• Journal of Institute of Control, Robotics and Systems
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• v.21 no.8
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• pp.758-765
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• 2015

This paper proposes an attitude control system to keep the balance for a two-wheeled mobile manipulator which consists of a mobile platform and a three D.O.F. manipulator. In the conventional control scheme, complicated dynamics of the manipulator need to be derived for balancing control of a mobile manipulator. The method proposed in this paper, however, three links are considered as one body of mass and the dynamics are derived easily by using an inverted pendulum model. One of the best advantage of a sliding mode controller is low sensitivity to plant parameter variations and disturbances, which eliminates the necessity of exact modeling to control the system. Therefore the sliding mode control algorithm has been adopted in this research for the attitude control of mobile platform along the pitch axis. The center of gravity for the whole mobile manipulator is changing depending on the motion of the manipulator. And the orientation variation of center of gravity is used as reference input for the sliding mode controller of the pitch axis to maintain the center of gravity in the middle of robot to keep the balance for the robot. To confirm the performance of controller, MATLAB Simulink has been used and the resulting algorithms are applied to a real robot to demonstrate the superiority of the proposed attitude control.

• The Proceeding of the Korean Institute of Electromagnetic Engineering and Science
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• v.5 no.4
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• pp.47-63
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• 1994

An important parameter in characterizing mobile communication channel is delay spread. This paper presents the results of measured delay profiles and calculated distribution funcations of delay spread for typical cellular service environments at Taejon and vicinities. The measurement system uses 1023 chip length, 5 Mbps PN code and sliding correlation method. It has been evaluated by using commercial hardware channel simulator for reliability of out data. As results the value of mean delay spread is 2.08 $\mu\textrm{s}$for suburban area. 2.12 $\mu\textrm{s}$ for urban area and 1.3 $\mu\textrm{s}$ for national/local road. Delay spread is less then 3.4$\mu\textrm{s}$, 2.8$\mu\textrm{s}$ and 1.5 $\mu\textrm{s}$ for probability of 50% and 4.5$\mu\textrm{s}$, 4.2$\mu\textrm{s}$ and 2.9$\mu\textrm{s}$ for probability of 90% at each tested site. The difference of delay spread is within 7% between going and returning status along same street. In this experiment, we found delay spread for suburban area is larger than reported foreign test results.

• Journal of IKEEE
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• v.24 no.1
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• pp.147-153
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• 2020

Conventional lane detection algorithms have problems in that the detection rate is lowered in road environments having a large change in curvature and illumination. The probabilistic Hough transform method has low lane detection rate since it exploits edges and restrictive angles. On the other hand, the method using a sliding window can detect a curved lane as the lane is detected by dividing the image into windows. However, the detection rate of this method is affected by road slopes because it uses affine transformation. In order to detect lanes robustly and avoid obstacles, we propose driving assist system using semantic segmentation based on deep learning. The architecture for segmentation is SegNet based on VGG-16. The semantic image segmentation feature can be used to calculate safety space and predict collisions so that we control a vehicle using adaptive-MPC to avoid objects and keep lanes. Simulation results with CARLA show that the proposed algorithm detects lanes robustly and avoids unknown obstacles in front of vehicle.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2008.06a
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• pp.181-181
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• 2008

