• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.888-893
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• 2008

In This paper proposes the control algorithm for quadruped robots on irregularly sloped uneven surface. Body balance is important in stable running locomotion. Since the body balance is determined by the forces applied at the feet during touchdown phase, the ground reaction force is controlled for stable running. To control the forces at each foot, the desired force is generated. The generated desired force is compared with actual contact force, then, the difference between them modifies the foot trajectory. The desired force is generated by combination of the rate change of the angular and linear momentum at flight. Then the rate change of momentum determines each force distribution. The distribution of the force is carried out by fuzzy logic. The computer simulation is carried out with the commercial software RecurDyn$^{(R)}$. Dynamic model simulation program show that the stable running on the irregularly sloped uneven surface are accomplished by the proposed method.

• 반도체디스플레이기술학회지
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• 제19권3호
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• pp.1-6
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• 2020

In this paper, a method for improving the defect classification performance in steel plate surface has been studied, based on DWT(discrete wavelet transform) and SVM(support vector machine). Surface images of the steel plate have low contrast, uneven, and featureless, so that the contrast between defect and defect-free regions is not discriminated. These characteristics make it difficult to extract the feature of the surface defect image. In order to improve the characteristics of these images, a synthetic images based on discrete wavelet transform are modeled. Using the synthetic images, edge-based features are extracted and also geometrical features are computed. SVM was configured in order to classify defect images using extracted features. As results of the experiment, the support vector machine based classifier showed good classification performance of 94.3%. The proposed classifier is expected to contribute to the key element of inspection process in smart factory.

• 한국멀티미디어학회논문지
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• 제10권10호
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• pp.1271-1283
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• 2007

평판 디스플레이(FPD)의 결함 검출은 패널 영상의 불균일한 휘도 변화로 인해 정확한 결함 검출이 어렵다. 본 논문은 FPD 패널 영상의 휘도변화를 B-스플라인 표면으로 근사화하고, 이로부터 다양한 결함을 검출하는 방법을 제안한다. B-스플라인 표면 근사화시 잡음 및 결함에 해당하는 고주파 부분을 제외하고, 불균일 휘도 변화에 해당하는 배경부분만으로 구성하기 위해, 웨이브릿 변환 후 저주파대역만을 이용한다. 이는 B-스프라인 표면 근사화의 단점인 시간 소모를 획기적으로 줄일 뿐 아니라, 정확성을 향상시키는 결과를 가져온다. 최소의 부대역에서 근사화된 영상은 웨이브릿 합성 과정을 거쳐 원영상의 크기로 재구성되고, 원 영상에서 이를 뺀 차영상이 바로 불균일 휘도의 배경을 보상한 평평한 영상이 된다. 따라서 결과 영상에 단순 문턱치를 이용하여 결함 영역을 쉽게 검출할 수 있으며, 거짓 결함을 제거하기 위해 블랍 해석이 후처리로서 수행된다 또한 인라인 시스템에 적용하기 위해 웨이브릿 변환을 리프팅 기반의 알고리즘으로 구현하여 필름 같은 대용량의 데이터를 고속으로 처리할 수 있게 함으로써, 처리 시간을 크게 감소 시켰다.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2015년도 추계 학술논문 발표대회
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• pp.147-148
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• 2015

Exposed type waterproofing PVC sheets installed on structure rooftops are subject to changes in physical properties after longterm exposure to sunlight. Particularly when consideration the rotational movement of sunlight over the day through the course of the sun rising from the east and setting in the west, in the case of flat roofs the amount of UV ray the the surface of the PVC waterproofing sheet receives may be even throughout, but in cases of slanted rooftops the sunlight exposure may be uneven across the surface. In this regard, this study examines the effect uneven sunlight exposure on the exposed type waterproofing PVC sheets installed on slanted rooftops.

• 로봇학회논문지
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• 제2권4호
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• pp.353-360
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• 2007

This paper proposes the trot gait pattern generation and online control methods for a quadruped robot to carry heavy loads and to move fast on uneven terrain. The trot pattern is generated from the frequency modulated pattern generation method based on the frequency modulated oscillator in order for the legged robots to be operated outdoor environment with the static and dynamic mobility. The efficiency and performance of the proposed method are verified through computer simulations and experiments using qRT-1/-2. In the experiments, qRT-2 which has two front legs driven by hydraulic linear actuators and two rear casters is used. The robot can trot at the speed up to 1.3 m/s on even surface, walk up and down the 20 degree inclines, and walk at 0.7 m/s on uneven surface. Also it can carry over 100 kg totally including 40 kg payload.

