• 제어로봇시스템학회논문지
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• 제15권7호
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• pp.720-727
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• 2009

This paper proposes a new integrated navigation system for a mobile robot in indoor environments. This system consists of five frameworks which are classified by function. This architecture can make the navigation system scalable and flexible. The robot can recover from exceptional situations, such as environmental changes, failure of entering the narrow path, and path occupation by moving objects, using the exception recovery framework. The environmental change can be dealt with using the probabilistic approach, and the problems with the narrow path and path occupation are solved using the ray casting algorithm and the Bayesian update rule. The proposed navigation system was successfully applied to several robots and operated in various environments. Experimental results showed good performance in that the exception recovery framework significantly increased the success rate of navigation. The system architecture proposed in this paper can reduce the time for developing robot applications through its reusability and changeability.

• 자연과학논문집
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• 제8권2호
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• pp.101-109
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• 1996

이 논문에서는 기하광학과 회절이론을 통하여 이론적으로 경로손실을 나타내는 식을 유도하였다. 이식을 이용하여 동일 층내에 위치한 안테나간의 전파 특성을 살펴보기 위하여 Bertoni가 사용한 건물과 같은 구조에 대하여 이전의 연구 결과와 비교하였다.

• Nuclear Engineering and Technology
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• 제56권7호
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• pp.2570-2575
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• 2024

The study aims to develop a novel, lead-free, flexible and lightweight composite shielding material against ionizing radiation. For this, it was used bismuth oxide (Bi₂O₃) in RTV-2 silicon matrix. The shielding tests were carried out in both diagnostic X-ray energies and intermediate gamma-ray energy range of up to 662 keV to determine the radiation attenuation properties of this material in terms of attenuation ratio, half value layer, tenth value layer, mean free path and lead equivalency of samples in weight of 30%, 40%, 50% in Bi₂O₃. In the diagnostic X-ray energy range, half value layer, tenth value layer and lead equivalency (in mm Pb) of the produced samples were measured at 80 and 100 kVp narrow beam conditions according to the requirements of EN IEC 61331-1 standard. The results show that lead equivalent values of the produced novel sheets was measured to be 0.16 mm Pb, corresponding to a 6 mm thickness of the flexible sample when it contains 30% wt. Bi₂O₃ in RTV matrix. The experimental findings for durability and flexibility also indicated that this new RTV-based flexible, lead -free shielding composite can be used safely for especially for manufacturing aprons, garments and thyroid guards used in mammography, radiology, nuclear medicine and dental applications in practice.

• 한국초등과학교육학회지:초등과학교육
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• 제32권4호
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• pp.527-534
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• 2013

This study investigated elementary school teachers' understanding of the image formation by converging lens, pinholes camera, mirror and water. In each case teachers were asked to draw the ray diagram to indicate the position of the image. Teachers' ray diagrams were analyzed in accordance with the scientific process of image formation. Results of analysis showed that teacher's conceptions were classified into five levels for each situation. And most of the teachers were in level 3 and level 4 in each case. Because they had difficulties in the appling scientific conception(propagating path of light, diffused reflection from each object point, role of the eye, ray tracing) to finding location of image. Also most of teachers didn't know how to apply the law of reflection and refraction to each situation. The study finally discussed the teacher training program of the optical image.

• 한국전자파학회논문지
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• 제21권2호
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• pp.179-187
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• 2010

차세대 이동 통신 시스템에서는 높은 주파수 대역, 광대역, 다중 안테나(MIMO antenna)의 사용이 예상된다. 또한 무선 통신의 급격한 수요와 이동 통신 서비스의 폭발적인 증가로 인해 차세대 이동 통신 시스템의 최적화를 위한 검증 모델 개발 연구가 필요하다. 기존 MIMO 채널 모델의 경우 도심, 부도심, 시골, 개활지 등으로 포괄적으로 전파 환경을 분류하여 연구를 수행하였으나, 이러한 접근 방법은 예를 들어 도심 환경 내에서도 다양한 morphology가 존재할 수 있기 때문에 모델링 정확도 측면에서 취약성을 가질 수 있다. 본 논문에서는 path morphology 개념을 도입하여 전파 환경을 송 수신기 사이의 건물의 높이, 밀집도 등을 고려하여 세부적으로 분류하는 방법을 제안하였다. 광선 추적(ray tracing) 기법을 이용하여 각 환경별 delay spread(DS), AoD와 AoA의 angular spread(AS)를 분석하고, 이를 바탕으로 국내 환경에 적합한 MIMO 채널 모델을 제시하였다.

