• 로봇학회논문지
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• 제18권1호
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• pp.59-65
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• 2023

This paper proposes an Extended and Adaptive Inverse Perspective Mapping (EA-IPM) model that can obtain an accurate bird's-eye view (BEV) from the forward-looking monocular camera on the sidewalk with various curves. While Inverse Perspective Mapping (IPM) is a good way to obtain ground information, conventional methods assume a fixed relationship between the camera and the ground. Due to the nature of the driving environment of the mobile robot, there are more walking environments with frequent motion changes than flat roads, which have a fatal effect on IPM results. Therefore, we have developed an extended IPM process to be applicable in IPM on sidewalks by adding a formula for complementary Y-derive processes and roll motions to the existing adaptive IPM model that is robust to pitch motions. To convince the performance of the proposed method, we evaluated our results on both synthetic and real road and sidewalk datasets.

• 지구물리와물리탐사
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• 제11권3호
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• pp.197-203
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• 2008

서해안 민어포 조간대 지역에서 해수면변동과 연관된 갯벌의 퇴적구조를 파악하기 위해 고해상 천부 육상 탄성파탐사를 실시하였다. 음원으로는 5 kg 무게의 망치를 사용하였으며, 48채널의 100-Hz 지오폰을 이용하여 서로 수직한 두 측선에 대하여 1 m간격으로 총 795 m shot의 자료를 획득하였다. 갯벌 표면이 물에 의해 포화된 상태를 이루고 있어 강성률이 매우 낮아 ground roll의 발생이 억제되었으며 기록되는 반사신호의 속도가 1500m/s 이상이므로 일반적인 육상 천부탄성파 탐사시에 기록되는 저속도의 잡음과 분리하기가 쉽다. 그 결과 일반적이 육상탐사에 비해 자료의 신호 대 잡음비가 상당히 높고 해상도가 우수한 탄성파 단면을 얻을 수 있었다. 중합단면을 해석해 보면 조사지역의 음향기반 암 상부의 퇴적층은 5 개의 층서로 나뉘어 진다. 지난 빙하기때 침식된 층 위에 홀로세 이후 해수면 상승과 관련하여 형성된 갯벌의 구조를 연속적으로 파악할 수 있었다.

• 대한기계학회논문집A
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• 제26권8호
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• pp.1666-1671
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• 2002

A lane sensing algorithm using vision sensors is developed based on lane geometry models. The parameters of the lane geometry models are estimated by a Kalman filter and utilized to reconstruct the lane geometry in the global coordinate. The inverse perspective mapping from image plane to global coordinate assumes earth to be flat, but roll and pitch motions of a vehicle are considered from the perspective of the lane sensing. The proposed algorithm shows robust lane sensing performance compared to the conventional algorithms.

• 소성∙가공
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• 제17권5호
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• pp.328-336
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• 2008

A criterion which predicts wrinkle initiation on workpiece in groove rolling process based on finite element analysis is proposed. Fundamental idea considered in the criterion is using the difference between flat rolling which don't cause wrinkling at all and groove rolling which usually accompanies it. The proposed criterion assumes that irregular distribution of shear strain on workpiece during groove rolling is attributable to the initiation of wrinkling. The proposed criterion has been applied to roughing train in the rod mill of SEAH BESTEEL Inc. A new design of 2nd pass (square roll groove) was suggested, machined and applied. Results reveal that the proposed criterion could point out the location of wrinkle initiation and could reduce onset of wrinkle.

• International Journal of Control, Automation, and Systems
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• 제3권1호
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• pp.87-99
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• 2005

We present in this paper the stabilization (tracking) with motion planning of the six independent configurations of a mini unmanned areal vehicle equipped with four streamlined rotors. Naturally, the yaw-dynamic can be stabilized without difficulties and independently of other motions. The remaining dynamics are linearly approximated around a small roll and pitch angles. It will be shown that the system presents a flat output that is likely to be useful in the motion generation problem. The tracking feedback controller is based on receding horizon point to point steering. The resulting controller involves the lift (collective) time derivative for what flatness and feedback linearization are used. Simulation tests are performed to progress in a region with approximatively ten-meter-buildings.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2008년도 춘계학술대회 논문집
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• pp.415-418
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• 2008

We propose a criterion which predicts wrinkle initiation on workpiece in groove rolling process based on finite element analysis. Fundamental idea introduced in the criterion is to examine the difference between flat rolling which don't' cause wrinkling at all and groove rolling which usually accompanies it. The proposed criterion assumes that irregular distribution of shear strain on workpiece during groove rolling is attributable to the initiation of wrinkling. The proposed criterion has been applied to roughing train in the rod and bar mill of SEAH BESTEEL Inc. A new design for 2nd pass (square roll groove) was suggested, machined and applied. Results reveal that the proposed criterion in this study could point out the location of wrinkle initiation during groove rolling and could reduce onset of wrinkle on final products.

