• Journal of the Korea Society of Computer and Information
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• v.24 no.11
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• pp.29-39
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• 2019

As mobile robot applications increase in real life, the need of low cost autonomous driving are gradually increasing. We propose a novel vision-based real-time lane detection and tracking system that supports autonomous driving of mobile robots in constrained tracks which are designed considering indoor driving conditions of mobile robots. Considering the processing of lanes with various shapes and the pre-adjustment of operation parameters, the system structure with multi-operation modes are designed. In parameter tuning mode, thresholds of the color filter is dynamically adjusted based on the geometric property of the lane thickness. And in the unstable input mode of curved tracks and the stable input mode of straight tracks, lane feature pixels are adaptively extracted based on the geometric and temporal characteristics of the lanes and the lane model is fitted using the least-squared method. The track centerline is calculated using lane models and the motion model is simplified and tracked by a linear Kalman filter. In the driving experiments, it was confirmed that even in low-performance robot configurations, real-time processing produces the accurate autonomous driving in the constrained track.

• Proceedings of the Korean Powder Metallurgy Institute Conference
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• 2003.04a
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• pp.35-35
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• 2003

)를 금속와이어에 인가하면 저항발열에 의해 와이어가 미세한 입자나 금속증기상태로 폭발하는 현상을 이용한 것으로 기상합성법에 속한다고 할 수 있다. 선폭법은 다른 제조법에 비해 공정이 간단하여 생산비용이 저렴하며, 원재료의 조성을 갖는 분말의 합성과 금속간화합물, 융점차이가 나는 재료의 합금화 등이 가능하다. 인가에너지의 크기와 폭발 시 분위기를 제어함으로써 분말의 평균크기와 분포 제어 또한 가능하다. 본 연구는 러시아의 우수한 기초기술을 바탕으로 Pb-Sn계 합금은 전기폭발법으로 극미세분말을 제조하였으며, 분말의 형상, 상 화학조성의 변화를 조사하였다. 본 실험에 사용된 Sn-Pb계(All-Union State Standard 1499-70, 0.53mm)합금와이어는 자동시스템(1-0.6Hz)에 의해 챔버안으로 공급되었다. 이 때 임계폭발 와이어 길이는 50-80nm으로 실험을 행하였다. 챔버 압력은 1.4~2.0atm으로 유지하였다. 제조된 분말의 특성은 XRD, XRPES, SEM등을 이용하여 분말의 형상과 상, 화학조성, 표면분석을 행하였으며 DSC, TGA, BET분석을 통하여 온도변화에 따른 금속분말의 열량변화, 질량변화, 비표면적을 측정하였다. 제조된 Sn-Pb계 분말은 모두 평균 입도 117nm~220nm의 구형형상이었다. 이때 합금분말의 조성은 51.17~63.21 at%Sn, 35.47~46.37 at%Pb로 나타났다. 와이어에 인가되는 비에너지(W/Wc)가 감소된에 EK라 표면층의 Pb함량이 증가함을 보였다. 이는 와이어 내부 저항의 감소로 인한 공정시간의 지연과 Sn, Pb의 확산계수 차이에 의한 것으로 사료된다. 열분석 결과, Sn~Pb계 화합물의 융점은 167~$169^{\circ}C$로 관찰되었으며, $10^{\circ}C$/min로 $920^{\circ}C$까지 승은 하였을 때 17.1~18 wt%의 질량증가를 보였다.TEX>계 나노복합분말이 얻어짐을 알 수 있었다. 이 때 X션 회절피크의 line broadening으로부터 복합분말의 Fe 명균 결정립 크기는 24nm로 초미세 결정럽의 분말합금이었다. 포화자화값은 볼밀처리에 따라 점점 증가하여 MA 30시간에는 20.3emu/g로 포화됨을 알 수 있었다. 또한 보자력 Hc는 MA초기단계에 350e로 매우 낮으나 30시간 후에는 Hc값이 2600e로 매우 큰 값을 나타내었다. 이것은 환원반응결과 초기에 생성된 Fe의 결정립이 비교적 크고 결정결함이 적으나 볼밀처리를 30시간까지 행하면 Fe 결정렵의 미세화 빛 strain 증가로 magnetic hardening이 일어나기 때문인 것으로 사료된다.길이가 50, 30cm인 압출재를 제조하였다. 열간압출한 후의 미세조직을 광학현미경으로 압출방향에 평행한 방향과 수직방향으로 관찰하였고, 열간 압출재 이방성을 검토하기 위하여 X선 회절분석을 실실하여 결정방위를 확인하였다. 전기 비저항 및 Seebeck 계수 측정을 위하여 각각 2$\times$2$\times$10$mm^3$ 그리고 5$\times$5$\times$10TEX>$mm^3$ 크기의 시편을 준비하였다.준비하였다.전류를 구성하는 주요 입자의 에너지 영역(75~l13keV)에서 가장 높은(0.80) 상관계수를 기록했다. 넷째, 회복기 중에 일어나는 입자들의 유입은 자기폭풍의 지속시간을 연장시키는 경향을 보이며 큰 자기폭풍일수록 현저했다. 주상에서 관측된 이러한 특성은 서브스톰 확장기 활동이 자기폭풍의 발달과 밀접한 관계가 있음을 시사한다.se that were all low in two aspects, named "the Nonsignificant group". And the issues were high risk perception in general setting and lo

