• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.168-173
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• 2003

In this paper, we will present a deeper look on optimal design methods that are related to path-planning for a mobile robot. To control the motion of a mobile robot in a clustered environment, it's necessary to know a suitable trajectory assuming certain start and goal point. Up to now, there are many literatures that concern optimal path planning for an obstacle avoided mobile robot. Among those literatures, we have chosen 2 novel methods for our further analysis. The first approach [4] is based on HJB(Hamilton-Jacobi-Bellman) equation whose solution is the return-function that helps to generate a shortest path to the goal. The later [5] is called polynomial-path-planning approach, in this method, a shortest polynomial-shape path would become a solution if it was a collision-free path. The camera network plays the role as sensors to generate updated map which locates the static and dynamic objects in the space. Therefore, the exhibition of both path planning and dynamic obstacle avoidance by the updated map would be accomplished simultaneously. As we mentioned before, our research will include the motion control of a true mobile robot on those optimal planned paths which were generated by above algorithms. Base on the kinematic and dynamic simulation results, we can realize the affection of moving speed to the stable of motion on each generated path. Also, we can verify the time-optimal trajectory through velocity tuning. To simplify for our analysis, we assumed the obstacles are cylindrical circular objects with the same size.

• Journal of the Korean Institute of Telematics and Electronics D
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• v.35D no.11
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• pp.31-37
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• 1998

Magnitude/phase controlling circuit which is composed of attenuator and phase shifter make phase/gain cross-coupling, so too much tuning time is needed to find optimum operation point. In this paper, vector attenuator which control magnitude and phase of input signals is proposed. Vector attenuator in past ignores phase variation characteristics of attenuator, but vector attenuator of this paper compensates phase variation characteristics of attenuator. This vector attenuator consists of 0$^{\circ}$/180$^{\circ}$ phase shifter and low phase shifting attenuator and so forth. A 0$^{\circ}$/180$^{\circ}$ phase shifter has 0$^{\circ}$/179.9$^{\circ}$ phase shifting characteristics at a center frequency 881 MHz and a low phase shifting attenuator has an attenuation of 25dB, within the limit of 3.6$^{\circ}$ phase shift and less than -20dB reflection characteristics at both input and output ports. The designed vector attenuator shows that cartesian coordinate plane of output signal space can be represented correctly.

• Proceedings of the Korean Vacuum Society Conference
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• 2016.02a
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• pp.170.1-170.1
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• 2016

$Bi_2Te_3$ has long been studied for its excellent thermoelectric characteristics. Recently, this material has been known as a topological insulator (TI). The surface states within the bulk band gap of a TI, which are protected by the time reversal symmetry, contribute to the conduction at the surface, while the bulk is in insulating state. In contrast to the bulk defects tuning the chemical potential to the Dirac energy, the native defects near the surface are expected not to change the shape of the Fermi surface and the related spin structure. Using scanning tunneling microscopy (STM), we have systematically characterized surface or near surface defects in p- and n- doped $Bi_2Te_3$, and identified their structure by first principles calculations. In addition, bias-polarity dependences of STM images revealed the electron donor/acceptor nature of each defect. A detailed theoretical study of the surface states near the Dirac energy reveals the robustness of the Dirac point, which verifies the effectiveness of the disturbance on the backscattering from various kinds of defects.

• Journal of Power Electronics
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• v.17 no.2
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• pp.533-541
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• 2017

