• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.901-905
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• 2005

Monte Carlo localization is known to be one of the most reliable methods for pose estimation of a mobile robot. Much research has been done to improve performance of MCL so far. Although MCL is capable of estimating the robot pose even for a completely unknown initial pose in the known environment, it takes considerable time to give an initial estimate because the number of random samples is usually very large especially for a large-scale environment. For practical implementation of the MCL, therefore, a reduction in sample size is desirable. This paper presents a novel approach to reducing the number of samples used in the particle filter for efficient implementation of MCL. To this end, the topological information generated off- line using a thinning method, which is commonly used in image processing, is employed. The topological map is first created from the given grid map for the environment. The robot scans the local environment using a laser rangefinder and generates a local topological map. The robot then navigates only on this local topological edge, which is likely to be the same as the one obtained off- line from the given grid map. Random samples are drawn near the off-line topological edge instead of being taken with uniform distribution, since the robot traverses along the edge. In this way, the sample size required for MCL can be drastically reduced, thus leading to reduced initial operation time. Experimental results using the proposed method show that the number of samples can be reduced considerably, and the time required for robot pose estimation can also be substantially decreased.

• Progress in Superconductivity
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• v.10 no.1
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• pp.60-67
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• 2008

We present domestic efforts for superconducting fault current limiter (SFCL) application in the Korea Electric Power Corporation (KEPCO) grid and pending points at issue. KEPCO's decision to upgrade the 154 kV/22.9 kV main transformer from 60 MVA to 100 MVA cast a problem of high fault current in the 22.9 kV distribution lines. The grid planners supported adopting an SFCL to control the fault current. This environment friendly to SFCL application must be highly dependent upon the successful development of SFCL having specifications that domestic utility required. The required conditions are (1) small size of not greater than twice of 22.9 kV gas insulated switch-gear (GIS), (2) sustainability of current limitation without the line breaking by circuit breakers (CB) for maximum 1.5 seconds. Also, optionally, recommended is (3) the reclosing capability. Conventional resistive SFCLs do not meet (1) $\sim$ (3) all together. A hybrid SFCL is an excellent solution to meet the conditions. The hybrid SFCL consists of HTS SFCL components for fault detection and line commutation, a fast switch (FS) to break the primary path, and a limiter. This characteristic structure not only enables excellent current limiting performances and the reclosing capability, but also allows drastic reduction of HTS volume and small size of the cryostat, resulting in economic feasibility and compactness of the equipment. External current limiter also enables long term limitation since it is far less sensitive to heat generation than HTS. Semi-active operation is another advantage of the hybrid structure. We will discuss more pending points at issues such as maintenance-free long term operation, small size to accommodate the in-house substation, passive and active control, back-up plans, diagnosis, and so on.

• Journal of Korea Society of Industrial Information Systems
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• v.29 no.1
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• pp.117-123
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• 2024

Bubbles generated in water receive an upward buoyant force due to the density and pressure difference of the surrounding fluid. Additionally, the behavior, shape, and heat exchange process of bubbles vary depending on the viscosity, surface tension, rising speed, and size difference with the surrounding fluid. In this study, we modeled speed, and heat transfer of a high-temperature single bubble rising in a cylindrical water tank. For this purpose, velocity, and temperature of the bubbles were calculated using theoretical equations, to be compared with numerical simulation results. The numerical analysis was performed using a commercial software, and the stability of the numerical analysis with mesh size was confirmed through calculation of the grid convergence index. The numerical analysis of the rising speed and temperature of a single bubble showed the values to converge when the minimum cell size was 1/160 of the bubble diameter, and the temperature decrease was confirmed to be the same as that of the surrounding fluid within 0.05 seconds.

• New & Renewable Energy
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• v.19 no.3
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• pp.1-12
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• 2023

This study aims to evaluate the optimal size of the hydrogen facility to be installed in a zero-energy district in terms of load matching and facility efficiency. A mismatch between energy generation and consumption is a common occurrence in zero-energy districts. This mismatch adversely effects the energy grid. However, using an energy carrier such as hydrogen can solve this problem. To determine the optimal size of hydrogen fuel cells to be used on-site, simulation of hydrogen installation is required at both district-and building- levels. Each case had four operating schedules. Therefore, we evaluated eight scenarios in terms of load matching, heat loss, and facility operational efficiency. The results indicate that district-level installation of hydrogen facilities enables more efficient energy use. Additionally, based on the proposed model, we can calculate the optimal size of the hydrogen facility.

