• 한국전자통신학회논문지
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• 제17권5호
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• pp.941-948
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• 2022

인간의 접근이 어려운 재난 현장에 투입되는 재난 대응 로봇은 재난의 확산 방지 및 피해 최소화를 위해 현장탐색, 인명구조 등의 임무를 수행한다. 재난 현장에는 다양한 장애물이 산재한 험지, 통신 장애, 비가시적인 환경 등 복합적인 요인으로 인해 로봇 운용에 어려움이 있다. 본 논문에서는 직렬연결이 가능한 바퀴 로봇 모듈을 개발하였다. 바퀴 로봇 모듈은 직접 구동이 가능한 로봇 모듈과 수동으로 구동되는 로봇 모듈 두 가지로 개발하였다. 두 개의 직접 구동이 가능한 로봇 모듈과 하나의 수동으로 구동되는 로봇 모듈을 직렬연결하여 하나의 바퀴 로봇을 구성하였다. 로봇 모듈은 1 자유도 회전 관절로 연결되어 바퀴 로봇은 수직 방향으로의 장애물 회피가 가능하다. 바퀴 로봇은 압력 센서만을 이용해 주행과 장애물 극복을 수행하도록 제어하여 비가시적 환경에서 운용할 수 있도록 하였다. 바퀴 로봇의 성능 평가를 위해 두 개의 직접 구동이 가능한 바퀴 로봇 모듈과 한 개의 수동으로 구동되는 바퀴 로봇 모듈을 연결하여 장애물 극복 실험을 수행하였다. 바퀴 로봇은 압력 센서만을 사용해 최대 높이 80 mm의 계단형 장애물을 24.5초의 시간 동안 성공적으로 극복하여 비가시적인 상황에서 주행 및 장애물 극복이 가능함을 확인하였다.

• Smart Structures and Systems
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• 제18권4호
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• pp.663-682
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• 2016

Continuum manipulators as a kind of mechanical arms are useful tools in special robotic applications. In medical applications, like colonoscopy, a maneuverable thin and flexible manipulator is required. This research is focused on developing a basic module for such an application using shape memory alloys (SMA). In the structure of the module three wires of SMA are uniformly distributed and attached to the circumference of a flexible tube. By activating wires, individually or together, different rotation regimes are provided. SMA model is used based on Brinson work. The SMA model is combined to model of flexible tube to provide a composite model of the module. Simulating the model in Matlab provided a platform to be used to develop controller. Complex and nonlinear behavior of SMA make the control problem hard especially when a few SMA actuators are active simultaneously. In this paper, position control of the two degree of freedom module is under focus. An experimental control strategy is developed to regulate a desired position in the module. The simulation results present a reasonable performance of the controller. Moreover, the results are verified through experiments and show that the continuum module of this paper would be used in real modular manipulators.

• 전자공학회논문지
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• 제51권7호
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• pp.26-36
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• 2014

IMT-Advanced 시스템을 효율적으로 서비스하고 시스템 효율을 증대시키기 위해서는 능동위상 배열구조의 안테나 시스템이 요구된다. 능동위상 배열 구조는 다수의 송수신 모듈과 다수의 복사소자로 구성되어 시스템의 효율을 증대시킬 수 있으며, 시스템을 구현하기 위해서는 초소형 고효율 송수신 모듈이 핵심이다. 최종 출력과 밀접한 관련이 있는 송신모듈의 전력증폭기는 기지국 시스템의 효율을 결정하는 핵심요소이다. 본 논문에서는 IMT-Advanced 능동위상배열 시스템에 적합한 초소형 고효율 송수신 모듈을 설계하고 구현하고자 하였다. 송수신 모듈은 온도보상 회로를 구현하여 이득 오차를 줄였으며, 선형화기는 소형화를 위하여 아날로그 방식으로 구현하였다. 초소형 고효율 전력증폭기를 구현하기 위해서 GaN MMIC Doherty 구조로 구현하였다. 구현된 송수신모듈은 $40mm{\times}90mm{\times}50mm$ 크기로 구현되었으며, LTE band 7에서 47.65 dBm의 출력을 가졌다. 실제 운용전력인 37 dBm에서 40.7%의 효율과 12 dB이상의 선형성 개선도를 보였다. 수신부의 잡음지수는 1.28 dB이하로 설계규격을 만족하였으며, 송수신 모듈의 이득과 위상은 6 bit로 제어로 최대 오차는 각각 0.38 dB와 2.77 degree를 보였다.

• 한국가구학회지
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• 제19권1호
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• pp.55-65
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• 2008

The forms made by repeated arrangements of basic units defined as Simulakre are recomposed into organic, geometric or multi-functional forms by diverse combinations and arrangements and the space expanded by reiterated compositions will have the meaning of active space expansions representing speeds, rhythms or time by reiterations instead of a limited and fixed place shown by a work. The module design that can create new roles and functions of spaces that are variability and fluidity and that can be assembled and transformed into the shapes, sizes and functions desired by users will be analyzed applying the concepts of reiteration and expansion. The module designs emerging in 21th century are in diverse organic forms and geometric forms and their methods for expansion are also diversified. And instead of having a function, they have diverse functions such as storages, partitions, walls, curtains and soundproofing. The development of module designs are first to satisfy the diversified needs, individualities and desires to posses of modem people and second the development, finding and application of new materials. In the future spaces that will continuously develop and will be nomadic, the flexible and individualized module designs will become more diversified and will have their significances.