• 비파괴검사학회지
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• 제27권3호
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• pp.231-238
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• 2007

Ultrasonic inspection of austenitic steel weldments is a truly difficult task due to complicated wave propagation phenomena such as beam skewing, splitting and distortion. In order to understand these phenomena and design proper inspection procedures, simulation is increasingly paid more attention to. This article addresses a ray tracing based approach to determine incident angle and position of optimal wave mode ultrasonic beam for flaw detection in anisotropic and inhomogeneous austenitic steel weldments. Specially, the optimal mode of ultrasonic wave wave is selected by ray tracing simulation, and an optimization approach based on ray tracing and bi-section search is proposed in order to find the ray path connecting two given points in weldments. With help of this approach, the optimal incident angle and position of ultrasonic beam can be determined for a given flaw position.

• 한국응급구조학회지
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• 제9권1호
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• pp.15-23
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• 2005

The purpose of this study is to analyze the propriety of portable digital X-ray Equipment for Emergency Medical Services in Daejon Emergency Medical Center in Korea. The major instruments of this study were Korean Self-Analysis Opinionnaire, Questionnaire contains 35 items which measure emergency medical personal opnions. To take the analysis of data, the total of 92 persons were investigated in Medical Information Center in Daejon Metropolitan City from 2005. 20. April to 2004. 25. May. The data were analyzed by the path analysis SPSS program. First, portable X-RAY equipment is needed to apply it to emergency. Second, it should have small and light structure compared with old equipments and have high voltage generator unit for X-RAY using inverter. Third, it should be able to send the shot data that is digital detector type without film to doctors in emergency center.

• Journal of electromagnetic engineering and science
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• 제10권4호
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• pp.290-295
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• 2010

In this paper, an interference analysis method with a site-specific path loss model for a wireless personal area network (WPAN) is proposed. The site-specific path loss model is based on geometrical optics and geometric probability to consider both site-specific radio propagation characteristics and a closed-form expression to obtain the mean interference from which the uniformly distributed multiple interferers are derived. Therefore, the proposed interference analysis method can achieve more computational simplicity than the Monte-Carlo (MC) simulation, which uses the ray-tracing (RT) technique. In addition, better accuracy than the conventional interference analysis model that uses stochastic method can also be achieved. To evaluate the proposed method, a signal to the interference-noise ratio with a mean interference concept for uniformly distributed interferers is calculated and compared in two simulation scenarios. As a result, the proposed method produces not only better matched results with the MC simulation using the RT technique than the conventional interference analysis model, but also simpler and faster calculation, which is due to the site-specific path loss model and closed-form expression for interference calculation.

• 전자공학회논문지S
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• 제34S권11호
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• pp.1-8
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• 1997

A prediction model is proposed to describe the path loss in propagation environment of indoor microcell. This model includes the lineal corridor for line--of-sight(LOS) and T-shaped corridor for non-line-of-sight(NLOS). In computation of receiving power the ray tracing technique based on image method is utilized and also reflected waves bounced on the walls and ceilings are considered. To check validity of the computed resuls cross checks between the predicted and measured are being made, which shows a close agreement for LOS case whereas somewhat disagreement for NLOS case. UTD technique is incorporated with propagation path determination algorithm in the treatment of NLOS case.

• 로봇학회논문지
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• 제1권2호
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• pp.117-124
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• 2006

In this paper, we develope the navigation system for patrol robots in indoor environment. The proposed system consists of PDA map modelling, a localization algorithm based on a global position sensor and an automatic charging station. For the practical use in security system, the PDA is used to build object map on the given indoor map. And the builded map is downloaded to the mobile robot and used in path planning. The global path planning is performed with a localization sensor and the downloaded map. As a main controller, we use PXA270 based hardware platform in which embedded linux 2.6 is developed. Data handling for various sensors and the localization algorithm are performed in the linux platform. Also, we implemented a local path planning algorithm for object avoidance with ultra sonar sensors. Finally, for the automatic charging, we use an infrared ray system and develop a docking algorithm. The navigation system is experimented with the two-wheeled mobile robot using North-Star localization system.