• Journal of the Korean Institute of Telematics and Electronics D
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• v.35D no.1
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• pp.84-93
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• 1998

Planar graded index optical waveguides have been formed by Ag$^{+}$ ion exchange in the BK7 optical glass. The experimental results of diffusion and modal characteristics of Ag$^{+}$-Na$^{+}$ exchanged BK7 glass waveguides are presented. Measurements of the mode indices have been measured. We found the relations between the process and device parameters such as the diffusion depth and the square root of the diffusion time, diffusion coefficient and diffusion temperature, and diffusion ion concentration and surface index change. A theoretical gaussian function refractive index profile matched best with the measured data for all the guided modes. The empirical relations between the process and the device parameters are derived and subsequently used to formulate a systematic procedure for fabricating singlemode and multimode waveguides.uides.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.4
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• pp.353-364
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• 2009

In this paper, a SLAM (Simultaneous Localization and Mapping) method using a single camera and planar fiducial markers is proposed. Fiducial markers are planar patterns that are mounted on the ceiling or wall. Each fiducial marker has a unique hi-tonal identification pattern with square outlines. It can be printed on paper to reduce cost or it can be painted using retro-reflective paint in order to make invisible and prevent undesirable visual effects. Existing localization methods using artificial landmarks have the disadvantage that landmark locations must be known a priori. In contrast, the proposed method can build a map and estimate robot location even if landmark locations are not known a priori. Hence, it reduces installation time and setup cost. The proposed method works good even when only one fiducial marker is seen at a scene. We perform computer simulation to evaluate proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.51.5-51
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• 2001

The sliding and/or skidding motions generally occur to a car - like planar mobile robot consisting of four conventional fixed wheels attached on two parallel axles. Thus, the kinematic model of such mobile robot should include the description of skidding and sliding frictional motions. However, most of previous kinematic models do not take these frictional motions into account the kinematic model, as the work done by Muir and Newman [1]. Thus, does it result in least square solution in estimating sensed forward velocity. In this paper, the sensed forward velocity estimation algorithm for mobile robots is proposed, which not only includes those skidding and sliding frictional motions into kinematic model but also utilizes only the minimal set of dependent internal kinematic variables of the mobile robot. Then, ...

• Journal of the Korean Society for Precision Engineering
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• v.19 no.7
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• pp.28-35
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• 2002

This paper deals with kinematic modeling of a car-like planar mobile robot consisting of four conventional fixed wheels attached on two parallel axles. The kinematic model of such a mobile robot requires the description of skidding and sliding frictional motion. Previous kinematic model proposed by Muir and Newman$^{[1]}$ does not include such frictional motions. Thus, does it result in least square solution in estimating a sensed forward velocity solution. A modified kinematic model is proposed by incorporating transnational friction motion into the original algorithm. It is shown that transnational friction motions should be included into kinematic model of the mobile robot to represent its real physical motion.

• Bulletin of the Korean Chemical Society
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• v.24 no.9
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• pp.1281-1283
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• 2003

Proteins in highly oriented lipid bilayer samples are useful to study membrane protein structure determination. Planar lipid bilayers aligned and supported on glass slide were prepared. These stack of glass slide with planar lipid bilayers are not well fit for commercial solid-state NMR probe with round coil. Therefore, homebuilt solid-state NMR probe was built and used for a stack of thin glass plates and RF coil is wrapping directly around the flat square sample. The overall filling factor of the coil is much better and the large surface area enhances the extent to orientation by providing uniform environments for the phospholipids and the high ratio of circumference to area reduces edge effects. $^1H\;and\;^{15}N$ double resonance probe for 400 MHz NMR (9.4T) with a flat coil (coil size: 11 mm ${\times}$ 20 mm ${\times}$ 4 mm) is constructed and tested.

• Journal of Navigation and Port Research
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• v.38 no.1
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• pp.11-18
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• 2014

To confirm whether the square tank at Changwon National University (CWNU) can be used for estimation of maneuverability, planar motion mechanism (PMM) test and circular motion (CM) test were performed for various conditions. PMM test can be implemented using an XY carriage and a yaw table in the square tank. However, sometimes test section is insufficient for PMM test owing to low length-breadth ratio of the tank. In addition, the speed of a towing carriage is also quite limited. Therefore, it would be useful if PMM test could be effectively performed diagonally, by establishing coupled control logic to drive three servomotors. In addition, Froude number dependency on the estimated hydrodynamic coefficients was checked. Furthermore, CM tests, which cannot be completed in a conventional linear towing tank, were performed, and its results were compared with the results of PMM test. The results of the PMM tests in the diagonal direction were consistent with the results of the test performed in the direction parallel to the sidewall. However, the results of the CM test were greater than those of the PMM test. This tendency was also observed in the results published at Ulsan University.