• 한국항공우주학회지
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• 제32권10호
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• pp.118-126
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• 2004

이산와류법(discrete vortex method)을 이용하여 진통하는 평판들로부터 추력발생을 연구하였다. 평판들과 후류들은 이산와류로 나타내었다. 진동하는 평판들 사이의 복잡한 공력상호작용을 정확히 계산하기 위하여 와핵모델(vortex core model)과 와핵첨가법(vortex core addition scheme)을 사용하였다. 단일 평판이 히빙진동을 할 경우 나타나는 후류를 계산하여 기존의 유동가시화 결과와 비교하였다. 피칭진동 시 평판에서 발생하는 후류형상이 평판들의 추진 특성에 미치는 영향을 조사하였다. 3가지 방식(1. 하나의 평판은 고정 다른 평판은 진동, 2. 두개의 평판이 같은 위상으로 진동, 3. 두개의 평판이 반대의 위상으로 진동)으로 진동하는 평판들의 추진특성을 계산하였다. 반대의 위상으로 진통하는 평판이 가장 큰 추진력을 보였다.

• 소성∙가공
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• 제11권2호
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• pp.147-154
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• 2002

The tension levelling Process is Performed to elongate the strip plastically In combination of tensile and bending strain so that all longitudinal fibers In the strip have an approximately equal amount ofn length and undesirable strip shapes are corrected to the flat shape. Thus paper is concerned with a simulation of the tension levelling process based on the analysis of tile unit model for the tension leveller. Analysis technique such as the sequential analysis of the unit model is suggested and verified with the assembly analysis of the unit model for the effective arts economic analysis of the full set of the tension leveller. Analysis of the full tension levelling Process using sequential unit models Is carried out for steel strips with the shape defect and provides the effect of the intermesh and optimum amount of the intermesh in tension levelling process.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.66.5-66
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• 2002

Flatness of strip at aluminum cold rolling is one of the important quality parameters of rolled products. The reasons for this are perhaps obvious: for many of the end uses, subsequent processing requires a flat product poor flatness on-line can lead to reduced running speeds and hence to lower production levels. Amongst the reasons for lower running speeds is the increased risk of strip breaks. The Alcan Ulsan plant developed an automatic flatness control system on conventional four high mills for a year. This system compose of three parts as Intel RMX 3.3 operating system, advanced techniques, and flatness error analysis system. Strip flatness be measured by air bearing roll, passing the s...

• 대한전기학회논문지:전기물성ㆍ응용부문C
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• 제53권5호
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• pp.237-241
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• 2004

Amorphous silicon (a-Si) films are used in a broad range of solar cell, flat panel display, and sensor. Because of the greater ease of deposition and lower processing temperature, thin films are widely used for thin film transistors (TFTs). However, they have lower stability under the exposure of visible light and because of their low field effect mobility ($\mu$$_{FE}$ ) , less than 1 c $m^2$/Vs, they require a driving IC in the external circuits. On the other hand, polycrystalline silicon (poly-Si) thin films have superiority in $\mu$$_{FE}$ and optical stability in comparison to a-Si film. Many researches have been done to obtain high performance poly-Si because conventional methods such as excimer laser annealing, solid phase crystallization and metal induced crystallization have several difficulties to crystallize. In this paper, a new crystallization process using a molybdenum substrate has been proposed. As we use a flexible substrate, high temperature treatment and roll-to-roll process are possible. We have used a high temperature process above 75$0^{\circ}C$ to obtain poly-Si films on molybdenum substrates by a rapid thermal annealing (RTA) of the amorphous silicon (a-Si) layers. The properties of high temperature crystallized poly-Si studied, and poly-Si has been used for the fabrication of TFT. By this method, we are able to achieve high crystal volume fraction as well as high field effect mobility.