This paper presents a novel Parameter-Independent Fictive-Axis (PIFA) approach for the Voltage-Oriented Control (VOC) algorithm used in grid-tied single-phase inverters. VOC is based on the transformation of the single-phase grid current into the synchronous reference frame. As a result, an orthogonal current signal is needed. Traditionally, this signal has been obtained from fixed time delays, digital filters or a Hilbert transformation. Nevertheless, these solutions present stability and transient drawbacks. Recently, the Fictive Axis Emulation (FAE) VOC has emerged as an alternative for the generation of the quadrature current signal. FAE requires detailed information of the grid current filter along with its transfer function for signal creation. When the transfer function is not accurate, the direct and quadrature current components present steady-state oscillations as the fictive two-phase system becomes unbalanced. Moreover, the digital implementation of the transfer function imposes an additional computing burden on the VOC. The PIFA VOC presented in this paper, takes advantage of the reference current to create the required orthogonal current, which effectively eliminates the need for the filter transfer function. Moreover, the fictive signal amplitude and phase do not change with a frequency drift, which results in an increased reliability. This yields a fast, linear and stable system that can be installed without fine tuning. To demonstrate the good performance of the PIFA VOC, simulation and experimental results are presented.

• Journal of Technology Innovation
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• v.26 no.2
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• pp.69-93
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• 2018

As companies seek lower cost and superior quality at the same time, which depend on improvement in product architecture, they need to critically consider product architecture as part of corporate strategy. This research investigated how product architecture and organizational capability affect innovative outcomes with using architecture framework. As a result, we were able to find out Korean shipbuilding company has put much effort on integral works such as development of FGSS(Fuel gas supply system), PRS(Partial Re-liquefaction System) and weight lightening for improving fuel efficiency. And this kind of integral ability was realized by organizational capability of Korean shipbuilding company based on interactive relationship with plant workers. In contrast, Chinese shipbuilding companies focused excessively on the standard design and the convenience of research and development made by central government, overlooking the need for fine-tuning. As a result, the fuel efficiency of Chinese LNG ships turned out to be 7-10% lower than those of South Korea with using the same modules and components.

• Proceedings of the Korean Vacuum Society Conference
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• 2015.08a
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• pp.76.1-76.1
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• 2015

Optical resonances of metallic or dielectric nanoantennas enable to effectively convert free-propagating electromagnetic waves to localized electromagnetic fields and vice versa. Plasmonic resonances of metal nanoantennas extremely modify the local density of optical states beyond the optical diffraction limit and thus facilitate highly-efficient light-emitting, nonlinear signal conversion, photovoltaics, and optical trapping. The leaky-mode resonances, or termed Mie resonances, allow dielectric nanoantennas to have a compact size even less than the wavelength scale. The dielectric nanoantennas exhibiting low optical losses and supporting both electric and magnetic resonances provide an alternative to their metallic counterparts. To extend the utility of metal and dielectric nanoantennas in further applications, e.g. metasurfaces and metamaterials, it is required to understand and engineer their scattering characteristics. At first, we characterize resonant plasmonic antenna radiations of a single-crystalline Ag nanowire over a wide spectral range from visible to near infrared regions. Dark-field optical microscope and direct far-field scanning measurements successfully identify the FP resonances and mode matching conditions of the antenna radiation, and reveal the mutual relation between the SPP dispersion and the far-field antenna radiation. Secondly, we perform a systematical study on resonant scattering properties of high-refractive-index dielectric nanoantennas. In this research, we examined Si nanoblock and electron-beam induced deposition (EBID) carbonaceous nanorod structures. Scattering spectra of the transverse-electric (TE) and transverse-magnetic (TM) leaky-mode resonances are measured by dark-field microscope spectroscopy. The leaky-mode resonances result a large scattering cross section approaching the theoretical single-channel scattering limit, and their wide tuning ranges enable vivid structural color generation over the full visible spectrum range from blue to green, yellow, and red. In particular, the lowest-order TM01 mode overcomes the diffraction limit. The finite-difference time-domain method and modal dispersion model successfully reproduce the experimental results.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.5
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• pp.685-691
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• 2008