• Journal of the Korean Wood Science and Technology
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• v.19 no.1
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• pp.31-63
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• 1991

It was proved that in conventional kiln drying of disks piling position in the kiln exerted a great influence on drying rates, and the larger the variation of disk diameter, the more undulating drying rates of disks. While in vacuum drying disks there was no influence on drying rates. By the end-wrapping treatments and the radial direction of disks tangential surface stresses in the core of disks were slightly compressive in three species. In control disks the drying stresses distributed into one step-style that compressive stresses in the pith side of 6cm from pith were larger than those in the bark side, while in the disks end-wrapped with Korean paper the drying stresses distributed uniformly, because flow rates of free water in disks had no difference between heart-and sap-wood by obstruction of evaporating water from surface of disks by end-wrapping with Korean paper. And end-wrapping with Korean paper considerably restrained those. Tangential differential shrinkage stresses developed the maximum tensile stress near the bark and with approaching the pith the stresses gradually reduced and changed into compressive stresses in near the pith. At the end of vacuum drying the maximum tangential tensile stresses of disks end-wrapped with Korean paper were smaller than those of control disks, and critical moisture contents causing the V-shaped crack of disks end-wrapped with Korean paper were lower than those of control disks because of the set by obstruction of evaporating water of end-wrapping with Korean paper. In the experiment of vacuum drying stress distribution the disks end-wrapped with Korean paper or aluminum foil in three species were free from V-shaped cracks and control disks were defected very slightly by V-shaped cracks. And also disks end-wrapped with Korean paper were free from heart checks in Alnus japonica and Juglans sinensis, and heart checks were occurred very slightly in others. Especially, not to speak of disks end-wrapped with Korean paper, vacuum drying of disks end-wrapped with aluminum foil prevented effectively drying defects, moreover drying times could be shortened, that is. Ginkgo biloba, Alnus japonica, and Juglans sinensis disks could be dried from green to in-use moisture content in 110 hours, 272 hours, and 407 hours, respectively.

• Journal of the Korean Society of Radiology
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• v.13 no.4
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• pp.645-652
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• 2019