• 한국의류산업학회지
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• 제15권2호
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• pp.309-315
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• 2013

This study examines the difference of surface properties according to napping characteristic of artificial suedes, measuring surface structure observation, the contact/non-contact method roughness, warm-cool feeling of touch, and subjective hand evaluation. Surface and cross-section observations showed a discernible difference in fineness, curl, length, mount of napping, and covering power of base fabric. The surface properties of artificial suede evaluated by KES-FB4 showed that the shorter napping length the more smooth surface and the roughness increased reciprocally with friction resistance and surface contour when the nap length reaches a high level. The surface roughness measuring system applied a laser displacement sensor by a non-contact method to assess napping characteristic and the base fabric and napping height. Surface roughness decreased when napping was uniformly covered with base fabric; however, the surface roughness increased specifically with the uneven covering power of the base fabric. For qmax of the suedes, those that had short and smaller amounts of napping increased; however, the napping of length and amount at some stage generated a low qmax value. The warm sensation in all suedes were strongly perceived, but the cool sensation of the perception was lower in the subjective evaluation. Smoothness and softness were perceived when the suede has a long and large amount napping; however, smoothness and hardness were perceived when the suede was short and with the uneven covering power.

• 한국진공학회지
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• 제2권2호
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• pp.246-254
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• 1993

DRAM 커패시터에서 축정용량을 증대시키기 위한 기초연구로서 2가지 방법을 시도하였다. 첫째로, 커패시터의 유효 표면적을 증대시키기 위해 HSG(hemispherical grain)와 rugged 형태의 표면형상을 갖는 폴리실리콘 전극을 저압 화학기상증착법을 이용하여 제잘하였다. 그 결과 기존의 평평한 폴리실리콘 전극에 비하여 유효면적이 증대된 폴리실리콘 전극이 형성되었다. 둘째로, 고유 전상수를 갖는 $Ta_2O_5$ 박막을 각각의 전극에 플라즈마 화학기상증착법으로 증착시키고 후열처리한 후 전기적 특성변화를 조사하였다. MIS(metal-insulator-semiconductor) 구조의 커패시터를 제작하여 전기적 특성을 측정한 결과, HSG와 rugged 형상의 표면을 갖는 전극에서 기존의 평평한 표면을 갖는 전극에 비하여 축전용량은 1.2~1.5배까지 증대하였으나, 주설전류는 표면적의 증가에 따라 함께 증가함을 보였다. TDDB 특성에서도 HSG와 rugged 형상의 표면을 갖는 전극들이 평평한 표면형상에 비하여 더 열화되었음을 보여주었다. 이상과 같은 결과는 $Ta_2O_5$ 유전박막을 이용한 차세대 DRAB 커패시터 연구에 기초자료로 이용될 수 있을 것으로 본다.

• 한국작물학회:학술대회논문집
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• 한국작물학회 1994년도 춘계 학술대회지
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• pp.114-115
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• 1994

• 한국지반공학회지:지반
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• 제22권12호
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• pp.10-16
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• 2006

• 펄프종이기술
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• 제38권2호
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• pp.16-21
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• 2006

Uneven ink transfer of a print can be traced to several causes such as an incomplete contact between the paper surface and ink film, a coarse pattern of a continuous ink film after transfer, uneven absorption, etc. Uneven ink transfer was studied in this points by the Tollenaar. Uneven distributions of printed density are reflected in low ${\ulcorner}m{\lrcorner}$ values of the print. Tollenaar's smoothness coefficient ${\ulcorner}m{\lrcorner}$ value was important factor that deciding printed quality which was easily obtain by densitometry. Limiting print density $D_{\infty}$ that obtained Tollenaar's formulation working as a influence factor at the printed quality. In this study, we obtained limiting print density $D_{\infty}$ and smoothness coefficient ${\ulcorner}m{\lrcorner}$ value of domestic newspapers and foreign newspapers. And we analyzed about properties of the newspaper. The result of this study, smoothness coefficient ${\ulcorner}m{\lrcorner}$ value and limiting print density $D_{\infty}$ showed the good results in the low porosity and low roughness newspaper. Datum which obtained by this study was used as printability factor for the quality control and improvement of domestic newspaper and wished to apply as a basic data for the domestic newspaper quality.