• Journal of Institute of Control, Robotics and Systems
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• v.15 no.6
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• pp.619-625
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• 2009

FastSLAM which uses the Rao-Blackwellized particle filter is one of the famous solutions to SLAM (Simultaneous Localization and Mapping) problem that estimates concurrently a robot's pose and surrounding environment. However, the particle depletion problem arises from the loss of the particle diversity in the resampling process of FastSLAM. Then, the performance of FastSLAM degenerates over the time. In this work, DIR (Density Information-based Resampling) technique is proposed to solve the particle depletion problem. First, the cluster is constructed based on the density of each particle, and the density of each cluster is computed. After that, the number of particles to be reserved in each cluster is determined using a linear method based on the distance between the highest density cluster and each cluster. Finally, the resampling process is performed by rejecting the particles which are not selected to be reserved in each cluster. The performance of the DIR proposed to solve the particle depletion problem in FastSLAM was verified in computer simulations, which significantly reduced both the RMS position error and the feature error.

• Journal of Electrical Engineering and Technology
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• v.12 no.2
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• pp.865-873
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• 2017

Converter transformer is the key equipment of high voltage direct current transmission system. The solid suspending particles originating from the process of installation and operation of converter transformer have significant influence on the insulation performance of transformer oil, especially in presence of DC component in applied voltage. Under high electric field, the particles easily lead to partial discharge and breakdown of insulating oil. This paper investigated copper particle effect on the breakdown voltage of transformer oil at combined AC and DC voltage. A simulation model with single copper particle was established to interpret the particle effect on the breakdown strength of insulating oil. The experimental and simulation results showed that the particles distort the electric field. The breakdown voltage of insulating oil contaminated with copper particle decreases with the increase of particle number, and the breakdown voltage and the logarithm of particle number approximately satisfy the linear relationship. With the increase of the DC component in applied voltage, the breakdown voltage of contaminated insulating oil decreases. The simulation results show that the particle collides with the electrode more frequently with more DC component contained in the applied voltage, which will trigger more discharge and decrease the breakdown voltage of insulating oil.

• Proceedings of the KSME Conference
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• 2001.06d
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• pp.585-588
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• 2001

Particle contamination on the data storage disks has been a serious problem for magnetic hard disk drive manufacturers. For high storage optical disks, such as DVD-ROM/RAM or NFR (near field recording) system, particle-induced damages can be also detected because only a few micrometer particles can prevent read/write signal from optical lens. The increasing areal density and smaller bit size accelerates particle induced damages on the optical disk. One of the methods to prevent particle contamination on the optical disk surface is to handle the disk enclosed in a cartridge like a modern DVD-RAM disk. However, even for a perfectly sealed disk drive, particles are found inside the drive. The other method is to improve disk surface characteristics. Particle contamination on the surface can be reduced by proper selection of disk coating materials. [n this paper, particle detachment ratios for CD (compact disk), DVD (digital versatile disk), HD (magnetic hard disk), HD with Jut lubricant, and aluminosilicate substrate HD were investigated. Surface roughness and surface energy of the test disks were compared with the particle detachment ratios. Proper substrate and lubricant characteristics to reduce particle contamination on the disk surface were found.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.10
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• pp.1869-1876
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• 1992

The effect of particle property on FOD(foreign object damage) and strength degradation in structural ceramics especially, silicon carbide was investigated by accelerating a spherical particle having different material and different size. The damage induced showed significant differences in their patterns with increase of impact velocity. Also percussion cone was formed at the back part of specimen when particle size became large and its impact velocity exceeded a critical value. The extent of ring cracks was linearly related to particle size, however the impact of steel particle produced larger ring cracks than that of SiC particle. Increasing impact velocity the residual strength showed different degradation behaviors according to particle and its size. In the region the impact site represents nearly elastic deformation behavior, the residual strength was dependent upon the depth of cone crack regardless of particle size. However in elastic- plastic deformation region, the radial cracks led to rapid drop in residual strength.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.2
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• pp.710-726
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• 2018

This paper presents an extended particle filter to increase the accuracy and decrease the computation load of vehicle tracking. Particle filter has been the subject of extensive interest in video-based tracking which is capable of solving nonlinear and non-Gaussian problems. However, there still exist problems such as preventing unnecessary particle consumption, reducing the computational burden, and increasing the accuracy. We aim to increase the accuracy without an increase in computation load. In proposed method, we calculate the direction angle of the target vehicle. The angular difference between the direction of the target vehicle and each particle of the particle filter is observed. Particles are filtered and weighted, based on their angular difference. Particles with angular difference greater than a threshold is eliminated and the remaining are stored with greater weights in order to increase their probability for state estimation. Threshold value is very critical for performance. Thus, instead of having a constant threshold value, proposed algorithm updates it online. The first advantage of our algorithm is that it prevents the system from failures caused by insufficient amount of particles. Second advantage is to reduce the risk of using unnecessary number of particles in tracking which causes computation load. Proposed algorithm is compared against camshift, direction-based particle filter and condensation algorithms. Results show that the proposed algorithm outperforms the other methods in terms of accuracy, tracking duration and particle consumption.