Phosphor with phosphorus doped with rare earth ions was investigated by searching Sr and Eu phosphors suitable for substitution of Eu ions with similar ionic radius to polyphosphate host. The $NaSr(PO_3)_3$ phosphor was synthesized by the solid state method and the $NaSr(PO_3)_3:Eu^{2+}$ phosphor was prepared by the carbon thermal reduction method. Both of the phosphors were identified by X - ray diffraction. The excitation and emission spectra of $NaSr(PO_3)_3:Eu^{3+}$ increased fluorescence intensity and intensity quenching with increasing $Eu^{3+}$ concentration. The higher the $Eu^{3+}$ concentration in the emission spectrum, the higher the local symmetry of $Eu^{3+}$ environment. The mechanism of concentration quenching, in which fluorescence decreases due to the energy transfer between $Eu^{2+}$ ions with the closest critical distance between $Eu^{2+}$ ions with increasing $Eu^{2+}$ ion concentration, was confirmed in the emission spectrum of $NaSr(PO_3)_3:Eu^{2+}$ concentration. It is possible to change the fluorescent region through the post-processing of single rare earth ion added phosphors, and it is possible to change the fluorescence by applying the energy transfer and concentration quenching mechanism according to the local symmetry of $Eu^{3+}$ will be used for high phosphor development.

• Economic and Environmental Geology
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• v.43 no.6
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• pp.615-623
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• 2010

Seismic refraction survey is a geophysical method that delineates subsurface velocity structure using direct wave and critically refracted wave. The generalized reciprocal method(GRM) is an inversion technique which uses travel-time data from several forward and reverse shots and which can provide the geometry of irregular inclined refractors and structures underlain by hidden layer such as low velocity zone and thin layer. In this study, a simple Excel-GRM routine was tested for fast mapping of the interface between weathering layer and bedrock during the survey, with employing a pair of forward and reverse shots. This routine was proved to control the maximum dip of approximately $30^{\circ}C$ and maximum velocity contrast of 0.6, based on the panel tests in terms of dipping angle and velocity contrast for the two-layer inclined models. In contrast with conventional operation of five to seven shots with sufficient offset distance and indoor data analysis thereafter, this routine was performed in the field shortly after data acquisition. Depth to the bedrock provided by Excel-GRM, during the field survey for Cheongju granite area, correlates well with the elevation of the surface of soft rock from the drill core and SPS logging data. This cost-effective routine developed for quickly delineating the bedrock surface in the field survey will be readily applicable to mapping of weathering zone in narrow zone with small variation of elevation of bedrock.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.17 no.6
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• pp.154-159
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• 2003

In this paper, we proposed variable threshold dual rate ADPCM coding method which adapts two coding rates of the standard ADPCM of ITU G.726 for speech quality improvement at a comparably low coding rates. The ZCR(Zero Crossing Rate) is computed for speecd data and under the noisy environment, noise data dominant region showed higher ZCR and speech data dominant region showed lower ZCR. The speech data with the higher ZCR is encoded by low coding rate for reduced coded data and the speech data with the lower ZCR is encoded by high coding rate for speech quality improvements. For coded data, 2 bits are assigned for low coding rate of 16[Kbps] and 5 bits are is assigned for high coding rate of 40[Kbps]. Through the simulation, the proposed idea is evaluated and shown that the variable dual rate ADPCM coding technique shows the qood speech quality at low coding rate.

• Journal of Advanced Navigation Technology
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• v.21 no.2
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• pp.163-170
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• 2017

MLAT which is an independent cooperative surveillance system is applied to increase the positon resoultin of secondary survelliance radar. MLAT uses the hyperboic or hyperboloid position mesurement algorithm. Central processing unit of MLAT calculates target position using time difference of arrival (TDOA) which can be solved from time of arrival (TOA) information of each receivers (at least 4 receivers). To increase position resolution of MLAT which use TDOA, TOA which is transfer time from tranmitter to receiver shold be calculated with precision time resolution in receiver. This paper explained the MLAT system briefly and explained ATD which is one of means of calcuating pulse position. ATD is applied to solve the deviation of pulse position due to different amplitude of signals in mulitiple receivers. In this paper, to analysis the performance of ATD, the simulation result of LAS and CDS was compared with the simulation result of basic threshold method.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.27 no.8A
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• pp.822-828
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• 2002

