• 대한기계학회논문집A
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• 제28권3호
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• pp.230-237
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• 2004

Lane Sensing techniques based on vision sensors are regarded promising because they require little infrastructure on the highway except clear lane markers. However, they require more intelligent processing algorithms in vehicles to generate the previewed roadway from the vision images. In this paper, a lane sensing algorithm using vision sensors is developed to improve the sensing robustness. The parallel stereo-camera is utilized to regenerate the 3-dimensional road geometry. The lane geometry models are derived such that their parameters represent the road curvature, lateral offset and heading angle, respectively. The parameters of the lane geometry models are estimated by the Kalman filter and utilized to reconstruct the lane geometry in the global coordinate. The inverse perspective mapping from the image plane to the global coordinate considers roll and pitch motions of a vehicle so that the mapping error is minimized during acceleration, braking or steering. The proposed sensing system has been built and implemented on a 1/10-scale model car.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2008년 영문 학술대회
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• pp.862-865
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• 2008

Wireless energy supply for an MAV propulsion system using microwave was developed. This system consists of three sub system; the transmitter system, the rectenna system, and the tracking system. In the transmitter system five horn antennas were used as the antenna elements for the phased array system and both the beam divergence and steering angle was about 9deg. Eight rectennas were arrayed in parallel to obtain enough power to drive the electric motor on the MAV(the voltage was 250mV and the current was 6.8mA) in rectenna system. In tracking system two units of antenna system with leaf pattern which received the linearly-polarized wave despite the MAV yaw angle were set in each axis(x, y) for tracking an MAV in a 2-Dimentional space. And three output voltages $V_{com},\;V_1$ and $V_2$ were loaded in the PC to detect if the distance between transmitter and receiver was not constant. Finally when the microwave beam was steered by the phased array system the output voltage from rectenna was measured at 62cm while the MAV circled around above the transmitter system.

• 한국전자파학회논문지
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• 제14권10호
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• pp.1071-1078
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• 2003

본 논문에서는 IMT-2000 소형 기지국 시스템 응용을 위한 광대역 특성을 갖는 위상 배열 안테나 시스템의 평판형, 소형 구조를 설계 및 구현하였다. 저비용, 단순 설계의 빔 형성망을 구성하기 위해 두 가지 방법이 제안되었다. 첫번째로 연속적으로 위상을 조정할 수 있는 새로운 소형 광대역 위상 천이기를 병렬 결합선로를 이용하여 설계하였으며, 둘째로는 위상 배열 안테나에서 기준 위상을 갖는 위상 천이기를 대체할 수 있는 등가적인 위상 지연기를 제안하였다. 또한 광대역 시스템 구현을 위해 광대역 위상 천이기와 함께 광대역 특성을 갖는 와이드 슬랏 안테나를 단위 안테나로 설계하였다. 따라서 설계된 위상 배열 안테나 시스템은 낮은 복잡도와 적은 공정 비용에도 불구하고 소형, 광대역, 그리고 넓은 빔 틸팅 각도를 갖도록 설계되었다. 제작된 3${\times}$l 선형 위상 배열 안테나 시스템은 와이드 슬랏 안테나의 접지면으로 충분한 1.6 λ${\times}$ l.6 λ의 소형 구조로 구현되었으며, 실험 결과 IMT-2000 대역 내에서 15 dB 이하의 S$_{11}$을 보였고, E평면 방사 패턴에서 -29$^{\circ}$에서 +30$^{\circ}$의 빔 스캔 각도를 나타내었다.다.