• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.833-838
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• 2016

This paper presents a performance evaluation of various feature-initialization algorithms for forward-viewing mono-camera based simultaneous localization and mapping (SLAM), specifically in indoor environments. For mono-camera based SLAM, the position of feature points cannot be known from a single view; therefore, it should be estimated from a feature initialization method using multiple viewpoint measurements. The accuracy of the feature initialization method directly affects the accuracy of the SLAM system. In this study, four different feature initialization algorithms are evaluated in simulations, including linear triangulation; depth parameterized, linear triangulation; weighted nearest point triangulation; and particle filter based depth estimation algorithms. In the simulation, the virtual feature positions are estimated when the virtual robot, containing a virtual forward-viewing mono-camera, moves forward. The results show that the linear triangulation method provides the best results in terms of feature-position estimation accuracy and computational speed.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.25 no.1
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• pp.114-122
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• 2014

For an efficient finite-difference time-domain(FDTD) analysis of coaxial-probe feeding structures in radio frequency(RF) and microwave bands, an interrelation between equivalent source modeling techniques is investigated. In existing literature, equivalent source models with delta-gap or magnetic-frill concepts have been developed by many researchers. It is well known that FDTD implementation and computational accuracy of these source models are slightly different. In this paper, the interrelation between FDTD equivalent source models for coaxial feeding structures under the quasi-static approximation(QSA) is presented. As a function of FDTD equivalent source models, time-domain and frequency-domain responses of a coaxial-probe fed conical monopole antenna are calculated numerically. And comparison results of computational accuracy and efficiency are provided.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.25 no.1
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• pp.99-107
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• 2014

Abruptly occurred obstacles on highway threaten driving safety. Radar draws the attention to the collision avoidance system because it can be fully operational in all weather, and day and night condition. This paper presents the design, implementation and performance test results of pulsed Doppler radar system for detection and warning of road obstacles. The system is designed to consider highway environment and detection capability about various fixed and moving obstacles. The system consists of 4 subsystems, which include antenna unit, transmitter and receiver unit, radar signal & data processing unit, and controller & display unit. The core technologies include clutter map based change detection for fixed obstacles detection, Doppler estimation for velocity detection of moving targets, and azimuth angle estimation method using monopulse for lane estimation and tracking. The design performance of the developed radar system is verified through experiments using a fixed reference target and moving vehicles in test highway.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.25 no.1
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• pp.25-31
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• 2014

In this paper, a modified Alford loop antenna for on-body communication system is proposed. The proposed antenna operating in the ISM band is designed with consideration of human body effect. One of advantages of the Alford loop antenna structure is low-profile, however the Alford loop antenna is not suitable for on-body devices since it does not have a ground plane for other electronic part of on-body system and requires balanced feeding structure. To be embedded on on-body devices, the proposed antenna is design with the unbalanced feed structure and ground. The performance of the proposed antenna is simulated and measured when it is placed on the human body phantom to consider the effect of the human body. The proposed antenna a 10 dB return loss bandwidth over the ISM band and monopole-like radiation pattern with low-profile. The antenna has the surface of appropriate for on-body communication environment.

• Korean journal of applied entomology
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• v.41 no.4
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• pp.285-292
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• 2002

These studies were carried out to investigate the fumigant toxicity, the contact toxicity and the ovipositional repellency of 25 monoterpenoids against oak longicorn beetle adults, Moechotypa diphysis. Monoterpenoids with 100% of fumigant toxicity were 1, 8-cinehone, fenchone, pulegone and (equation omitted)-terpinene at 20 (equation omitted)/954 ml (air) concentration, pulegone and (equation omitted)-terpinen at 10 (equation omitted)/954 ml (air) concentration, pulegone at 5 (equation omitted)/954 ml (air) concentration. Most monoterpenoids showed low or no contact toxicity but only pulegone showed about 70% mortality. Some monoterpenoids which had repellency to female adults with Y-tube olfactometer were bornylacetate, carvacrol, 1, 8-cineole and menthol at 1 (equation omitted) dose, while citronellol showed attractant response. Carveol, geraniol and perillyl alcohol of 25 monoterpenoids showed ovipoistional repellency of 82.1%, 78.3%, 87.5%, respectively, at the concentration of 1,000 ppm in the laboratory condition. In the field, the result tested with three monoterpenoids indicated that geraniol was the most effective one at the concentration of 10,000ppm and 1,000 ppm, but residual effect wasn't found.