The selection of classification boundaries in fuzzy rule- based classification systems is an important and difficult problem. So various methods based on learning processes such as neural network, genetic algorithm, and so on have been proposed for it. In a previous study, we pointed out the limitation of the methods and discussed a method for fuzzy partitioning in the overlapped region on feature space in order to overcome the time-consuming when the additional parameters for tuning fuzzy membership functions are necessary. In this paper, we propose a method to determine three types of classification boundaries(i.e., non-overlapping, overlapping, and a boundary point) on the basis of statistical information of the given dataset without learning by extending the method described in the study. Finally, we show the effectiveness of the proposed method through experimental results applied to pattern classification problems using the modified IRIS and standard IRIS datasets.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.9
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• pp.4287-4306
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• 2016

Network resilience provides an effective way to overcome the problem of network failure and is crucial to Internet protocol (IP) network management. As one of the main challenges in network resilience, recovering from link failure is important to maintain the constancy of packets being transmitted. However, existing failure recovery approaches do not handle the traffic engineering problem (e.g., tuning the routing-protocol parameters to optimize the rerouting traffic flow), which may cause serious congestions. Moreover, as the lack of QoS (quality of service) restrictions may lead to invalid rerouting traffic, the QoS requirements (e.g., bandwidth and delay) should also be taken into account when recovering the failed links. In this paper, we first develop a probabilistically correlated failure model that can accurately reflect the correlation between link failures, with which we can choose reliable backup paths (BPs). Then we construct a mathematical model for the failure recovery problem, which takes maximum rerouting traffic as the optimizing objective and the QoS requirements as the constraints. Moreover, we propose a heuristic algorithm for link failure recovery, which adopts the improved k shortest path algorithm to splice the single BP and supplies more protection resources for the links with higher priority. We also prove the correctness of the proposed algorithm. Moreover, the time and space complexity are also analyzed. Simulation results under NS2 show that the proposed algorithm improves the link failure recovery rate and increases the QoS satisfaction rate significantly.

• Journal of Power Electronics
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• v.16 no.4
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• pp.1513-1525
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• 2016

Rapid and accurate phase synchronization is critical for the reliable control of grid-tied inverters. However, the commonly used software phase-locked loop methods do not always satisfy the need for high-speed and accurate phase synchronization under severe grid imbalance conditions. To address this problem, this study develops a novel open-loop phase locking scheme based on a synchronous reference frame. The proposed scheme is characterized by remarkable response speed, high accuracy, and easy implementation. It comprises three functional cascaded blocks: fast orthogonal signal generation block, fast fundamental-frequency positive sequence component construction block, and fast phase calculation block. The developed virtual orthogonal signal generation method in the first block, which is characterized by noise immunity and high accuracy, can effectively avoid approximation errors and noise amplification in a wide range of sampling frequencies. In the second block, which is the foundation for achieving fast phase synchronization within 3 ms, the fundamental-frequency positive sequence components of unsymmetrical grid voltages can be achieved with the developed orthogonal signal construction strategy and the symmetrical component method. The real-time grid phase can be consequently obtained in the third block, which is free from self-tuning closed-loop control and thus improves the dynamic performance of the proposed scheme. The proposed scheme is adaptive to severe unsymmetrical grid voltages with sudden changes in magnitude, phase, and/or frequency. Moreover, this scheme is able to eliminate phase errors induced by harmonics and random noise. The validity and utility of the proposed scheme are verified by the experimental results.

• The KIPS Transactions:PartB
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• v.15B no.2
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• pp.113-122
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• 2008

While there are about 1 million color vision deficiencies in Korea, an assistive technology to digital contents of broadcasting and web for them remains scarce. In this study, we developed a generation method of the ICC profile to correct a graphic digital content adapted to various color perception characteristics of CVD by tuning the correction rules of the ICC profile by themselves. We tested the performance of the ICC profile to apply 10 Ishihara plates to the participants, 1 protanomaly, 1 protanomaly and deuteranomaly and 2 deuteranomaly. We used the color range information to build correction rules. Results of the test show that they passed Ishihara test by 97.5% success rate, compared to 20% success rate without it. The average time for them to spend to tune the customized ICC profile was about 13 minute without any diagnosis of specialist, any special instrument.