• Journal of the Korean Society of Marine Environment & Safety
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• v.19 no.2
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• pp.193-199
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• 2013

Course keeping ability of ships under wave are analyzed with wave. The simulation with three degrees of freedom is developed and 3-D source distribution method is applied to get wave force for the simulation. The simulation is conducted with the restriction of maximum rudder angle and time delay of control and regular wave and irregular wave are considered as the source of external forces. Simulations with ships which have different maneuverability with tuned hydrodynamic coefficients are developed to assess the variation of the course keeping ability depending on the ship's maneuvering characteristics. The course Keeping ability is evaluated by comparison of distance while the ships are simulated with autopilot control.

• Journal of the Korean Vacuum Society
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• v.7 no.2
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• pp.118-126
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• 1998

A study to improve filling of semiconductor contact holes by enhancement of the directionality of the source beams has been undertaken. The collimation of source beams was improved by the ionized cluster beam deposition technique with modification of the cell geometry. The collimation tested with neutral beam was excellent. But, the Cu flims were grown in a columnar mode due to the lack of surface mobilit of the impinged clusters. A shadow effect also caused cleavage and consequent discontinuity at the steos as films grow. By applying acceleration voltage, the columnar growth in a contact hole of 0.5 $\mu$m diameter and 1 $\mu$m height disappeared and considerable coverage at the side wall of the contacts as well as perfect bottom coverage were observed. These are all due to the assistants of the accelerated ionized clusters with high kinetic energy. Thus we demonstrated that the ICB deposition technique can be used to completely fill sub-half-micron contact holes with high aspect ratio.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2017.04a
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• pp.20-20
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• 2017

궤도형 차량의 이동구조는 에너지 소비 측면에서 단점이 있지만 접지압의 감소로 인한 평지 및 야지험지에서도 원활한 주행이 가능한 장점으로 인해 농업분야의 플랫폼에서 많이 사용된다. 곡식을 베는 일과 탈곡하는 일을 한 번에 하는 콤바인도 이러한 무한궤도형 이동구조를 사용한다. 또한 궤도형 차량의 방향전환 및 주행속도 변환은 좌 우 궤도의 회전 속도를 다르게 하여 동시에 제어하기 때문에 정교한 주행 성능을 위해서는 궤도형 차량의 기구학 모델을 고려한 경로 계획이 필요하다. 본 연구에서는 직교형 포장에서 Round harvesting 기법 기반으로 궤도형 차량의 기구학 모델 및 포장정보를 고려한 자율주행 콤바인 경로계획 알고리즘을 개발하고자 하였다. 이를 위해 Labview 기반의 궤도형 차량 시뮬레이션을 구축하여 실제 포장정보를 이용해 생성 된 경로의 적용 가능성을 구명하고자 하였다. 자율주행 콤바인 경로 계획은 콤바인의 길이, 너비, 회전 시 좌 우 궤도의 속도 비, 직진 속도와 회전 속도 비, 회전 각도, 포장의 외부 경계선, 작업 겹침 량, 회경 횟수를 이용하여 좌현 새머리 선회를 포함한 내부 왕복작업 경로를 생성하며 외부 회경 횟수는 2~3회를 가정하였다. 자율주행 시뮬레이션은 차체와 궤도 자체의 미끄러짐과 작동기 지연시간을 단순화 한 궤도형 기구학 모델형태로 구성하였다. 추종 알고리즘은 선견 거리법을 사용하였으며, 측면 변이값과 방향 오차의 선형조합을 이용하여 조향변수를 정의하고 퍼지로직기반으로 좌 우 궤도 속도를 7 단계화하여 조향장치를 모델링하였다. 실험결과 개발 된 경로생성 알고리즘은 실제 취득 된 포장 외부 경계 GPS 위 경도를 이용해 자동으로 생성이 가능하며 간략화 된 콤바인 시뮬레이션에서 직진주행 RMS 위치 오차는 0.05 m, 선회구간에서 직진 구간 진입 시 RMS 위치 오차는 0.11 m, 직진 구간 RMSE 방향 오차는 3.2 deg로 콤바인 예취부 간격인 30 cm보다 작은 위치 오차를 보이며 생성된 경로 전체 추종이 가능함을 나타내었다.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.5
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• pp.31-39
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• 1999