• The Journal of the Acoustical Society of Korea
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• v.24 no.4
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• pp.186-193
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• 2005

The Terrestrial Digital Multimedia Broadcasting (T-DMB) system supplies high quality audio comparable with VCD in 7 inch display and high quality audio comparable CD at the mobile reception environment T-DMB will launch commercial service at the middle of 2005. However the bandwidth for audio data and the number of channels are restricted to 128 kbps and 2 respectively in the current T-DMB standard because of the limitation of available bandwidth for multimedia data. This Paper Proposes a novel media processor structure for providing multi-channel audio contents oyer T-DMB system allowing backward compatibility with the legacy T-DMB receiver. Furthermore. we also Propose an adaptive receiver structure to supply optimal audio contents on various speaker configuration in T-DMB receiver. To provide multi-channel audio contents allowing backward comaptilbity with the legacy T-DMB receiver, the additional data for multi-channel audio are defined as a dependent stream of main audio stream. The OD strucure for control an additional multi-channel audio elementary stream is proposed without changing the BIFS of the legacy T-DMB system.

• Polymer(Korea)
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• v.24 no.5
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• pp.579-588
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• 2000

The effects of protective colloids on the colloid stability of poly(vinyl acetate) (PVAc) latex was investigated. The stability of PVAc latex in reactive poly(vinyl alcohol) mono thiol (PVALT) (DP=1080) having 78.4% saponification value was better than poly (vinyl alcohol)(PVA) (DP=1100) having 81.6% saponification value. The colloidal stability of PVAc latex particles improved drastically with increase of the reactive PVALT. The particle surface morphology of PVAc latex was examined by transmission electron microscopy (TEM). It was shown that particle size of 1ha latexes decreased with increasing reactive PVALT concentration. Therefore, the stabilities of latex for reactive PVALT protective colloid was superior to that of PVA ones. This result is due to the introduction of many thiol groups that induce chemical bonds at PVAc latexes surface, so that the formation of PVALT-b-PVAc block copolymer via the reaction of PVAc with reactive PVALT. In addition, zeta potential of the PVAc latexes decreased with increasing sodium carbonate concentration.

• Clean Technology
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• v.11 no.4
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• pp.189-194
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• 2005

Carboxymethylcellulose(CMC) which is water-soluble fiber was manufactured by mercerization and etherification in the earlier study. Experimental parameters were conversion time for each step, concentration of reagent and temperature. To know the presence of functional group, CMC was analyzed by FT-IR(Fourier Transform Infrared) spectroscopy. Ethanol was recovered using evaporator and purity of ethanol analyzed by GC-MASS was 97% and 83% after mercerization and etherification respectively. For the pilot plant, if CMC is folded by 40 times it showed maximum efficiency. Maximum solubility was obtained when the ratio of NaOH and MCA is 3 : 4.5.

• Clean Technology
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• v.13 no.3
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• pp.201-207
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• 2007

Carboxymethylcellulose (CMC), which is water-soluble at room temperature, was synthesized from cellulose in this study. Experimental parameters included reaction temperature, time, concentration of NaOH, and monochloroacetic acid (MCA). In mercerization and etherification, solubility and degree of substitution (DS) increased when NaOH (or MCA) concentration increased and maximum solubility and DS were achieved when NaOH or MCA was 30%. The effect of MCA concentrations on the DS was larger than that of the NaOH concentration. Tensile strength of the CMC was decreased by the increases of reaction time, reagent concentration and reaction temperature. Tensile strength also decreased by NaOH and MCA. However, low decrease of tensile strength was observed in near neutral region.

• Clean Technology
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• v.14 no.2
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• pp.87-94
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• 2008

The catalytic properties of large pore zeolite (mordenite, beta, and Y) with 12-membered rings were comparatively evaluated in the synthesis of diethylamines from ethanol amination. The number of strong acid sites, which obviously promoted the formation of mono- and diethylamines, was decreased with the increase of Si/Al ratio of the zeolites that were used. H-beta and H-Y zeolites with multidimensional pore channels favorably formed diethylether by the dimerization of ethanol, due to their large cage volumes and low acid strength. On the other hand, H-mordenite which has one dimensional straight channel was shown to be suitable for the formation of mono- and diethylamine which are well known as the useful intermediates of fine chemicals.