• 전기학회논문지
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• 제62권6호
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• pp.852-862
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• 2013

This paper proposes a target tracking control method for wheeled mobile robots with nonholonomic constraints by using a backstepping-like feedback linearization. For the target tracking, we apply a vision system to mobile robots to obtain the relative posture information between the mobile robot and the target. The robots do not use the sensors to obtain the velocity information in this paper and therefore assumed the unknown velocities of both mobile robot and target. Instead, the proposed method uses only the maximum velocity information of the mobile robot and target. First, the pseudo command for the forward linear velocity and the heading direction angle are designed based on the kinematics by using the obtained image information. Then, the actual control inputs are designed to make the actual forward linear velocity and the heading direction angle follow the pseudo commands. Through simulations and experiments for the mobile robot we have confirmed that the proposed control method is able to track target even when the velocity sensors are not used at all.

• 한국통신학회논문지
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• 제35권11A호
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• pp.1078-1084
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• 2010

신호 추적 및 데이터 획득을 위하여 사용되는 접시형 추적안테나시스템의 추적정확도는 시스템 내부 요인뿐만 아니라 외적인 요인에 의하여 영향을 받는다. 본 논문은 무선주파수를 사용한 비행체 추적 및 위치측정에 있어서 전파굴절에 의한 추적오차를 나로우주센터에서 운용중인 2 GHz 원격측정 안테나 및 5 GHz 추적레이더로 추적한 항공기 및 위성발사체 추적결과와 GPS 측정한 결과를 이용하여 분석한다. 분석을 위하여, 추적시스템의 추적오차 원인 및 원인별 오차범위, 추적시스템의 정확도 검증결과 및 굴절율 특성을 바탕으로 전파굴절과 추적오차의 연관성을 검토한다. 분석결과, 안테나 고각 10 도 이하에서 전파굴절에 의한 각도오차가 사용된 추적안테나시스템 및 GPS의 측정오차에 비하여 무시할 수 없을 정도로 큰 것을 확인하였다. 또한, 대류권내에 있는 비행체(신호원)에 대한 추적각도는 안테나 고각뿐만 아니라 비행체 고도에 의해 영향을 받으며, 정확한 비행체 위치 측정을 위해서는 이를 보정하여야 하는 것으로 분석되었다.

• 반도체디스플레이기술학회지
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• 제19권3호
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• pp.100-105
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• 2020

Recently, as display and semiconductor devices have been miniaturized and highly integrated, there is a demand for optimization of the structural characteristics of the thin film accordingly. The sputtering device has the advantage of stably obtaining a desired thin film depending on the material selected for the target. However, due to the structural characteristics of the sputtering equipment, the structural characteristics of the film may be different depending on the incidence angle of the sputtering target material to the substrate. In this study, the characteristics of the thin film material according to the scattering angle of the target material and the incidence position of the substrate were studied to find the optimization design rule of the sputtering equipment. To this end, a Si thin film of 1 ㎛ or less was deposited on the Si(100) substrate, and then the microstructure, reflectance, surface roughness, and thin film crystallinity of the thin film formed for each substrate location were investigated. As a result of the study, it was found that as the sputter scattering angle increased and the substrate incident angle decreased, the gap energy along with the surface structure of the thin film increased from 1.47 eV to 1.63 eV, gradually changing to a non-conductive tendency.

• 한국군사과학기술학회지
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• 제12권1호
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• pp.8-17
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• 2009

This paper proposes robust ship wake search method in the target evasion environment. Moving surface ships generate a long trailing wake in the rear of a surface ship. Wake homing torpedo sensing this wake can detect the surface target and engage it automatically. In wake homing torpedo, wake search method is important element to maximize effectiveness of wake homing torpedo. This paper proposes one-side, two-side and centering mode according to passing wake boundary scenarios. Also, wake deflection angle is deduced by using the principle of deflection angle of acoustic torpedo. The representative experimental results using monte-carlo simulation demonstrate that the searching method using one-side mode is superior to two-side and centering mode in the target evasion environment.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2017년도 추계학술대회
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• pp.699-701
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• 2017

장거리 관측용 카메라의 일반적인 운용방법은 광각에서 표적에 대한 탐지를 하며, 망원으로 표적에 대한 인지/식별을 하게 된다. 탐지/인지거리 성능은 방산용 적외선카메라의 성능을 평가하는 중요한 항목이다. 탐지거리 성능이 증가하려면 카메라의 시야가 좁아져야 하고, 좁은 시야각으로 인하여 표적을 찾게 될 확률이 상대적으로 낮아지게 된다. 본 연구에서는 탐지거리 성능을 유지하면서 넓은 시야각을 제공하여 표적에 대한 탐색을 용이하게 할 수 있는 방안을 검토하였다. 그리고 M&S 및 최적화 설계를 통하여 시야 확장형 적외선카메라를 제작하고 시험한 결과를 정리하였다.

• 한국수산과학회지
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• 제57권3호
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• pp.302-309
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• 2024

This study estimates the target strength of anchovy Engraulis japonicus required for studying their distribution and density using acoustics and evaluates the acoustic scattering characteristics of anchovies by frequency using the Kirchoff ray mode (KRM) model. The experiment was conducted on 30 anchovies with 4.7-21.5 cm total length. The maximum TS_cm (Simming angle, 9.1°; standard deviation, ± 13.1°) according to total length was -66.9, -65.2, -64.4, and -63.4 dB at 38, 70, 120, and 200 kHz, respectively. The average TS_cm (Simming angle: 9.1°, standard deviation: ± 13.1°) according to total length was -68.9, -68.8, -69.6, and -70.0 dB at 38, 70, 120, and 200 kHz, respectively. The results of this study provide an important basis for future studies that use acoustics to estimate the target strength of anchovies.

