• Journal of the Korean Society of Industry Convergence
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• v.17 no.3
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• pp.136-144
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• 2014

This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presents how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.

• The Journal of the Petrological Society of Korea
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• v.14 no.2 s.40
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• pp.108-115
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• 2005

Gyeonggi metamorphic complex in the Gwangju area include banded biotite gneiss and quartzofeldspathic gneiss. Detailed structural analysis suggests that structural elements in the study area were formed by at least five phase of deformations. Penetrative compositional foliations(S1) formed in the banded gneiss during the first metamorphism and deformation (D1). After intrusion of plutonic rocks, the second deformation (D2) produced S2 foliations in the banded gneiss and quartzofeldspathic gneiss during the second metamorphism. D3 structures are represented by isoclinal folds (F3) whose axial surfaces are parallel to S3 foliations. The N-S oriented shortening (D4) was accommodated by closed upright F4 fold with about 100m of axial surface separation. F4 fold is refolded by regional F5 folding resulting in different orientation and fold style of F4 fold according to the position of F5 fold. The F4 fold with tight interlimb angle is subparallel to the axial surface (north-south) of F5 fold in the core of the F5 fold. In contrast the F4 fold trends northeast in the western limb and northwest in the eastern limb of F5 fold. The interlimb angle is larger in the limbs than that in the core of F5 fold. The trace of foliations is constrained by mainly F4 and F5 folds. Joint fanning around fold is developed in the limbs of F5 fold and bc joints are dominant in the hinge area of F5 fold. A strike-slip fault had developed in tile central part of the study area after F5 folding. The orientation of joint and foliation is rotated anticlockwise about $15^{\circ}$ by the landslide occurred during the Quaternary.

• The Journal of Korean Society for Radiation Therapy
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• v.22 no.2
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• pp.145-153
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• 2010

Purpose: To accurately define internal target volume (ITV) for treatment of moving target considering tumor size and respiratory motion, we quantitatively investigated volume of target volume delineated on CT images from helical CT and 4D CT scans. Materials and Methods: CT images for a 1D moving phantom with diameters of 1.5, 3, and 6 cm, acryl spheres were acquired using a LightSpeed $RT^{16}CT$ simulator. To analyze effect of tumor motion on target delineation, the CT image of the phantoms with various moving distances of 1~4 cm, and respiratory periods of 3~6 seconds, were acquired. For investigating the accuracy of the target trajectory, volume ratio of the target volumes delineated on CT images to expected volumes calculated with diameters of spherical phantom and moving distance were compared. Results: Ratio$_{helical}$ for the diameter of 1, 5, 3, and 6 cm targets were $32{\pm}14%$, $45{\pm}14%$, and $58{\pm}13%$, respectively, in the all cases. As to 4DCT, RatioMIP were $98{\pm}8%$, $97{\pm}5%$, and $95{\pm}1%$, respectively. Conclusion: The target volumes delineated on MIP images well represented the target trajectory, in comparison to those from helical CT. Target volume delineation on MIP images might be reasonable especially for treatment of early stage lung cancer, with meticulous attention to small size target, large respiratory motion, and fast breathing.

• Journal of IKEEE
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• v.26 no.4
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• pp.553-559
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• 2022

In this paper, RC snubber circuit design technology for oscillation suppression in half-bridge configuration of cascode gallium nitride (GaN) field effect transistors (FETs) is analyzed. A typical wide band-gap (WBG) device, cascode GaN FET, has excellent high-speed switching characteristics. However, due to such high-speed switching characteristics, a false turn-off problem is caused, and an RC snubber circuit is essential to suppress this. In this paper, the commonly used experimental-based RC snubber design technique and the RC snubber design technique using the root locus method are compared and analyzed. In the general method, continuous circuit changes are required until the oscillation suppression performance requirement is met based on experimental experience . However, in root locus method, the initial value can be set based on the non-oscillation R-C map. To compare the performance of the two aforementioned design methods, a simulation experiment and a switching experiment using an actual double pulse circuit are performed.