A good atomization in uniform size brings the elevation of thermal efficiency in spray combustion, the beautiful painting on surfaces, and the economical sprinkling of chemicals. Ultrasonic atomization has been expected as a good uniform atomization mechanism due to its uniform size distribution. Influx, load, and physical properties of liquids are the effecting factors to atomize liquids. In this study, distilled water and city water are selected as reference liquids and gasoline, kerosene, and petroleum as fuel liquids. Characteristics and affinity to get the maximum effect for the ultrasonic atomization are observed by using the two ultrasonic transducers with 28kHz and 2MHz. Results show that the size distributions of liquid spray dorplet by the direct vibration method prevail over those by the aerosol method in uniform droplet size and as a whole, sizes of spray liquid droplets are increased slightly according to increasing influx in the direct vibration method and quantities of spray droplets in the aerosol method decreasing according to increasing liquid load h.

• Journal of Korean Society of Transportation
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• v.22 no.4 s.75
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• pp.43-56
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• 2004

The KHCM procedure is a micro level analysis at signalized intersections requiring a lot of input variables and complex computations. The research was to investigate the possibility of simplifying the analysis procedures by using the generalized or the combined variables that less influence on the adjusted traffic volume and through-car equivalents of left or right turns. It was also tried to make lane grouping into directional flow ratio(v/s) based on a field surveys. The maximum and minimum values of each variables were compared with each other through the KHCM analysis procedures in terms of control delay. The lane grouping and the synthetical influence of a simplified method was evaluated with the scenario built in prevailing maximum and minimum conditions. The study showed that the control delay was not significantly sensitive to the selected variables and the lane grouping and their synthetical influence as well.

• Transactions of the Korean Society of Mechanical Engineers
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• v.9 no.5
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• pp.590-597
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• 1985

A recursive geometric adaptive control method to compensate for machining straightness error in the finished surface due to tool deflection and guideway error generated by end milling process is developed. The relationship between the tool deflection and the feedrate is modeled by a modified Taylor's tool life equation. Without a priori knowledge on the variations off cutting parameters, time varying parameters are then estimated by an exponentially windowed recursive least squares method with only post-process measurements of the straightness error. The location error is controlled by shifting the milling bed in the direction perpendicular to the finished surface and adding a certain amount of feedrate with respect to the tool deflection model before cutting. The waviness error is compensated by adjusting the feedrate during machining. Experimental results show that location error is controlled within a range of fixturing error of the bed on the guideway and that about 60% reduction in the waviness error can be achieved within a few steps of parameter adaption under wide operating ranges of cutting conditions even if the parameters do not converge to fixed values.

• Journal of Platform Technology
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• v.11 no.2
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• pp.26-38
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• 2023

This paper is a study on a transport robot capable of autonomously driving to a destination using a QR code in an indoor environment. The transport robot was designed and manufactured by attaching a lidar sensor so that the robot can maintain a certain distance during movement by detecting the distance between the camera for recognizing the QR code and the left and right walls. For the location information of the delivery robot, the QR code image was enlarged with Lanczos resampling interpolation, then binarized with Otsu Algorithm, and detection and analysis were performed using the Zbar library. The QR code recognition experiment was performed while changing the size of the QR code and the traveling speed of the transport robot while the camera position of the transport robot and the height of the QR code were fixed at 192cm. When the QR code size was 9cm × 9cm The recognition rate was 99.7% and almost 100% when the traveling speed of the transport robot was less than about 0.5m/s. Based on the QR code recognition rate, an experiment was conducted on the case where the destination is only going straight and the destination is going straight and turning in the absence of obstacles for autonomous driving to the destination. When the destination was only going straight, it was possible to reach the destination quickly because there was little need for position correction. However, when the destination included a turn, the time to arrive at the destination was relatively delayed due to the need for position correction. As a result of the experiment, it was found that the delivery robot arrived at the destination relatively accurately, although a slight positional error occurred while driving, and the applicability of the QR code-based destination self-driving delivery robot was confirmed.

