• Journal of Positioning, Navigation, and Timing
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• 제1권1호
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• pp.35-43
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• 2012

The UGV is one of the special field robot developed for mine detection, surveillance and transportation. To achieve successfully the missions of the UGV, the accurate and reliable navigation data should be provided. This paper presents design and implementation of multi-sensor-based open architecture integrated navigation for localization of UGV. The presented architecture hierarchically classifies the integrated system into four layers and data communications between layers are based on the distributed object oriented middleware. The navigation manager determines the navigation mode with the QoS information of each navigation sensor and the integrated filter performs the navigation mode-based data fusion in the filtering process. Also, all navigation variables including the filter parameters and QoS of navigation data can be modified in GUI and consequently, the user can operate the integrated navigation system more usefully. The conventional GPS/INS integrated system does not guarantee the long-term reliability of localization when GPS solution is not available by signal blockage and intentional jamming in outdoor environment. The presented integration algorithm, however, based on the adaptive federated filter structure with FDI algorithm can integrate effectively the output of multi-sensor such as 3D LADAR, vision, odometer, magnetic compass and zero velocity to enhance the accuracy of localization result in the case that GPS is unavailable. The field test was carried out with the UGV and the test results show that the presented integrated navigation system can provide more robust and accurate localization performance than the conventional GPS/INS integrated system in outdoor environments.

• 유기물자원화
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• 제25권3호
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• pp.63-71
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• 2017

본 연구에서는 활성탄 제조에 널리 이용되고 있는 KOH 활성화법으로 활성화된 활성탄의 표면적 증가를 위하여 세척시간, 교반속도, 세척횟수 등의 변수들에 대한 활성탄 세척공정 최적화 연구를 수행하였다. 연구결과, 활성탄의 표면적은 세척효율이 증가됨에 따라 뚜렷하게 증가되었는데, 90% 이상의 세척효율을 얻기 위해서는 활성탄의 복잡한 세공구조에 따른 세공 내 확산메커니즘이 제어인자로 작용함을 알 수 있었다. 또한, 세척액의 증발을 통하여 $K_2CO_3$를 얻을 수 있었고 이를 이용한 활성화실험이 이루어졌다. 그 결과, 비표면적 $2,219m^2/g$의 제조가 가능하였다. $K_2CO_3$가 KOH의 효과적인 대안이라는 것을 고려할 때, 활성탄 제조공정에서 폐수 재이용은 무배출 폐기물 공정에 적용 할 수 있음을 보여주었다.

• 대한전자공학회논문지
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• 제18권4호
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• pp.49-61
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• 1981

N+P, N+PP+ 형 태양전지를 제조하여 얻은 실험자료들을 근거로 실리콘 접합형 태양전지에 일반적으로 적용할 수 있는 컴퓨터 모의 실험 프로그램을 개발하고, 이의 유용성을 확인하였다. 이 모의 실험 프로그램은 N+P, P+N, N+PP+, P+NN+형의 실리콘 태양전지에 적용할 수 있는 것으로, 입사광은 AMI, 등강도 광원, 인공조명으로 많이 사용되는 GE -ELH 광원이고, AR코팅은 Si3N4형과 투과도가 파장에 관계없는 일정형 2종류가 있으며, 프로그램에서 이들 전지의 구조, 광원, AR 코팅 종류에 대한 파장 특성분포도 쉽게 변화시킬 수 있도록 되어 있다. 이 모의실험의 결과들을 토대로 N+와 P 영역에서의 평균도오핑농도와 전지의 두께, AMI 스펙트럼에 대한 집광도, 앞면 접합깊이에 대하여 효율이 최대가 되는 최적치들을 구하였으며, 앞면의 표면 재결합 속도, 접합부에서의 캐리어의 유효 수명, 누설저항에 대하여는 허용 한계치로, 기타 효율변화인자로서 동작온도 직렬저항과 전기장의 세기에 대하여는 효율의 변화율로서 파라미터들이 효율에 미치는 영향들을 분석하였다.