• The KIPS Transactions:PartD
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• v.11D no.6
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• pp.1247-1258
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• 2004

The LBS(Location-Based Service), which is based on individual's mobility, is required increasingly as mobile telecommunication and various infrastructures have developed rapidly. The technologies for LBS are location determination technology, service platform technology, contents provider technology and moving object database technology generally. Among these, service platform must be interoperable with location gate-way server and provide common function of billing, authentification, protect location information, privacy control, location trigger and intelligent acquisition and so on. The TTA(Telecommunications Technology Association) published specification that defines a standard protocol for safe and simple interface between LBS client and LBS platform and the OpenLS(Open Location Service) in OGC (Open GIS Consortium) released implementation specifications for providing Location based core services. In this paper, we implemented service platform for LBS which is able to interoperable with location gateway server and contents provider and is caracterized as follows. First, it could require and response location information from different types of location gateway server with same interface. Second, it complies with the standard interfaces with OpenLS 4 contents providers for core LBS. Third, it could provide location of wired phone as well as wireless mobile terminal compling with the standard protocol. Last, it could provide trajectorH information based past location as well as current location, because it is able to interoperable with moving object DBMS. This paper contributes to the construction and practical use of LBS by providing the method of implementation of service platform for LBS.

• Journal of agriculture & life science
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• v.53 no.4
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• pp.113-124
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• 2019

In this study, the operational characteristics of a cam-type vegetable transplanter which usually used in domestic was analyzed and operating mechanism of a transplanting device was analyzed. The main components and power path of the transplanter were analyzed. The maximum and minimum control cycles according to the moving speed and the plant spacing were analyzed. 3D modeling and simulation were performed to derive the trajectory of the bottom end of the transplanting hopper and the plant spacing at the each operating condition. The simulation results were verified by the field tests. As main findings of this study, the transplanting device has one degree of freedom (DOF) which consist of 13 links, 17 rotating joints and 1 half joint, and each part has composite structure with cam and links. By continuous and repetitive motion of the structures of transplanting device, the transplanting hopper plants the seedling in the ground with a vertical direction, and the seedling was planted stably. The power is transmitted to the driving part and transplanting device from the engine, and the maximum and minimum plant spacing of the transplanting device were about 900 mm and 350 mm, respectively.

• The Journal of the Acoustical Society of Korea
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• v.28 no.4
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• pp.318-327
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• 2009

In this paper, we propose a 3-D geometric localization method for near-field broadband source in shallow water environments. According to the waveguide invariant theory, slope of the interference pattern which is seen in a sensor spectrogram directly proportional to a range of the source. The relative ratio of the range between source and sensors was estimated by matching of two interference patterns in spectrogram. Then this ratio is applied to the Apollonius's circle which shows the locus of a source whose range ratio from two sensors is constant. Two Apollonius's circles from three sensors make the intersection point that means the horizontal range and the azimuth angle of the source. And this intersection point is constant with source depth. Therefore the source depth can be estimated using 3-D hyperboloid equation whose range difference from two sensors is constant. To evaluate a performance of the proposed localization algorithm, simulation is performed using acoustic propagation program and analysis of localization error is demonstrated. From simulation results, error estimate for range and depth is described within 50 m and 15 m respectively.

• Geophysics and Geophysical Exploration
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• v.8 no.4
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• pp.262-269
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• 2005

Since the buried cultural relics are three-dimensional (3-D) objects in nature, 3-D survey is more preferable in archeological exploration. 3-D Ground Penetrating Radar (GPR) survey based on very dense data in principle, however, might need much higher cost and longer time of exploration than other geophysical methods commonly used for the archeological exploration, such as magnetic and electromagnetic methods. We developed a small-scale continuous data acquisition system which consists of two sets of GPR antennas and the precise positioning device tracking the moving-path of GPR antenna automatically and continuously. Since the high cost of field work may be partly attributed to establishing many profile lines, we adopted a concept of data acquisition at arbitrary locations not along the pre-established profile lines. Besides this hardware system, we also developed several software packages in order to effectively process and visualize the 3-D data obtained by the developed system and the data acquisition concept. Using the developed system, we performed 3-D GPR survey to investigate the possible historical remains of Baekje Kingdom at Buyeo city, South Korea, prior to the excavation. Owing to the newly devised system, we could obtain 3-D GPR data of this survey area having areal extent over about $17,000m^2$ within only six-hours field work. Although the GPR data were obtained at random locations not along the pre-established profile lines, we could obtain high-resolution 3-D images showing many distinctive anomalies, which could be interpreted as old agricultural lands, waterways, and artificial structures or remains. This cast: history led us to the conclusion that 3-D GPR method is very useful not only to examine a small anomalous area but also to investigate the wider region of the archeological interests.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2008.11a
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• pp.206-206
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• 2008