• 한국정보디스플레이학회:학술대회논문집
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• 2003.07a
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• pp.806-809
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• 2003

Ion-induced secondary electron emission coefficient $({\gamma})$. of the patterned MgO thin film with geometrical structures has been measured by ${\gamma}$ - FIB(focused ion beam) system. The patterned MgO thin film with geometrical structures has been formed by the mask (mesh of ${\sim}$ $10{\mu}m^{2})$ under electron beam evaporation method. It is found that the higher ${\gamma}$. has been achieved by the patterned MgO thin film than the normal ones without patterning.

• The KSFM Journal of Fluid Machinery
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• v.5 no.1 s.14
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• pp.7-12
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• 2002

As the first step to investigate the fundamental mechanism of a dispersed two-phase flow, we studied the detailed interactions between bubble or particle motion and flow around it. Experiments were carried out with a rising bubble or particle in stagnant water in a vertical pipe. Particles with different densities, and/or different shapes were used for comparison with a bubble. We adopted 3D-PTV (Three-Dimensional Particle Tracking Velocimetry) for measuring the bubble or particle motions, and PIV (Particle Image Velocimetry) for measuring the water flow simultaneously (Hybrid PIV). The experimental results showed that the oblate spheroidal solid particle rose along the longer axis direction at the point that the inclination of the longer axis reached the maximum, and the inclination direction changed after moving. The bubble moved to the direction that the spheroid's projected width grew up to the largest, and the minor axis of the oblate spheroidal body of the bubble was parallel to the moving direction. The trajectory of the center of the particle/bubble which was measured with 3D-PTV, was marked on the section (x-y) of the pipe. It exhibited the pattern of the particle/bubble motion.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.30 no.4 s.247
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• pp.287-297
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• 2006

The Holographic Particle Velocimetry system can be a promising optical tool for the measurements of three dimensional particle velocities. One of inherent limitations of particle holography is the very long depth of field of particle images, which causes considerable difficulty in the determination of particle positions in the optical axis. In this study, we introduced three auto-focusing parameters corresponding to the size of particles, namely, Correlation Coefficient, Sharpness Index, and Depth Intensity to determine the focal plane of a particle along the optical axis. To investigate the suitability of the above parameters, the plane image of dot array screens containing different size of dots was recorded by diffused illumination holography and the positions of each dot in the optical axis were evaluated. In addition, the effect of particle position from the holographic film was examined by changing the distance of the screen from the holographic film. All measurement results verified that the evaluated positions using suggested auto-focusing parameters remain within acceptable range of errors. These research results may provide fundamental information for the development of the holographic velocimetry system based on the automatic image processing.

• Journal of Industrial Technology
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• v.26 no.B
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• pp.173-181
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• 2006

We analyzed systematically particle growth in the pulsed $SiH_4$ plasmas by a numerical method and investigated the effects of pulse modulations (pulse frequencies, duty ratios) on the particle growth. We considered effects of particle charging on the particle growth by coagulation during plasma-on. During plasma-on ($t_{on}$), the particle size distribution in plasma reactor becomes bimodal (small sized and large sized particles groups). During plasma-off ($t_{off}$), there is a single mode of large sized particles which is widely dispersed in the particle size distribution. During plasma on, the large sized particles grows more quickly by fast coagulation between small and large sized particles than during plasma-off. As the pulse frequency decreases, or as the duty ratio increases, $t_{on}$ increases and the large sized particles grow faster. On the basis of these results, the pulsed plasma process can be a good method to suppress efficiently the generation and growth of particles in $SiH_4$ PCVD process. This systematical analysis can be applied to design a pulsed plasma process for the preparation of high quality thin films.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.24 no.6
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• pp.753-759
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• 2000

Photoelectric charging is a very efficient way of charging small particles. This method can be applied to combustion measurement, electrostatic precipitator, metal separation and control of micro-contamination. To understand the photoelectric charging mechanism, particle charging of silver by exposure to ultraviolet is investigated in this study. Average charges and charge distributions are measured at various conditions, using two differential mobility analyzers, a condensation nucleus counter, and an aerosol electrometer. The silver particles are generated in a spark discharge aerosol generator. After that process, the generated particles are charged in the photoelectric charger using low-pressure mercury lamp that emits ultraviolet having wavelength 253.7 nm. The results show that ultra-fine particles are highly charged by the photoelectric charging. The average charges linearly increase with increasing particle size and the charge distribution change with particle size. These results are discussed by comparison with previous experiments and proposed equations. It is assumed that the coefficient of electron emission probability is affected by initial charge. The results also show that the charge distribution of a particle is dependent on initial charge. Single changed particle, uncharged particle and neutralized particle are compared. The differences of charge distribution in each case increase with increasing particle size.