biotechnology
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• v.30 no.11
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• pp.1750-1759
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• 2020

The characterization of cytochrome P450 CYP125A13 from Streptomyces peucetius was conducted using cholesterol as the sole substrate. The in vitro enzymatic assay utilizing putidaredoxin and putidaredoxin reductase from Pseudomonas putida revealed that CYP125A13 bound cholesterol and hydroxylated it. The calculated K_D value, catalytic conversion rates, and Km value were 56.92 ± 11.28 μM, 1.95 nmol min^-1 nmol^-1, and 11.3 ± 2.8 μM, respectively. Gas chromatography-mass spectrometry (GC-MS) analysis showed that carbon 27 of the cholesterol side-chain was hydroxylated, characterizing CYP125A13 as steroid C27-hydroxylase. The homology modeling and docking results also revealed the binding of cholesterol to the active site, facilitated by the hydrophobic amino acids and position of the C27-methyl group near heme. This orientation was favorable for the hydroxylation of the C27-methyl group, supporting the in vitro analysis. This was the first reported case of the hydroxylation of cholesterol at the C-27 position by Streptomyces P450. This study also established the catalytic function of CYP125A13 and provides a solid basis for further studies related to the catabolic potential of Streptomyces species.

• Korean Journal of Computational Design and Engineering
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• v.17 no.6
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• pp.417-425
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• 2012

In recent years, great attention has been paid to using simple physical objects as tangible objects to improve user interaction in augmented reality (AR) environments. In this paper, we address AR-based user interaction using tangible objects, which has been used as a key component for virtual design evaluation of engineered products including digital handheld products. We herein consider the use of two types (product-type and pointer-type) of tangible objects. The user creates input events by touching specified parts of the product-type object with the pointer-type object, and the virtual product reacts to the events by rendering its visual and auditory contents on the output devices. The product-type object is used to reflect the geometric shape of a product of interest and to determine its position and orientation in the AR environment. The pointer-type object is used to recognize the reference position of the pointer (or finger) in the same environment. The rapid prototype of the product is employed as a good alternative to the product-type object, but various alternatives to the pointer-type object can be considered according to fabrication process and touching mechanism. In this paper, we present four alternatives to the pointer-type object and investigate their strong and weak points by performing experimental comparison of their various aspects including interaction accuracy, task performance, and qualitative user experience.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.12
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• pp.3883-3891
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• 1996

Performance and productivity of robot manipulator can be improved by increasing its working speed and extending its link length. But heavy weght of the commercial robot links, considered as "rigid body", limits its mazimum working speed and the weght of the links can be reduced for high speed operation. But this light-weight link or long link for special use cannot be consideredas "rigid" structure and vibration of the link due to its flexibility causes errors in end-effector position and orientation. Thus the elastic behaviro of the flexible link should be taken care of for increasing work speed and getting smaller error of end-effector position. In this paper, the fuzzy control theory is selected to design the controller which controlos the joint positions of the robot manipulator and suppress the vibration of flexible link. In the forst place, for the 1 DOF flexible link system, the fuzzy control theory is implemented. The contdroller for the 1 DOF flexible link system is designed. Experimental research is carried out to examine the controllability and the validity of the fuzzy control theory based controller. Next, using the extended desing schemes for the case of the 1 DOF flexible link system and usign the experimental phenomena of the 3 DOF flexible link system, the fuzzy controller for the 3 DOF flexible link system is desinged and experimented.ed and experimented.