• 천문학회보
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• 제40권2호
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• pp.47.2-47.2
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• 2015

We present a large scale structure consisting of eight galaxy filaments around the Virgo cluster in the window of -20 Mpc < SGX, SGZ < 20 Mpc, and 4 Mpc < SGY < 32 Mpc using the HyperLEDA database. While six of the filaments were reported in previous studies, two filaments are newly found in this study. We exploited a large number of faint ($M_B$ < -10) galaxies in comparison with previous studies, which facilitates defining filaments more clearly. The previously known filaments are all in SGY < 16 Mpc and appear to distribute in association with the Virgo cluster in galaxy distribution. Moreover, peculiar velocities of galaxies in these filaments show a distinct offset from the Hubble flow indicating their infall motion toward the Virgo cluster. All of these results confirm that these filamentary structures are under the gravitational influence of the Virgo cluster. Both of the newly discovered filaments are located beyond the 'zero-velocity surface' of the Virgo cluster. One of them is associated in the NGC5353/4 group and the other one appears to penetrates the W and M group of the Virgo cluster. The filamentary structure around the Virgo cluster consisting mainly of the dwarf galaxies allows us to achieve a better understanding of large scale structure and its influence on the build-up of the galaxy cluster at z~0.

• Journal of Biosystems Engineering
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• 제2권1호
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• pp.33-48
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• 1977

Transporting agricultural products and the other material by the two-wheel-tractor (power-tiler)and trailer system may be one of its most widely used farming functions.The safety and hitching load for all the previaling performing conditions may be the general concern over the operation of the tiller-trailer system. In this study, a mathematical model to determine the static and dynamic forces excerting on the hitch point were developed . Based on the analysis of the model and the field measurements. the limiting hitching load and critical slope were analyzed. The results of the study are summarized as follows ; 1) The limit angle of slope land for the safety steering that two-wheel tractor-single axle trailer system was able to transport agricultural products was the direct angle (${\gamma}$) = 8 ; the cross angle$\beta$) 15 ; and it was decreased in accordance with the increase of carrying load ($W_4). 2) The critical velocity for safe operation in case of running on downward hill road was about 1.08m/sec. 3) The limiting carrying load for the safe steering was W$_4$=600kg. The degree of the safe steering for different braking methods was given in order as follows ; Simulataneous braking the tractor and trailer , braking the trailer only, and braking tractor only. 4) Among the three components of impact loads excerting on the hitch point, the component in the lateral direction ($P_{Vy}$) was near zero in spite of increase of hitching load ($W_4) , while the components in the other two mutually perpedicular directions ($P_{Vx}$ and ($P_{Vz}$) ) had larger values in horizontal plane than those in the slope lands. 5) Moment of forces on the lateral direction (M$y$) had the largest value among the three components of impact moment acting on the hitch point, however all the components were sharply increased in accordance with the increase of hitching loads ($W_4. Three components of the moment were the negative values.

• 한국정밀공학회지
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• 제22권12호
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• pp.51-60
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• 2005

This paper describes a robust control scheme for high-speed and long stroke scanning motion of high precision linear motor system consisting of linear motor, air bearing guide and position measurement system using heterodyne interferometer. Nowadays, semiconductor process and inspection of wafer or LCD need high speed and long travel length for their high throughput and extremely small velocity fluctuations or tracking errors. In order to satisfy these conditions, linear motor system are widely used because they have large thrust force and do not need motion conversion mechanisms such as ball screw, rack & pinion or capstan with which the system are burdened. However linear motors have a problem called force ripple. Force ripple deteriorates the tracking performances and makes periodic position errors. So, force ripple must be compensated. To maximize the tracking performance of linear motor system, we propose the control scheme which is composed of a robust control method, Time Delay Controller (TDC) and a feedforward control method, Zero Phase Error Tracking Control (ZPETC) for accurate tracking a given trajectory and an adaptive force ripple compensation (AFC) algorithm fur estimating and compensating force ripple. The adaptive ripple compensation is continuously refined on the basis of tracking error. Computer simulation results based on modeled parameters verify the effectiveness of the proposed control scheme for high-speed, long stroke and high precision scanning motion and show that the proposed control scheme can achieve a sup error tracking performance in comparison to conventional TDC control.

