• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.429-435
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• 2011

This paper presents a sensor fusion-based estimation of heading and a Bezier curve-based motion planning for unmanned ground vehicle. For the vehicle to drive itself autonomously and safely, it should estimate its pose with sufficient accuracy in reasonable processing time. The vehicle should also have a path planning algorithm that enables to adapt to various situations on the road, especially at intersections. First, we address a sensor fusion-based estimation of the heading of the vehicle. Based on extended Kalman filter, the algorithm estimates the heading using the GPS, IMU, and wheel encoders considering the reliability of each sensor measurement. Then, we propose a Bezier curve-based path planner that creates several number of path candidates which are described as Bezier curves with adaptive control points, and selects the best path among them that has the maximum probability of passing through waypoints or arriving at target points. Experiments under various outdoor conditions including at intersections, verify the reliability of our algorithm.

• Journal of the Korea Institute of Military Science and Technology
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• v.17 no.1
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• pp.96-107
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• 2014

Tracking the tactical object is a fundamental affair in network-equipped modern warfare. Geodetic coordinate system based on longitude, latitude, and height is suitable to represent the location of tactical objects considering multi platform data fusion. The motion of tactical object described as a dynamic model requires an appropriate filtering to overcome the system and measurement noise in acquiring information from multiple sensors. This paper introduces the filter suitable for multi-sensor data fusion and tactical object tracking, particularly the unscented transform(UT) and its detail. The UT in Unscented Kalman Filter(UKF) uses a few samples to estimate nonlinear-propagated statistic parameters, and UT has better performance and complexity than the conventional linearization method. We show the effects of UT-based filtering via simulation considering practical tactical object tracking scenario.

• Proceedings of the Korean Vacuum Society Conference
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• 2011.02a
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• pp.421-422
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• 2011

The first part is about development of a liquid target for a neutron source, which is designed to overcome many of the limitations of traditional beam-target neutron generators by utilizing a liquid target neutron source. One of the most critical aspects of the beam-target neutron generator is the target integrity under the beam exposure. A liquid target can be a good solution to overcome damage to the target such as target erosion and depletion of hydrogen isotopes in the active layer, especially for the one operating at high neutron fluxes with no need for water cooling. There is no inherent target lifetime for the liquid target neutron generator when used with continuous refreshment of the target surface exposed to the energetic beam. In this work, liquid target containing hydrogen has been developed and tested in vacuum environment. Potentially, liquid targets could allow a point neutron source whose spatial extension is on the order of 1 to $10{\mu}m$. And the second is about the vacuum ultraviolet (VUV) spectrometer which is designed as a five-channel spectral system for ITER main plasma measurement. To develop and verify the design, a two-channel prototype system was fabricated with No. 3 (14.4 nm~31.8 nm) and No. 4 (29.0 nm~60.0 nm) among the five channels. For test of the prototype system, a hollow cathode lamp is used as a light source. The system is composed of a collimating mirror to collect the light from source to slit, and two holographic diffraction gratings with toroidal geometry to diffract and also to collimate the light from the common slit to detectors. The two gratings are positioned at different optical distances and heights as designed. To study the appropriate detector for ITER VUV system, two different electronic detectors of the back-illuminated charge coupled device and the micro-channel plate electron multiplier were installed and the performance has been investigated and compared in the same experimental conditions. The overall system performance was verified by measuring the spectrums.

• Journal of Biosystems Engineering
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• v.36 no.6
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• pp.491-499
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• 2011

The objective of this study was to develop the export strategic core technologies for IT fusion next generation agricultural machines by the analysis of comprehensive and cooperative systems of industries, universities, and institutes. In order to achieve the objective of this study, an expert panel was formed and operated. The first survey was conducted by the Delphi method. For this the export strategic core technologies were surveyed and analyzed using the questionnaire. Based on the results of the first survey, the second survey was conducted. The questionnaire used for the second survey was designed by results of the first survey. The results of the second survey was analyzed by AHP method. The third survey was conducted based on the second one, and the final results were analyzed and the export strategic core technologies were developed through the expert meeting. The study results showed six export strategic core technologies as the followings : 1) environment-friendly engine technology for high performance 2) high performance/high efficiency power transmission system technology 3) development of measurement system technology for safety of agricultural products 4) field application of sensor networks 5) large size combine development technology for high performance 6) quality evaluation technology for agricultural products.

• Tribology and Lubricants
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• v.27 no.4
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• pp.193-197
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• 2011

Friction behavior of nanoporous anodic aluminum oxide(AAO) film was investigated. A 60 ${\mu}m$ thick AAO film having nanopores of 45 nm diameter with 105 nm interpore-diatance was fabricated by mild anodization process. The AAO film was then saturated with paraffinic oil. Reciprocating ball-on-flat sliding friction tests using 1 mm diameter steel ball as the counterpart were carried out with normal load ranging from 0.1 N to 1 N in an ambient environment. The morphology of worn surfaces were analyzed using scanning electron microscopy. The friction coefficient significantly increased with the increase of load. The boundary lubrication layer of paraffinic oil contributed to the lower friction at relatively low load (0.1 N), but it is less effective at high load (1 N). Plastic deformed layer patches were formed on the worn surface of oil-enriched AAO at relatively low load (0.1 N) without evidence of tribochemical reaction. On the other hand, thick tribolayers were formed on the worn surface of both oil-enriched and as-prepared AAO at relatively high load (1 N) due to tribochemical reaction and material transfer.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.12
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• pp.2511-2520
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• 2011