DLC (Diamond-like Carbon) 박막은 높은 내마모성과 낮은 마찰 계수, 화학적 안정성 및 적외선 영역에서의 높은 투과율과 낮은 광 반사도, 높은 전기저항과 낮은 유전율, 전계방출특성 등 여러 가지 장점을 가진 물질이다[1]. 최근에는 DLC 박막의 여러 장점들과 산과 염기 유기용매에 대한 화학적 안정성으로 인하여 인조관절에서 인공심장의 판막에 이르기까지 의공학 관련 부품소재로 응용되고 있으며 내구성과 안정성에 있어서 탁월한 성능을 보여주고 있다. 또한 DLC 박막의 높은 경도와 낮은 마찰 계수, 부드러운 박막 표면 (수nm의 RMS 거칠기)의 장점을 살려 마그네틱 미디어와 하드디스크의 슬라이딩 표면에 사용되어지고, MEMS (Micro-Electro Mechanical System) 소자와 MMAs (Moving Mechanical Assemblies)의 고체윤활코팅으로 활용하여 미세기계의 내구성과 성능 향상을 도모할 수 있다. 이와 같이 DLC 박막은 다양한 분야에 응용되고 있으며, 박막이 지닌 여러 가지 장점들로 인하여 더 많은 분야에 응용될 가능성을 지닌 물질이다. 그러나 수 ${\mu}m$이상의 두께에서 박막이 높은 잔류응력 (residual stress)을 가지고, 열에 취약하여 이의 개선에 관한 연구들이 진행되어 지고 있다 [2]. 따라서 사용되는 목적에 따라 용도에 맞는 양질의 DLC 박막을 합성하기 위해선 합성 장치의 개발과 다양한 실험을 통한 최적의 합성조건 도출 등의 노력이 요구된다. 또한 DLC 박막 합성시의 여러 가지 증착 방법에 따른 박막 물성에 대한 재현성 확보 및 박막 증착에 관한 명확한 메커니즘 규명이 아직까지는 불분명하여 이에 관한 연구가 시급하다. 따라서 본 연구에서는 MEMS 소자와 MMAs의 고체윤활코팅으로 사용가능한 DLC 박막을 RF PECVD (Plasma Enhanced Vapor Deposition) 방식으로 합성하고 후열처리 온도에 따른 DLC 박막의 마찰계수 변화를 박막에 훼손을 주지 않는 FFM (Friction Force Microscopy) 방식을 사용하여 분석하였다.

• Proceedings of the KIEE Conference
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• 1999.07a
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• pp.455-457
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• 1999

In this paper, the wearing characteristics of current collecting shoes, interruption phenomena and contact resistances between collecting shoes and conductor rails are established as design parameters for development of the third rail current collector. An experimental analysis for established design parameters is performed as the materials of current collector shoe, contact force, sliding velocity and contact condition(dry/wet condition) between current collectors shoe and conductor rails. As a result of this study, the magnitude of contact force is in proportion to the amount of wear in the collecting shoe, but is in inverse proportion to the interruption and contact resistance between the collecting shoe and the conductor rail. And optimal values of design parameters are pre sented through analyzing the experimental results of the amount of wear, interruption and contact resistance.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.3
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• pp.369-374
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• 2010

Linear motors are easily affected by load disturbances, force ripples, friction, and parameter variations because there are no mechanical transmissions that can reduce the effects of model uncertainties and external disturbance. In this study, a nonlinear adaptive controller to achieve high-speed/high-accuracy position control of a two-axis linear motor is designed. The operation of this controller is based on a cross-coupling algorithm. Nonlinear effects such as friction and force ripples are estimated and compensated for. An enhanced cross-coupling algorithm is proposed for effectively improving the biaxial contour accuracy while achieving closed-loop stability. The proposed controller is evaluated by performing computer simulations.

• Journal of IKEEE
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• v.21 no.4
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• pp.358-367
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• 2017

Advanced Driver Assistance Systems(ADAS), such as Front Collision Warning System (FCWS) are currently being developed. FCWS require high processing speed because it must operate in real time while driving. In addition, a low-power system is required to operate in an automobile embedded system. In this paper, FCWS is implemented in CPU-FPGA architecture in embedded system to enable real-time processing. The lane detection enabled the use of the Inverse Transform Perspective (IPM) and sliding window methods to operate at fast speed. To detect the vehicle, a Convolutional Neural Network (CNN) with high recognition rate and accelerated by parallel processing in FPGA is used. The proposed architecture was verified using Intel FPGA Cyclone V SoC(System on Chip) with ARM-Core A9 which operates in low power and on-board FPGA. The performance of FCWS in HD resolution is 44FPS, which is real time, and energy efficiency is about 3.33 times higher than that of high performance PC enviroment.

