• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.729-734
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• 2005

One of the important research issues in mobile robot is how to detect the 3D environment fast and accurately, and recognize it. Sensing methods of utilizing laser structured light and/or stereo vision are representatively used among a number of methodologies developed to date. However, the methods are still in need of achieving high accuracy and reliability to be used for real world environments. In this paper to implement a new robotic environmental sensing algorithm is presented by combining the information between intensity image and that of laser structured light image. To see how effectively the algorithm applied to real environments, we developed a sensor system that can be mounted on a mobile robot and tested performance for a series of environments.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.30A no.8
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• pp.49-56
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• 1993

In this paper, we present a new lifetime prediction model for PMOSFET by using the correlation between transconductance degradation and substrate current influence. The suggested model is applied to a different channel structured PMOSFET, dgm/gm of both SC-PMOSFET and BC-PMOSFET appear with one straigth line about Qbib, therefore, this model is independent of channel structure. The suggested model is applied to a different drain structured SC-PMOSFET. Unlike S/D structured SC-PMOSFET, dgm/gm of LDD structured SC-PMOSFET appears with one straight line about Qb, therefore, this model is dependent of drain structure.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.123.1-123
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• 2001

For Autonomous navigation of the mobile robots, the robots' capability to recognize 3D environment is necessary. In this paper, an on-line 3D map building method for autonomous mobile robots is proposed. To get range data on the environment, we use an sensor system which is composed of a structured light and a CCD camera based on optimal triangulation. The structured laser is projected as a horizontal strip on the scene. The sensor system can rotate $\pm$ $30{\Circ}$ with a goniometer. Scanning the system, we get the laser strip image for the environments and update planes composing the environment by some image processing steps. From the laser strip on the captured image, we find a center point of each column, and make line segments through blobbing these center poings. Then, the planes of the environments are updated. These steps are done on-line in scanning phase. With the proposed method, we can efficiently get a 3D map about the structured environment.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.123.5-123
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• 2001

For autonomous navigation of the mobile robots, the robots' capability to recognize 3D environment is necessary. In this paper, an on-line 3D map building method for autonomous mobile robots is proposed. To get range data on the environment, we use a sensor system which is composed of a structured light and a CCD camera based on optimal triangulation. The structured laser is projected as a horizontal strip on the scene. The sensor system can rotate$\pm$30$^{\circ}$ with a goniometer. Scanning the system, we get the laser strip image for the environments and update planes composing the environment by some image processing steps. From the laser strip on the captured image, we find a center point of each column, and make line segments through blobbing these center points. Then, the planes of the environments are updated. These steps are done on-line in scanning phase. With the proposed method, we can efficiently get a 3D map about the structured environment.

• International Journal of Precision Engineering and Manufacturing
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• v.9 no.3
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• pp.13-17
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• 2008

This paper deals with the directional mobility of droplets on structured surfaces. Structured surfaces were micro-patterned with rectangular lines and spaces of varying pitch and height in the sub-millimeter range. The material used was polydimethylsiloxane, which is hydrophobic and wettable by oil. First, we studied the effect of the structural design on the sliding angle of pure water or oil through experiments. For pure water droplets, we found that a wider pitch enhanced the directionality. On the other hand, oil droplets spread along the groove because of their low surface tension and strong capillary force. The directionality of the sliding angle of oil droplets was larger than that of pure water, especially when the groove was narrower and deeper. Second, we poured a large amount of liquid on the structure and evaluated the removal rate on the tilted surface. We found that a parallel structure enhanced the liquid mobility for both pure water and oil.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.6
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• pp.667-675
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• 1999

In this paper, we propose a robust controller design of RTP(Rapid Thermal Processing) system using structured uncertainty approach. Using the weighted mixed sensitivity function, we solve the robust stability problem against disturbance and temperature variation, and design a $\mu$ controller using curve fitting method against structured uncertainty. Also the reduction method should be requried because of the difficulty of implementaion with the obtained high order controller. We dal with robust stability and performance of RTP system by the design of $\mu$ controller for original model and Schur balanced reduced model. Finally the simulation results are proposed to show the validity of the proposed method.

• Proceedings of the IEEK Conference
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• 2001.06a
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• pp.141-144
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• 2001

This paper has been studied a implementation of HTML Filter with structured decks. In wireless environment, conventional HTML Filter converts HTML document to WML by once. However, it is more efficient to access a WEB site by transmitting the minimal capacity of core data in WAP environment. Therefore this paper suggests new HTML Filter that automatically analyze the contents of HTML WEB and transmits it by selecting the one of many Decks that have the structured architecture. Also the protocol between wireless terminal and WAP Gateway is considered. Finally, We test the proposed HTML Filter with structured Decks for some particular web site.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1990.04a
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• pp.49-60
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• 1990

Structured modeling provides a formal mathematical framework, language, and computer-based environment for conceiving, representing, and manipulating a wide variety of models. It provides a natural framework for integrated modeling owing to its explicit representation power for computational dependencies among submodels. Nevertheless, it doesn't seem to offer a systematic way of composing a structured model from submodels. In order to develop a systematic way, this paper discusses three key issues; (1) Genus structure of validated submodel, (2) Storing method of genus structure, and (3) Integration of genus structures to generate a new genus structure. To visualize the approach, a programming module is developed to implement the step-by-step integration.

• Proceedings of the Korean Information Science Society Conference
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• 2001.04b
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• pp.427-429
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• 2001

지금까지 가상현실을 이용한 여러 가지 시스템들이 제안되어 왔다. 하지만 이러한 시스템들은 사용자에게 몰입감을 줄 수 있는 예측하기 힘든 다양한 상황을 제공하기보다는 미리 정해진 시나리오를 따라 고정된 형태의 흐름을 가지는 문제점이 있었다. 이를 해결하기 위해가상세계 내에서의 오브젝트의 행동이나 이벤트의 전개를 위한 여러 가지 방법들이 제안되어왔다. 하지만 이 방법들 역시 방대한 탐색 공간이나 한정된 범위내에서만 자율적인 움직임이 가능한 점 등의 문제점을 가지고 있다. 본 논문에서는 이를 해결하기 위하여 Causality에 기반한 이벤트의 전개모델을 제안한다. 이를 위해 본 논문은 먼저 frame구조를 이용하여 정형화한 Structured Causal Graph를 제안하고, 구성되어진 Structured Causal Graph를 이용하여 이벤트를 전개해나가는 방법을 제시한다.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.1
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• pp.18-24
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• 2010

In this paper, we address an active ranging system based on laser structured light image for mobile robot application. Since the burdensome correspondence problem is avoidable, the structured light image processing has efficient computation in comparison with the conventional stereo image processing. By using a cylindrical lens in the laser generation, it is possible to convert a point laser into a stripe laser without motorized scan in the proposed system. In order to achieve robustness against environmental illumination noise, we propose an efficient integro-differential image processing algorithm. The proposed system has embedded image processing module and transmits distance data to reduce the computational burden in main control system.