압전소자를 이용한 초음파 모터는 전자기적 원리로 동작하는 기존의 모터에 비해 구조가 간단하고 소형, 경량화가 가능하며 저속에서 큰 토크가 가능하고 ${\mu}m$단위 까지 정밀제어가 가능하다는 장점 등으로 인해 그 응용분야가 점차 확대되고 있다. 초음파 모터의 원리는 수평과 수직방향에서 변위가 타원형 운동을 형성하는 것이다. 따라서 선택한 타원운동의 방식에 의해서 모터의 형상이 달라진다. 초음파 모터는 액츄에이터를 사용하여 만들기 때문에 액츄에이터의 특성은 모터의 타원변위나 토크에 영향을 미친다. 단판형 액츄에이터에 비하여 적층 액츄에이터는 입력 임피던스를 낮추어 낮은 구동전압에서 구동이 가능하며 큰 변위와 토크를 발생하기 때문에 진동자의 수명 향상과 구동전압을 낮추기에 적합하다. 적층 액츄에이터는 변위량이나 응력 등을 개선하기 위해서 전기기계 결합계수(kp) 및 압전 d상수가 큰 재료가 요구되며, 고전압에서 장시간 구동 시 마찰에 의한 열손실을 감소시키기 위해 높은 기계적 품질계수(Qm)를 가져야한다. 적층 시 내부전극으로 사용하는 Pd, Pt가 함유된 전극은 가격이 비싸 제조비용을 상승시킨다. 상대적으로 값싼 Ag전극을 사용하면 비용절감을 할 수 있지만 융점이 낮아서 저온소결이 불가피하다. 따라서, 특성이 우수한 적층 액츄에이터를 제조하기 위해서 저손실, 저온소결 할 수 있는 액츄에이터 재료가 필요한 실정이다. L1-B4 혈 선혈 초음파 모터는 L1모드와 B4모드의 공진 주파수가 일치하여야 큰 변위를 얻을 수 있는데 이전의 논문에서 Atila를 이용한 시뮬레이션 결과를 분석한 봐 있다. 적층 액츄에이터의 층수를 5,7,9,11,13,15층으로 하여 L1-B4모드에서의 공진주파수를 비교한 결과 13 층일 때 두 모드가 비슷한 공진주파수를 보였고, 티원변위궤적도 다른 층수에 비해 크게 나타났다. 본 연구에서는 시뮬레이션 결과 가장 좋은 특성을 보인 13층 액츄에이터로 선형 초음파 모터를 제작하였다. 또한, 액츄에이터는 압전 및 유전특성이 우수한 저온소결 PZW-PMN-PZT세라믹을 이용하여 제작하였고, 내부전극으로 Ag전극을 사용하였다. 제작된 13 층 선형초음파모터를 가지고 프리로드 및 전압에 따른 속도를 조사하였고, 시뮬레이션 결과와 비교해 보았다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.11
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• pp.181-188
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• 2019

The migration path of a multiple-generation technology that occurs during a technological substitution by a new technology is important to understanding the phenomenon of technological substitution, and can contribute to understanding the process of technological innovation. This research defines the concept of migration path and develops a model of the types of migration paths by multiple dimensions (actor, generation, and time) in a multiple-generation technology. Based on a literature review and tracking of migration paths according to multiple dimensions, the definitions and types of migration paths were provided, and the accuracy of the model was verified based on a case study of the semiconductor industry. The migration paths of suppliers are modeled with three types (switching, leapfrogging, and new entrance paths), and the migration paths of customers are modeled with four types (switching, leapfrogging, new entrance, and diffusion paths) in a multiple-generation technology. This research will be useful for understanding the migration paths in the phenomenon of technological substitution, and can be applied to other industries in addition to the semiconductor industry, including various actors. In addition, suppliers and customers can understand technological substitution and can establish a technology strategy against their competitors.