• Current Photovoltaic Research
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• 제10권1호
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• pp.1-5
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• 2022

Bifacial photovoltaic (PV) technology has received considerable attention in recent years due to the potential to achieve a higher annual energy yield compared to its monofacial PV systems. In this study, we fabricated the bifacial c-Si PV module with a shingled design using the conventional patterned bifacial solar cells. The shingled design PV module has recently attracted attention as a high-power module. Compared to the conventional module, it can have a much more active area due to the busbar-free structure. We employed the transparent backsheet for a light reception at the rear side of the PV module. Finally, we achieved a conversion power of 453.9 W for a 1300 mm × 2000 mm area. Moreover, we perform reliability tests to verify the durability of our Shingled Design Bifacial c-Si Photovoltaic module.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2005년도 추계종합학술대회
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• pp.583-586
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• 2005

In this paper, millimeter-wave monolithic integrated circuit (MIMIC) low noise amplifier (LNA) for V-band, which is applicable to 58 GHz, we designed and fabricated. We fabricated the module using the fabricated LNA chips. The V-band MIMIC LNA was fabricated using the high performance $0.1\;{\mu}\;m$ ${\Gamma}-gate$ pseudomorphic high electron mobility transistor (PHEMT). The MIMIC LNA was designed using active and passive device library, which is composed $0.1\;{\mu}\;m$ ${\Gamma}-gate$ PHEMT and coplanar waveguide (CPW) technology. The designed V-band MIMIC LNA was fabricated using integrated unit processes of active and passive device. Also we fabricated CPW-to-waveguide fin-line transition of WR-15 type for module. The Transmission Line was fabricated using RT Duroid 5880 substrate. The measured results of V-band MIMIC LNA and Module are shown $S_{21}$ gain of 13.1 dB and 8.3 dB at 58 GHz, respectively. The fabricated LNA chip and Module in this work show a good noise figure of 3.6 dB and 5.6 dB at 58 GHz, respectively.

• 한국전자파학회논문지
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• 제23권12호
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• pp.1380-1387
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• 2012

송수신(T/R) 모듈은 능동 위상 배열 시스템에서 핵심 부품이다. 현재 가장 널리 적용되고 있는 모듈 구조는 Brick 형태로서 이를 소형화 하는 것은 전체 시스템 구성의 유연성을 확보할 수 있는 중요한 요소가 된다. 소형화를 위하여 MMIC 갯수를 최소화 할 수 있는 Common leg 구조를 갖는 MFC(Multi Fuction Chip) 사용이 유리하며, 이득이 높은 T/R 모듈을 고밀도로 구현하기 위하여 송수신간 격리도의 확보가 필수적이다. 본 논문에서는 Common leg 구조에서 불가피하게 발생하는 궤환 경로 문제와 이로 인한 송수신 격리도의 한계를 개선하기 위하여 바이어스 전압 제어 방법을 제안하고, 측정 결과를 기반으로 최적 바이어스 타이밍을 설계하였다. 본 논문에서 제작/측정된 TR 모듈은 일반 T/R 모듈에 비하여 약 1/2의 크기($140{\times}80{\times}16mm^3$)를 가지며, 높은 출력(채널당 7 W)과 높은 송수신 이득(35 dB 송신 이득과 30 dB 수신 이득)의 구현이 가능하였다.

• Journal of Microbiology and Biotechnology
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• 제8권5호
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• pp.471-477
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• 1998

Taq DNA polymerase from Thermus aquaticus is very useful in the polymerase chain reaction. Taq DNA polymerase is classified in the pol I family, represented by E. coli DNA polymerase I. The three-dimensional structural alignment of 3'-5'exonuclease domains from the pol I family DNA polymerases explains why Taq DNA polymerase does not carry out proofreading in polymerase chain reactions. Three sequence motifs, Exo I, II, and III, must exist to carry out 3'-5'exonuclease activity for proof- reading by a 3'-5'exonuclease reaction, but these are abolished in Taq DNA polymerase. The key catalytic module in 3'-5'exonuclease is two metal ions chelated by four active-site carboxylic amino acids. Taq DNA polymerase was mutagenized to construct the catalytic module in the active site. The circular dichroism technique supported the formation of the catalytic module, and the radioactive assay showed that the 3'-5'exonuclease activity doubled in the mutant Taq DNA polymerase.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 제39회 하계학술대회
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• pp.1345-1347
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• 2008

This paper described a method of determining whether arcing is present in a low-voltage wiring system. We simulated the series arcing that generated in electrical loads and fabricated a arc detection module which can discriminate between normal and arcing state. The module consists of a high-pass filter with a low cut-off frequency of 3 kHz to attenuate power frequency voltage and an active band-pass filter with a frequency of 4 kHz ${\sim}$ 8 kHz to detect series arc signals only. We tested an Incandescent lamp that was controlled by a dimmer and analysed. The module consists of a high-pass filter with a low cut-off frequency of 3 kHz to attenuate power frequency voltage by 80 dB and an active band-pass filter with a frequency of 4 kHz to detect series arc signals only. From the experimental results, we could detect series arc signals without an influence of non-linear loads.

• 한국자동차공학회논문집
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• 제16권3호
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• pp.23-29
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• 2008

It is necessary to develope the active safety system in terms of driver's safety and convenience. In this paper, we were developed the non-contact type of safety window system operated by the initial value of feedback control such as the output signal of photo sensor. It was designed based on the control algorithm with an improved load sensitivity. Therefore, compared with the existing system, it is possible to prevent the occurrence of a mull-function. Also, it has a convenient functions of the window such as an auto up/down and closing, and has a response times better. It can be installed the various types of common vehicles that have the different movement distance and speed of window. In conclusion, the developed system may be adapted the vehicle commercially.