• 수산해양기술연구
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• 제53권2호
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• pp.152-159
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• 2017

Rockfish was a commercially important fish specie in marine ranching areas in Korea. To estimate density and biomass of rockfish using acoustic method, target strength (TS) information is required on the species. This study measured TS dependence on tilt angle and size on 14 live rockfish individuals at 38, 70, and, 120 kHz by ex-situ measurement (tethered method) and acoustic scattering model (Krichhoff ray mode, KRM). The swimbladdered angle ranged from 18 to $30^{\circ}$ ($mean{\pm}s.d.=26{\pm}4^{\circ}$). The mean TS for all individuals was highest -35.9 dB of tilt angle $-17^{\circ}$ at 38 kHz, -35.4 dB of tilt angle $-25^{\circ}$ at 70 kHz, and -34.9 dB of tilt angle $-22^{\circ}$ at 120 kHz. The ex-situ TS-total length (TL, cm) relationships were $TS_{38kHz}=20log_{10}(TL)-67.1$, $TS_{70kHz}=20log_{10}(TL)-68.6$, and $TS_{120kHz}=20log_{10}(TL)-69.9$, respectively. The model TS-total length (TL, cm) relationships were $TS_{38kHz}=20log_{10}(TL)-66.4$, $TS_{70kHz}=20log_{10}(TL)-67.0$, $TS_{120kHz}=20log_{10}(TL)-67.0$. The two measurements between the ex-situ TS and KRM model for TS-tilt angle and fish size were found to be significantly correlated.

• 한국운동역학회지
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• 제15권4호
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• pp.181-189
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• 2005

To know the proper impact posture and changes for the various clubs, changes of impact variables according to the change of golf club length was investigated. Swing motions of three male low handicappers including a professional were taken using two high-speed video cameras. Four clubs iron 7, iron 5, iron 3 and driver (wood 1) were selected for this experiment. Three dimensional motion analysis techniques were used to get the kinematical variables. Mathcad and Kwon3D motion analysis program were used to analyze the position, distance and angle data in three dimensions. Major findings of this study were as follows. 1. Lateral position of the head remained more right side of the target up to 3.5cm compared to the setup as the length of the club increased. 2. Left shoulder raised up to 5cm and right shoulder lowered up to 2.5cm compared to setup. The shoulder line opened slightly (maximum 11 degrees) to the target line. 3. Forward lean angle of the trunk decreased up to 4 degrees (more erected) compared to setup. 4. Side lean angle of the trunk increased compared to setup and increased up to 16 degrees as the club length increased. 5. The pelvis moved to the target line direction horizontally and opened up to 31 degrees. Right hip moves laterally to the grip position at the setup. 6. Flexion of the left leg maintained almost constantly but the right leg flexed up to 11 degrees compared to setup. 7. Left arm is straightened but the right arm flexed about 20degrees compared to straight. 8. Center of the shoulders were in front of the knees and toes of the feet. 9. Hands moved to the left (8.7cm), forward (5.7cm) and upward (11.6cm) compared to the setup. This is because of the rotation of pelvis and shoulders. 10. Shaft angle to the ground was smaller than the lie angle of the clubs but it increased close to the lie of the clubs at impact.

• 한국컴퓨터정보학회논문지
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• 제19권11호
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• pp.43-52
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• 2014

본 논문에서는 적외선 영상에서 영상 변위를 이용하여 기동 표적 영역을 탐지하고, SURF(Speeded Up Robust Features) 특징점에 대한 BAS(Beam Angle Statistics)를 이용하여 분류하는 시스템에 대하여 설명한다. 영상 기반 기술 분야에서 대표적인 대응점 정합 알고리즘인 SURF 기법은 SIFT(Scale Invariant Feature Transform) 기법에 비해 정합 속도가 매우 빠르고 비슷한 정합 성능을 보이기 때문에 널리 사용되고 있다. SURF를 이용한 대부분의 객체 인식의 경우 특징점 추출과 정합의 과정을 수행하지만, 제안하는 기법은 표적의 기동 특성을 반영하여 영상의 변위 추정을 통하여 표적의 영역을 탐지하고 SURF 특징점 들의 기하구조를 판단함으로써 표적 분류를 수행한다. 제안하는 기법은 무인 표적 탐지/인지 시스템의 초기모델 구축을 위하여 연구가 진행되었으며, 모의 표적을 이용한 가상 영상과 적외선 실 영상을 이용하여 실험한 결과 약 73~85%의 분류 성능을 확인하였다.

• 한국광학회지
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• 제33권6호
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• pp.310-316
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• 2022

Presampled 변조전달함수(MTF) 측정에서 slant 표적각도 변화에 따라 MTF 결과의 차이가 있음을 확인하였고, 표적각도 변화에 대한 오차를 줄이기 위하여 획득한 edge spread function 그래프를 fitting하여 측정값의 오차를 줄일 수 있는 측정기법을 연구하였다. Presampled MTF 방법의 특성상 표적이 회전함에 따라 투영되는 공간주파수의 강도분포는 표적의 회전각도에 따라 변화하며, 이로 인하여 MTF 차이가 발생함을 확인하였다. 이 연구에서는 획득한 영상의 1개의 열에 대해서만 fitting을 한 후 MTF를 계산하였다. Fitting을 이용한 계산은 기존의 presampled MTF 방법과 비교하여 표적 회전에 따른 오차가 줄어듬을 확인하였다. 이 방법은 MTF를 이용한 자동 초점 등 다양한 각도의 표적에 응용이 가능할 것으로 기대된다.