• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.4
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• pp.675-683
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• 1992

Mapping and navigation system based on certainty grids for an autonomous mobile robt operating in unknown and unstructured environment is described. The system uses sonar range data to build a map of robot's surroundings. The range data from sonar sensor are integrated into a probability map that is composed of two dimensional grids which contain the probabilities of being occupied by the objects in the environment. A Bayesian model is used to estimate the uncertainty of the sensor information and to update the existing probability map with new range data. The resulting two dimensional map is used for path planning and navigation. In this paper, the Bayesian updating model which was successfully simulated in our earlier work is implemented on a mobile robot and is shown to be valid in the real world through experiment. This paper also proposes a technique for reducing for reducing specular reflection problem of sonar system which seriousely deteriorates the map quality, and a new path planning method based on weighted distance, which enables the robot to efficiently navigate in an unknown area.

• Current Applied Physics
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• v.18 no.12
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• pp.1564-1570
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• 2018

Charge transport dynamics in ZnO based inverted organic solar cell (IOSC) has been characterized with transient photocurrent spectroscopy and localised photocurrent mapping-atomic force microscopy. The value of maximum exciton generation rate was found to vary from $2.6{\times}10^{27}m^{-3}s^{-1}$ ($J_{sat}=79.7A\;m^{-2}$) to $2.9{\times}10^{27}m^{-3}s^{-1}$ ($J_{sat}=90.8A\;m^{-2}$) for devices with power conversion efficiency ranging from 2.03 to 2.51%. These results suggest that nanorods served as an excellent electron transporting layer that provides efficient charge transport and enhances IOSC device performance. The photovoltaic performance of OSCs with various growth times of ZnO nanorods have been analysed for a comparison between AM1.5G spectrum and local solar spectrum. The simulated PCE of all devices operating under local spectrum exhibited extensive improvement with the gain of 13.3-3.7% in which the ZnO nanorods grown at 15 min possess the highest PCE under local solar with the value of 2.82%.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.4
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• pp.1301-1308
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• 1996

In order to save the energy and protect the environment, it were studied about ecomaterials with the developed countries as central figure. In the Metal Matrix Composites(MMCs), this trends appeared the development of the MMCs which had excellent mechanical properties in spite of the low volume fraction of reinforcement. Therefore, in this study, fatigue crack growth test, tensile and hardness test were conducted in order to investigate the mechanical and fatigue properties of 5 %, and 10 % $SiC_{p}$/Al composites. As the results, in the tensile and hardness test, tensile strength and hardness increased but fatigue crack growth rate decreased with $SiC_{p}$/Al volume fraction. And in the view of fatigue failured surface through the SEM, fatigue crack initiated around the SiC particle and in low $\Delta{K}$ regions, fatigue creck detoured the SiC particle but crack propagated through the SiC particle in the high $\DeltaK$ regions.

• Proceedings of the KSME Conference
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• 2001.06c
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• pp.293-298
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• 2001

In this paper, film thickness and temperature distribution are measured in EHL point contact at high roll/slip ratios. Infrared temperature mapping with two band pass filters, proposed by Ausherman (1976), is used to measure temperature distribution. And the optical interferometric method with two filters (red and green filters) is used to measure film thickness. Result of experiment showed that temperature rising at film and ball surface occurred very dramatically in Dimple zone. As slip velocity, roll/slip ratio and load increased, size of Dimple and temperature rising became more large. In addition, position and shape of Dimple were changed by roll/slip ratios, and increasing of Dimple size decreased traction coefficient. In short, it is appointed that the Dimple phenomenon be developed by the effect of viscosity wedge.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.2
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• pp.129-138
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• 2016

This paper presents a natural corners-based SLAM (Simultaneous Localization and Mapping) with a robust data association algorithm in a real unknown environment. Corners are extracted from raw laser sensor data, which are chosen as landmarks for correcting the pose of mobile robot and building the map. In the proposed data association method, the extracted corners in every step are separated into several groups with small numbers of corners. In each group, local best matching vector between new corners and stored ones is found by joint compatibility, while nearest feature for every new corner is checked by individual compatibility. All these groups with local best matching vector and nearest feature candidate of each new corner are combined by partial compatibility with linear matching time. Finally, SLAM experiment results in an indoor environment based on the extracted corners show good robustness and low computation complexity of the proposed algorithms in comparison with existing methods.