• BMB Reports
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• 제28권3호
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• pp.254-260
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• 1995

Cytochrome oxidase was purified from bovine-heart mitochondria and its enzymatic properties were examined. The purified cytochrome oxidase was identified by its absorption spectrum and chromatogram through gel filtration. The specific activity, purification degree and yield of purified cytochrome oxidase were 18 nmol/mg/ml/min, 24.83 fold and 0.93%, respectively. The activity of the enzyme assayed by a ferrocytochrome $c-O_2$ system was optimized at $25^{\circ}C$ and pH 6.5. Examining the effect of nonionic detergents established that cytochrome oxidase was deactivated by Triton X-100. The oxidase was activated by Tween 80 and deactivated by Tween 20. The Michaelis constant and maximum velocity of the oxidase for ferrocytochrome c were 0.032~0.044 mM and 0.019~0.021 mM/min, respectively. After adaption to basal diet for a week, experimental diets containing 6 mg Cu/kg, or zero mg Cu/kg, or 12 mg Cu/kg were fed to a control group, a copper-free group and a copper-rich group of Sprague-Dawley rats, respectively, for 4 weeks. The specific activities assayed for the ferrocytochrome $c-O_2$ system of isolated cytochrome oxidase from the rat liver of control, copper-free, and copper-rich group were 1.00, 1.19, and 0.878 nmol/mg/ml/min, respectively. Their degrees of purification were 11.38, 10.82 and 8.78 fold, respectively. The specific activities for liver and heart mitochondrial cytochrome oxidase of copper-free/copper-rich groups assayed using the ferrocytochrome $c-O_2$ system were 81.4% and 96.4%/64.1% and 61.1%, respectively, compared with those of the control.

• 대한기계학회논문집B
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• 제41권10호
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• pp.659-665
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• 2017

본 연구에서는 엇갈림 배열 관군 사이를 전기 전도성 유체가 흐를 때 외부에서 인가한 자기장의 영향으로 변화하는 열유동 특성을 수치해석적으로 연구하였다. Reynolds 수 50과 100의 비정상 층류 관군 유동에서 외부 인가 자기장의 세기를 의미하는 Hartmann 수를 0에서 100까지 점진적으로 변화시킴에 따라 관군 내부의 열유동 특성을 관찰하였다. Hartmann 수가 증가함에 따라 인가 자기장의 영향으로 관표면의 속도 경계층이 얇아지고, 유동 박리를 후류로 지연시키며, 관 후면에 형성되는 재순환 영역의 크기가 줄어드는 것을 관찰하였다. 최종적으로 열유동 변형에 의한 결과적 국소 및 평균 Nusselt 수 변화 특성을 제시하였다.

• 한국자동차공학회논문집
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• 제25권1호
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• pp.92-102
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• 2017

For an automotive surveillance radar system, fast-chirp train based FMCW (Frequency Modulated Continuous Wave) radar is a very effective method, because clutter and moving targets are easily separated in a 2D range-velocity map. However, pedestrians with low echo signals may be masked by strong clutter in actual field. To address this problem, we proposed in the previous work a clutter cancellation and moving target indication algorithm using the coherent phase method. In the present paper, we initially composed the test set-up using a 24 GHz FMCW transceiver and a real-time data logging board in order to verify this algorithm. Next, we created two indoor test environments consisting of moving human and stationary targets. It was found that pedestrians and strong clutter could be effectively separated when the proposed method is used. We also designed and implemented these algorithms in FPGA (Field Programmable Gate Array) in order to analyze the hardware and time complexities. The results demonstrated that the complexity overhead was nearly zero compared to when the typical method was used.

• 수산해양기술연구
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• 제18권1호
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• pp.47-53
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• 1982

본 논문은 비균일대칭성 열Flux인 수직사각 Duct내의 층류조합대류 열전달 효과를 해석하기 위하여 그 유동의 특성 지배 방정식 및 비균일 열Flux의 경계조건을 무차원화 시켜 이를 Galerkin's 방법에 의해 유한요소식으로 정식화하고 이에 대하여 R 하(a) 수 및 압력구배 변수에 대해서 Duct 내의 온도분포, 속도분포 및 Nusselt 수의 값을 계산하였고 온도분포를 열 Flux가 일정 및 없는 경우와 비교하였으며 또 닥트내의 열전달 특성을 R 하(a) 수, 응력구배변수 및 Corner에 따른 변호경향을 조사하였다. 그 결과 1. 본 해석의 경계벽 온도분포 계산치와 유효자료들과의 비교에서 열 Flux가 일정 또는 없는 경우는 그 값이 일치하였다. 2. 닥트내의 온도분포와 Nusselt수의 값은 R 하(a) 수 및 압력구배 변수에 비례하여 증감하였다. 3. Nusselt수는 Corner에서 유속지연에 의한 온도분포의 특성 때문에 그 값이 감소하였으며 최대치는 0.7부근이었다