Optical flow estimation based on multi constraint approaches is frequently used for recognition of moving objects. However, the use have been confined because of OF estimation time as well as error problem. This paper shows a new method form effectively extracting movement information using the multi-constraint base approaches with sobel edge detection. The moving objects anr extraced in the input image sequence using edge detection and segmentation. Edge detection and difference of the two input image sequence gives us the moving objects in the images. The process of thresholding removes the moving objects detected due to noise. After thresholding the real moving objects, we applied the Combinatorial Hough Transform (CHT) and voting accumulation to find the optimal constraint lines for optical flow estimation. The moving objects found in the two consecutive images by using edge detection and segmentation greatly reduces the time for comutation of CHT. The voting based CHT avoids the errors associated with least squares methods. Calculation of a large number of points along the constraint line is also avoided by using the transformed slope-intercept parameter domain. The simulation results show that the proposed method is very effective for extracting optical flow vectors and hence recognizing moving objects in the images.

• Proceedings of the Korea Water Resources Association Conference
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• 2019.05a
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• pp.250-250
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• 2019

현재 우리나라에서 이용하고 있는 소류사량 직접계측방법에는 Arnhem 소류사 채취기와 Helley-Smith 소류사 채취기 등이 있다. 하지만 이러한 방법은 현장에서 계측하기가 매우 어렵고 많은 비용과 인력, 시간이 소모되며 특히 연속적인 계측이 어려워 소류사량의 직접계측자료를 기초로 하는 연구는 거의 전무한 상태이다. 이에 대한 대안으로 최근 국내외에서는 마이크로폰을 내장한 금속관에 토사가 충돌 시 발생하는 음향데이터를 수집 및 분석하여 소류사량을 계측하는 간접계측방법 하이드로폰을 사용하고 있다. 하이드로폰 시스템의 대부분이 증폭채널방법을 사용하고 있는데 이러한 방법은 개별입자에 대한 음향특성을 반영하기에는 다양한 크기를 가지는 소류사 입자에 대한 음향신호를 하나의 임계치 기준으로 필터링 하기 때문에 한계가 있다. 즉 기존의 방법은 소류사량의 상대적인 크기만 추정할 수 있을 뿐 소류사량을 정량화할 수 없다. 따라서 본 연구는 소류사가 이동할 때 발생하는 충돌음향을 신호 처리하여 소류사량을 추정하는 계측기기인 하이드로폰을 이용하여 기존 소류사량의 계측 방법을 개선하기 위한 실험적 연구를 수행하였다. 실험은 하이드로폰을 적용한 수리모형 실험 장치를 구축하고 현장에서 취득한 시료 중 대표시료로 분류된 두 가지 입자에 대해서 수리 조건 변화에 따른 충돌음향을 계측 및 분석하였다. 연구결과 입자크기 및 수리조건 변화에 따른 하이드로폰의 인지특성을 파악할 수 있었고 소류사 충돌음과 연관성 높은 주파수 대역을 분리하여 소류사 충돌음을 판독할 수 있는 계측알고리즘을 제시하였다. 특히 본 연구에서 제안하는 하이드로폰 충돌음향 분석법 B-P Method는 낮은 유속과 작은 입경의 소류사의 조건일 때 타 방법에 비해 제안된 B-P Method가 높은 판독률을 보여주었다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.12
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• pp.14-24
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• 2018

Several typical hyper-elastic constitutive models that encompass both conventional and advanced ones were investigated for the application of instability problems, including the biaxial tension of a rubber patch and inflation of spherical or cylindrical balloons. The material models included the neo-Hookean model, Mooney-Rivlin model, Gent model, Arruda-Boyce model, Fung model, and Pucci-Saccomandi model. Analyses can be done using membrane equations with particular strain energy density functions. Among the typical strain energy density functions, Kearsley's bifurcation for the Treloar's patch occurs only with the Mooney-Rivlin model. The inflation equation is so generalized that a spherical balloon and tube balloons can be taken into account. From the analyses, the critical material parameters and limit points were identified for material models in terms of the non-dimensional pressure and inflation volume ratio. The bifurcation was then identified and found for each material model of a balloon. When the finite element method was used for the structural instability problems of rubber-like materials, some careful treatments required could be suggested. Overall, care must be taken not only with the analysis technique, but also in selecting constitutive models, particularly the instabilities.