• Korean Journal of Computational Design and Engineering
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• v.2 no.1
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• pp.60-67
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• 1997

CAD systems offer a variety of techniques for designing and rendering models of static 3D objects and even of mechanisms, but relatively few tools exist for interactively specifying arbitrary movements of rigid bodies through space. Such tools are essential, not only for artistic animation, but also, for planning and demonstrating assembly and disassembly procedure of manufactured products. A rigid body motion is a continuous mapping from the time domain to a set of positions. To relieve the designers from the burden of specifying this mapping in abstract mathematical terms, combinations of simple rigid motion primitives, such as linear translations or constant axis rotations, are often used. These simple motions are planar and thus ill-suited for approximating arbitrary motions in 3D-space. Instead, we propose the screw motion primitive, a special combination of linear translations and constant axis rotations, which has a simple geometric representation that can be automatically and unambiguously computed from the starting and ending positions of the moving body. Although, any two positions may be interpolated by an infinity of motions, we chose the screw motion for its relative generality and its computational advantages. The paper covers original algorithms for computing the screw motions from interpolated positions and envelopes of swept regions to predict collisions.

• Communications of the Korean Mathematical Society
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• v.19 no.2
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• pp.321-328
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• 2004

In this paper, we will prove the following: Let D be a nonempty of a normed linear space X and T : D -> X be a nonexpansive mapping. Let ${x_n}$ be a sequence in D and ${t_n}$, ${s_n}$ be real sequences such that (i) $0\;{\leq}\;t_n\;{\leq}\;t\;<\;1\;and\;{\sum_{n=1}}^{\infty}\;t_n\;=\;{\infty},\;(ii)\;(a)\;0\;{\leq}\;s_n\;{\leq}\;1,\;s_n\;->\;0\;as\;n\;->\;{\infty}\;and\;{\sum_{n=1}}^{\infty}\;t_ns_n\;<\;{\infty}\;or\;(b)\;s_n\;=\;s\;for\;all\;n\;{\geq}\;1\;and\;s\;{\in}\;[0,1),\;(iii)\;x_{n+1}\;=\;(1-t_n)x_n+t_nT(s_nTx_n+(1-s_n)x_n)\;for\;all\;n\;{\geq}\;1.$ Then, if the sequence {x_n} is bounded, then $lim_{n->\infty}\;$\mid$$\mid$x_n-Tx_n$\mid$$\mid$\;=\;0$. This result improves and complements a result of Deng [2]. Furthermore, we will show that certain conditions on D, X and T guarantee the weak and strong convergence of the Ishikawa iterative sequence to a fixed point of T.

• Korean Journal of Computational Design and Engineering
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• v.19 no.3
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• pp.253-262
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• 2014

3D city model, which consisted of the 3D building models and their geospatial position and orientation, is becoming a valuable resource in virtual reality, navigation systems, civil engineering, etc. The purpose of this research is to propose the new framework to generate the 3D city model that satisfies visual and physical requirements in ground oriented simulation system. At the same time, the framework should meet the demand of the automatic creation and cost-effectiveness, which facilitates the usability of the proposed approach. To do that, I suggest the framework that leverages the mobile mapping system which automatically gathers high resolution images and supplement sensor information like position and direction of the image. And to resolve the problem from the sensor noise and a large number of the occlusions, the fusion of digital map data will be used. This paper describes the overall framework with major process and the recommended or demanded techniques for each processing step.

• Korean Journal of Computational Design and Engineering
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• v.18 no.3
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• pp.234-242
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• 2013

Different CAD systems are used in ship outfitting design on different usage and purpose. Therefore, data exchanges between CAD systems are required from different formats. For data exchange, boundary representation standard formats such as IGES and ISO 10303 (STEP) are widely used. However, they present only B-rep representation. Because of different CAD systems have their own geometry format, data exchanges with design intend are difficult. Especially, Tribon and PDMS use primitives for express their geometry in ship outfitting design. However, Tribon primitives are represented their parameter by values that are non-parametric. Therefore, data size of catalogue library is bigger than different CAD system using parametric primitive representation. And that system has difficulty on data reprocessing. To solve that problem, we discuss about shape DB which contains design parameters of primitive for exchange Tribon primitives. And geometry data exchange between Tribon and Shape Database that defines based on PDMS scheme are specified using primitive mapping that can represent design intend.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.4
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• pp.167-173
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• 2005

Thermal regeneration means burning-off and cleaning-up the particulate matters piled up in DPF(diesel particulate filter), and it requires both high temperature $(550\~600^{\circ}C)$ and appropriate concentration of oxygen at DPF entrance. However, it is not easy to satisfy such conditions because of the low temperature window of the HSDI(high speed direct injection) diesel engine(approximately $200\~350^{\circ}C$ at cycle). Therefore, this study is focused on the method to raise temperature using the trade-off relation between temperature, oxygen concentration, and the influence of many parameters of common rail injection system including post injection. After performing an optimal mapping of the common rail parameters for regeneration mode, the actual cleaning process during regeneration mode is investigated and evaluated the availability of the regeneration mode mapping through regenerating soot trapped in the DPF.