This paper describes the parameter adjustment method of fuzzy membership function to improve the performance of multi-sensor fusion system using adaptive fuzzy-Kalman filter and cross-validation. The adaptive fuzzy-Kanlman filter has two input parameters, variation of accelerometer measurements and residual error of Kalman filter. The filter estimates system noise R and measurement noise Q, then changes the Kalman gain. To evaluate proposed adaptive fuzzy-Kalman filter, we make the two-axis AHRS(Attitude Heading Reference System) using fusion of an accelerometer and a gyro sensor. Then we verified its performance by comparing to NAV420CA-100 to be used in various fields of airborne, marine and land applications.

• Analytical Science and Technology
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• v.31 no.3
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• pp.134-142
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• 2018

The uranium isotopic ratio in environmental samples around nuclear facilities is important because it reveals information regarding illegal activities or anthropogenic pollution. Determination of uranium isotopes, however, is a challenging task requiring much labor and time because of the complex separation procedures and lengthy process. In this study, a rapid determination method for uranium isotopes in environmental samples was developed using. The sample was completely decomposed using the alkali fusion method. The separation procedure using extraction chromatography (UTEVA) was simplified in a single step without any further removal process for Si and major matrix elements. The established method can be completed within 3 h from sample dissolution to ICP-MS measurement. Most matrix elements and uranium isotopes in the soil samples were well separated and purified. Five types of were used to assess the method's accuracy and precision for a rapid uranium analysis method. The analytical accuracy for all CRM samples ranged from 95.1 % to 97.8 %, and the relative standard deviation was below 3.9 %. From the analytical results, one may draw conclusions that the evaluated method for uranium isotopes using alkali-fusion, the extraction chromatography process, and ICP-MS measurements is fast and fairly reliable owing to its recovering efficiencies. Thus, it is expected that the evaluated method can contribute to the improvement of environmental monitoring ability.

• Journal of Microbiology and Biotechnology
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• v.17 no.6
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• pp.952-959
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• 2007

His-His-Leu (HHL), a tripeptide derived from a Korean soybean paste, is an angiotensin-I-converting enzyme (ACE) inhibitor. We report here a method of producing this tripeptide efficiently by expressing tandem multimers of the codons encoding the peptide in E. coli and purifying the HHL after hydrolysis of the peptide multimers. The HHL gene, tandemly multimerized to a 40-mer, was ligated with ubiquitin as a fusion gene (UH40). UH40 was inserted into vector pET29b; the UH40 fusion protein was then produced in E. coli BL21. The recombinant UH40 protein was purified by cation-exchange chromatography with a yield of 17.3mg/l and analyzed by matrixassisted laser desorption ionization (MALDI) time-of-flight (TOF) mass spectrometry and protein N-terminal sequencing. Leucine aminopeptidase was used to cleave a 405-Da HHL monomer from the UH40 fusion protein and the peptide was purified using reverse-phase high-performance liquid chromatography (HPLC) on a C18 HPLC column, with a final yield of 6.2mg/l. The resulting peptide was confirmed to be HHL with the aid of MALDI-TOF mass spectrometry, glutamine-TOF mass spectrometry, N-terminal sequencing, and measurement of ACE inhibiting activity. These results suggest that our production method is useful for obtaining a large quantity of recombinant HHL for functional antihypertensive peptide studies.

• Transactions of the Korean hydrogen and new energy society
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• v.23 no.1
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• pp.26-33
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• 2012

Phosphoric acid-doped poly (2,5-benzimidazole) (DABPBI) was prepared by condensation polymerization of 3,4-diaminobenzoic acid for high temperature proton electrolyte membrane fuel cells. The membranes were casted directly using a hot-press unit and characterized by fourier transform infrared spectroscopy, thermogravimetric analysis, conductivity measurement, scanning electron microscopy and tensile test. The proton conductivities of DABPBI are observed to be 0.062 and 0.018 $S{\cdot}cm^{-1}$ under 30 and 1% relative humidity, respectively at a temperature of $120^{\circ}C$ which is appreciably higher than that of Nafion 115 under similar conditions. The DABPBI membrane has demonstrated excellent thermo- mechanical properties and proton conductivity suggesting its suitability as a high temperature membrane.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.28 no.4
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• pp.441-448
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• 2010

This paper estimates the tree height using Airborne LiDAR that is obtained for each season to analyze its influence based on a canopyclosure and data fusion. The tree height was estimated by extracting the First Return (RF) from the tree and the Last Return (LR) from the surface of earth to assume each tree via image segmentation and to obtain the height of each tree. Each data on tree height that is collected from seasonal data and the result of tree height acquired from the data fusion were compared. A tree height measuring device was used to measure on site and its accuracy was compared. Also, its applicability on the result of fused data that is obtained through the Airborne LiDAR is examined. As a result of the experiment, the result of image segmentation for an individual tree was closer to the result of site study for 1 meter interval when compared to the 0.5 meter interval of point cloud. In case of the tree height, the application of fused data enables a closer site measurement result than the application of data for each season.