• Progress in Medical Physics
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• v.28 no.3
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• pp.83-91
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• 2017

In this work, we investigated the recently proposed phase-contrast x-ray imaging (PCXI) technique, the so-called single grid-based PCXI, which has great simplicity and minimal requirements on the setup alignment. It allows for imaging of smaller features and variations in the examined sample than conventional attenuation-based x-ray imaging with lower x-ray dose. We performed a systematic simulation using a simulation platform developed by us to investigate the image characteristics. We also performed a preliminary PCXI experiment using an established a table-top setup to demonstrate the performance of the simulation platform. The system consists of an x-ray tube ($50kV_p$, 5 mAs), a focused-linear grid (200-lines/inch), and a flat-panel detector ($48-{\mu}m$ pixel size). According to our results, the simulated contrast of phase images was much enhanced, compared to that of the absorption images. The scattering length scale estimated for a given simulation condition was about 117 nm. It was very similar, at least qualitatively, to the experimental contrast, which demonstrates the performance of the simulation platform. We also found that the level of the phase gradient of oriented structures strongly depended on the orientation of the structure relative to that of linear grids.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.30 no.4
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• pp.335-342
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• 2012

3D point cloud is widely used in Architecture, Civil Engineering, Medical, Computer Graphics, and many other fields. Due to the improvement of 3D laser scanner, a massive 3D point cloud whose gigantic file size is bigger than computer's memory requires efficient preprocessing and visualization. We suggest a data structure to solve the problem; a 3D point cloud is gradually subdivided by arbitrary-sized cube grids structure and corresponding point cloud subsets generated by the center of each grid cell are achieved while preprocessing. A massive 3D point cloud file is tested through two algorithms: QSplat and ours. Our algorithm, grid-based, showed slower speed in preprocessing but performed faster rendering speed comparing to QSplat. Also our algorithm is further designed to editing or segmentation using the original coordinates of 3D point cloud.

• Journal of IKEEE
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• v.21 no.2
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• pp.105-114
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• 2017

This paper proposes a design method of an LCL-filter for grid-tied three-level inverter systems. The demand for three-phase PWM inverters in applications such as wind or solar power generation systems has been increase in recent years. To reduce harmonic components caused by switching operation, such inverters are connected to the grid via an LCL filter. Although there are research results for designing LCL-filter, the modulation method should be fully considered to make the filter perform desired cancellation ability with minimized size. This paper presents the design methodology for an LCL-filter that is optimized for SVM switching operations. The simulation and experimental results verify the validity of the LCL-filter designed with proposed method in this paper.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.34 no.9
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• pp.817-824
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• 2010

An improved spray model of a pressure-swirl atomizer was developed and the grid dependency of the model was investigated. Since the Lagrangian-Eulerian approach was adopted for tracking droplets, very small grids could not be used. However, in order to detect swirl flow accurately, small grids were needed because of the consideration of swirl injection. In order to overcome these limitations, numerical studies were performed by using various grids with cell sizes ranging from 10.0 $\times$ 10 mm to 0.625 $\times$ 0.625 mm. From these calculated results, it was observed that the most efficient grid cell size was 1.25 $\times$ 1.25 mm.

• The Journal of Society for e-Business Studies
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• v.15 no.3
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• pp.85-98
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• 2010

The prevailing infrastructure of ubiquitous computing paradigm on the one hand making significant development for integrating technology in the daily life but on the other hand raising concerns for privacy and confidentiality. This research presents a new privacy-preserving spatio-temporal query processing technique, in which location based services (LBS) can be serviced without revealing specific locations of private users. Existing location cloaking techniques are based on a grid-based structures such as a Quad-tree and a multi-layered grid. Grid-based approaches can suffer a deterioration of the quality in query results since they are based on pre-defined size of grids which cannot be adapted for variations of data distributions. Instead of using a grid, we propose a location-cloaking algorithm which uses the R-tree, a widely adopted spatio-temporal index structure. The proposed algorithm uses the MBRs of leaf nodes as the cloaked locations of users, since each leaf node guarantees having not less than a certain number of objects. Experimental results show the superiority of the proposed method.

• Journal of the Microelectronics and Packaging Society
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• v.21 no.2
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• pp.85-89
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• 2014

We propose the new fabrication method of a 70 nm half-pitch wire grid polarizer with high performance using magnetic soft mold. The device is a form of aluminium gratings on a PET(Polyethylene phthalate) substrate whose size of $3cm{\times}3cm$ is compatible with a TFT_LCD(Tin Flat Transistor Liquid Crystal Display) panel. A magnetic soft mold with a pitch of 70 nm is fabricated using two-step replication method. As a result, we get a NWGP pattern which has 70.39 nm line width, 64.76 nm depth, 140.78 nm pitch, on substrate. The maximum and minimum transmittances of the NWGP at 800 nm are 75% and 10%, respectively. This work demonstrates a unique cost-effective solution for nanopatterning requirements in consumer electronics components.