• Proceedings of the Korea Water Resources Association Conference
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• 2010.05a
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• pp.1089-1093
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• 2010

최근 하천의 자연성 및 생태기능의 향상을 위해 매트류 호안공법의 적용이 증가하고 있다. 이러한 공법이 적용된 호안은 강수 및 하천수의 지속적인 유입으로 인해 앵커핀과 비탈면 간의 마찰력을 저하시킬 수 있다. 마찰력의 저하는 앵커핀의 고정능력을 저하시켜 매트가 들뜨는 현상을 발생시키고, 이로 말미암아 비탈면에 식재된 식생의 고사는 물론 비탈면의 슬라이딩 현상의 발생에 의해 비탈면 붕괴에 까지 이르게 하고 있다. 그러나 현재 호안매트와 함게 시공하는 앵커핀의 적용에 대한 구체적인 기준과 연구가 미흡한 실정이다. 본 연구에서는 매트류 호안제품을 비탈면에 고정시키는 목적으로 사용하고 있는 앵커핀에 대한 인발특성을 파악하고자 하였다. 인발실험에 사용된 앵커핀은 실제 하천호안에 적용되고 있는 상용제품으로 형태가 다른 4가지 type을 실험에 사용하였으며, 앵커핀의 관입깊이(170mm, 250mm) 별로 인발실험을 실시하였다. 실험에 사용된 인발장치는 인발부에 로드셀을 장착하여 앵커핀과 결합이 가능하도록 하였으며, 인발시 발생하는 계측 값을 컴퓨터를 통해 출력이 가능하도록 제작하였다. 실험결과 4가지 형태의 앵커핀에 대한 관입깊이별 형태별 인발특성을 파악할 수 있었으며, 비탈면 및 매트의 고정효과가 우수한 앵커핀의 형태에 대해서도 파악할 수 있었다. 관입깊이별 최대 인발력은 두 변위(170mm, 250mm) 모두 Type 4가 337N, 594N 으로 가장 큰 인발력을 가지는 것으로 측정되었으며, 변위에 의한 인발력의 증가는 Type 2가 138%로 가장 큰 폭의 증가 값을 보였다. 또한 토양과 앵커핀의 마찰력 향상을 위해 하부가 돌출된 형태로 제작된 Type 2와 Type 4가 상대적으로 실험 후반부에서 최대 인발력이 발생하고 인발지속시간이 길게 나타나는 것으로 볼 때, 인발저항은 앵커핀 하부의 돌출면적에 영향을 받는 것으로 판단된다.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.41 no.6
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• pp.611-619
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• 2016

Success in modern war depends on electronic warfare. Therefore, It is very important to identify the kind of Radar PRI modulations in a lot of Radar electromagnetic waves. In this paper, I propose an algorithm to identify Linear up Sliding PRI, Non-Linear up Sliding PRI and Linear Down Sliding PRI, Non-Linear Down Sliding PRI among many Radar pulses. We applied not only the TDOA(Time Difference Of Arrival) concept of Radar pulse signals incoming to antennas but also a rising and falling curve characteristics of those PRI's. After making a program by such algorithm, we input each 40 data to those PRI's identification programs and as a result, those programs fully processed the data in according to expectations. In the future, those programs can be applied to the ESM, ELINT system.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.1
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• pp.315-323
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• 2016

This study examined the durability and method for making a mockup of bobsled tracks for constructing a bobsled stadium, which is a sport in the Winter Olympics. As bobsleigh games are very fast and dangerous, a safety design for players and a precise construction using highly efficient shotcrete is necessary. Moreover, a general molding construction is difficult because bobsleigh tracks are composed of various curves and slopes, and it is necessary to construct them using high-strength and high durability materials. The developed method for making a mockup and performing durability evaluation of bobsleigh tracks through this research will be applied in the construction of the 2018 Pyeongchang Winter Olympics Sliding centre and bobsleigh tracks using domestic techniques.