• Journal of the Institute of Convergence Signal Processing
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• v.22 no.2
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• pp.79-84
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• 2021

The most important device of the AGV is the guide sensor, and the typical function of this sensor is high accuracy and extraction of the road. If the accuracy of the guide sensor is low or the sensor device is extracted the wrong track, this causes the problems such as the AGV collision, track-out, the load falling due to AGV swing. In order to improve these problems, this study is proposed a signal processing method of the guide sensor based on multi-maskings and the center of gravity method, and evaluated its performance. As a result, the proposed method showed that the mean error of absolute value is 2.32[mm] and it showed performance improvement of 27[%] than the center of gravity method of existence. Therefore, when the proposed signal processing method is applied, It is thought that the posture control and driving stability of the AGV will be improved.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.7 no.2
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• pp.157-166
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• 1996

This paper presents the optimum termination method of a TEM Cell, which utilizes hybrid distributed termination resistor array networks. Current stream on the septum, and on the terminal end of a TEM Cell is analyzed by numerical analysis. By circuit analysis, the optimum resistor array network is designed based on the result of the analysis, which assures efficient power dissipation, and current stream traveling straight and uniform. Thermovision photos were taken for comparing the conventional termination network on which each resistor is arranged at regular intervals, with the suggested optimum termination network on which each resistor is arranged for current distribution. The comparison of the results of thermovision photos shows a good agreement with those obtained by numerical analysis.

• Proceedings of the Korean Vacuum Society Conference
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• 2011.08a
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• pp.298-299
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• 2011

최근 입력소자로 활용되는 터치스크린은 키보드나 마우스와 같은 입력장치를 사용하지 않고, 스크린에 손가락, 펜 등을 접촉하여 입력하는 방식이다. 터치패널의 구현방식에 따라 저항막(Resistive) 방식, 정전용량(Capacitive) 방식, SAW (Surface Accoustic Wave; 초음파) 방식, IR (Infrared; 적외선) 방식등으로 구분된다. 특히 최근 관심을 받고 있는 IR 방식은 적외선이 사람의 눈에는 보이지 않으나, 직진성을 가지고 있어 장애물이 있으면 차단되는 특성을 이용한 방식이다. IR방식의 터치패널은 발광(Light emitting)소자와 수광(Light detecting)소자가 마주하도록 배치되어 터치에 의해 차단된 좌표를 인식하게 되며, ITO 필름 등이 필요 없어 Glass 1장으로도 구현이 가능하며 투과율이 우수하다. 이러한 IR 방식의 터치패널을 제작하기 위하여 사용된 IR 광검출기는 광학적 band-gap이 작은 박막물질을 필요로 한다. 본 연구에서는 IR 광검출을 위한 물질로 SiGe를 co-sputtering 기법을 이용하여 성장시켰다. 일반적으로 SiGe 박막을 성장시키기 위하여 저압화학기상증착법(low pressure chemical vapor deposition, LPCVD)이나 고진공 LPCVD를 사용하지만 본 연구에서는 CVD에 비하여 무독성이면서 환경친화적이고 초기투자비용이 낮은 증착장비인 sputtering을 이용하였다. 본 연구에서 성장된 SiGe 박막은 400$^{\circ}C$에서 rf plasma가 인가된 Ge과 dc plasma가 인가된 Si의 power를 조절하여 결정화도가 70% (Fig. 1)이고 결정성장방향이 (111)과 (220)방향으로 성장하는 SiGe 박막을 얻을 수 있었다. 본 논문에서는 co-sputtering 성장조건에 따라 성장된 SiGe의 박막 특성을 논의할 것이다.