• Journal of the Korean Chemical Society
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• v.32 no.5
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• pp.428-435
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• 1988

Some nickel(Ⅱ) and palladium(Ⅱ) complexes of the ambidentate ligands derived from condensation of the isonitrosoacetylacetone and various diamines, $Ni(IAA)_2-en$, $Ni(IAA)_2-pn$, $Ni(IAA)_2-tn$, $Pd(IAA)_2-en$, PdCl(IAA)-pn, and $Pd(IAA)_2$-tn, where (IAA)$_2$-en, $(IAA)_2$-tn, and (IAA)-pn represent N,N'-enthylenbis(isonitrosoacetylacetone imine), N,N'-propylenebis(isonitrosoacetylacetone imine), N,N'-trimethylenebis(isonitrosoacetylacetone imine) and N-(2-aminopropyl)isonitrosoacetylacetone imine, respectively, have been prepared. The nickel(Ⅱ) and palladium(Ⅱ) complexes were characterized on the bases of the elemental analysis, IR, NMR, and electronic spectra. It is suggested that a isonitroso group of (IAA)$_2$-en or (IAA)$_2$-tn coordinates to the metal ion through the nitrogen atom to form five-membered ring, while the other isonitroso group of (IAA)$_2$-en or (IAA)$_2$-tn coordinates to the metal ion through the oxygen atom to form six membered ring in square-planar complexes of Ni(IAA)$_2$-tn and Pd(IAA)$_2$-en. And two isonitroso groups of (IAA)$_2$-en, (IAA)$_2$-pn, or (IAA)$_2$-tn coordinate to the metal ion through the nitrogen atom to form five-membered rings in square-planar complexes of Ni(IAA)$_2$-en, Ni(IAA)$_2$-pn, and Pd(IAA)$_2$-tn. On the other hand, square-planar PdCl(IAA)-pn is formed by the reaction of propylenediamine with a isonitrosoacetylacetone in the presence of palladium(Ⅱ)ion.

• Analytical Science and Technology
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• v.6 no.1
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• pp.107-119
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• 1993

The purpose of this study is to investigated the elution behavior of platinoid metal acetylacetonates, which is the key to elucidate their retention mechanism and optimize their RPLC separation conditions. The retention data of four platinoid metal acetylacetonates have been measured on four different columns in methanol-water and acetonitrile-water systems. The retention of uncharged platinoid metal acetylacetonates is interpreted by solvophobic effect. The retention of platinoid metal acetylacetonates is also greatly influenced by the geometric structure of the complexes. The square planar chelates, $Pd(acac)_2$, $Pt(acac)_2$, are retained longer than the octahedral chelates, $Rh(acac)_3$, $Ir(acac)_3$. It is likely due to that square planar chelates show greater interaction with nonpolar stationary phase than octahedral chelates. The results of van't Hoff plots have shown that platinoid metal acetylacetonates is operated on the same retention mechanism in the temperature range of $25{\sim}45^{\circ}C$. The study of the retention mechanism by the enthalpy-entropy compensation phenomenon has indicated that the retention mechanism of octahedral chelates and square planar chelates do not vary with the composition change of methanol-water mobile phase, respectively. In acetonitrile-water mobile phase, however, the retention mechanism is observed to be more complicated. Optimum condition for the separation of four platinoid metal acetylacetonates is found to be 40% methanol, polymeric C18 column, and $45^{\circ}C$.

• Journal of the Korean Magnetics Society
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• v.12 no.3
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• pp.109-116
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• 2002

We designed the flyback planar transformer, which had 8 W capacity, with 70 V input voltage and 8.2 V output voltage for the establishment of design method and the confirmation of application possibility. The numerical value of inductance measured under the switching frequency of 120 kHz was 1650 $\mu$H, which was the inductance efficiency of'85∼87% against theoretical value. The A.C. resistance of primary and secondary coil was 4.2 Ω and 0.25 Ω respectively, On the other hand, the quality factor for each wound numbers showed quite a high value of 158 and 75 respectively. And the Coupling Factor was 0.96∼0.97 under 120 kHz switching frequency. The inductance rapidly increased as the thickness of the core plane increased until it became 1.4 mm but under the thickness more than 1.4 mm, there was no substantial change. Therefore, the critical value of the plane thickness of core was 1.4 mm. And the shape of the output wave of the planar transformer at 70V input voltage was a stable square wave.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1601-1606
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• 1991

We present an algorithm to approximate the Voronoi diagrams of 2D objects bounded by algebraic curves. Since the bisector curve for two algebraic curves of degree d can have a very high algebraic degree of 2 * d$^{4}$, it is very difficult to compute the exact algebraic curve equation of Voronoi edge. Thus, we suggest a simple polygonal approximation method. We first approximate each object by a simple polygon and compute a simplified polygonal Voronoi diagram for the approximating polygons. Finally, we approximate each monotone polygonal chain of Voronoi edges with Bezier cubic curve segments using least-square curve fitting.