• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.6
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• pp.645-651
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• 2012

In this paper, we propose a new method for stabilizing the image captured from a camera mounted on a buoy robot. In this study, in order to solve the problem of cumulative errors and noise produced by a general gyro sensor measuring the orientation angle of the buoy robot, we propose new method for stabilizing the image. In this method, image processing techniques are combined with a newly designed target mounting mechanism that adapts to wave fluctuations. New target extraction and angle estimation techniques are introduced, along with the new mounting mechanism used for the camera and the target, which produce a stabilized image even if the buoy robot is on fluctuating waves.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2002.07b
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• pp.869-873
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• 2002

$Cu_2ZnSnS_4$ (CZTS) thin film is one of the candidate materials for the solar cell. It has an excellent optical absorption coefficient as well as appropriate 1.4~1.5eV band gap. The purpose of this study is replacing a half of high-cost Indium(In) atoms with low-cost Zinc(Zn) atoms and the other half with low-cost Tin(Sn) atoms in the lattice of CIS. In annealing process of thin films deposited with mixture target, the thin films were appeared the peeling. The resistivity was decreased. Thin films were deposited on ITO glass substrates using a compound target which were made by $CU_2S$, ZnS, $SnS_2$ powder were sintered in the atmosphere of Al at room temperature by rf magnetron sputtering We investigated potentialities of a low-cost material for the solar cell by measuring of thin film composition, the structure and optical properties. We could get an appropriate $Cu_2ZnSnS_4$ composition A (112) preferred orientation was appeared without annealing temperature as shown in the diffraction peaks of the CIS cells and was available for photovoltaic thin film materials. The band gap increased from 1.4 to 1.7eV as the composition ratio of Zn/Sn.. The optical absorption coefficient of the thin film was above $10^4cm^{-1}$.

• Journal of KIISE
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• v.45 no.3
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• pp.211-223
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• 2018

In this paper, we propose a robot-centered direction relation representation and the relevant reasoning methods for indoor service robots. Many conventional works on qualitative spatial reasoning, when deciding the relative direction relation of the target object, are based on the use of position information only. These reasoning methods may infer an incorrect direction relation of the target object relative to the robot, since they do not take into consideration the heading direction of the robot itself as the base object. In this paper, we present a robot-centered direction relation representation and the reasoning methods. When deciding the relative directional relationship of target objects based on the robot in an indoor environment, the proposed methods make use of the orientation information as well as the position information of the robot. The robot-centered reasoning methods are implemented by extending the existing cone-based, matrix-based, and hybrid methods which utilized only the position information of two objects. In various experiments with both the physical Turtlebot and the simulated one, the proposed representation and reasoning methods displayed their high performance and applicability.

• Current Photovoltaic Research
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• v.2 no.3
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• pp.88-94
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• 2014

The structural, optical and electrical properties of sputter-deposited CIGS films were directly influenced by the sputtering process parameters such as substrate temperature, working pressure, RF power and distance between target and substrate. CIGS thin films deposited by using a quaternary target revealed to be Se deficient due to Se low vapor pressure. This Se deficiency affected the overall stoichiometry of the films, causing the films to be Cu-rich. Current tends to pass through the Cu-Se channels which act as the shunting path increasing the film conductivity. The crystal structure of CIGS thin films depends on the substrate orientation due to the influence of surface morphology, grain size and stress of Mo substrate. The excess of Cu was removed from the CIGS films by KCN treatment, achieving a suitable Cu concentration (referred as Cu-poor) for the fabrication of solar cell. Due to high Cu concentrations on the CIGS film surface induced by Cu-Se phases after CIGS film deposition, KCN treatment proved to be necessary for the fabrication of high efficiency solar cells. Also during KCN treatment, dislocation density and lattice parameter decreased as excess Cu was removed, resulting in increase of bandgap and the decrease of conductivity of CIGS films. It was revealed that Cu-Se secondary phase could be removed by KCN wet etching of CIGS films, allowing the fabrication of high efficiency absorber layer.

• Korean Journal of Materials Research
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• v.20 no.1
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• pp.47-50
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• 2010

Various thicknesses of Al-doped ZnO (AZO) films were deposited on glass substrate using pulsed dc magnetron sputtering with a cylindrical target designed for large-area high-speed deposition. The structural, electrical, and optical properties of the films of various thicknesses were characterized. All deposited AZO films have (0002) preferred orientation with the c-axis perpendicular to the substrate. Crystal quality and surface morphology of the films changed according to the film thickness. The samples with higher surface roughness exhibited lower Hall mobility. Analysis of the measured data of the optical band gap and the carrier concentration revealed that there were no changes for all the film thicknesses. The optical transmittances were more than 85% regardless of film thickness within the visible wavelength region. The lowest resistivity, $4.13\times10^{-4}\Omega{\cdot}cm^{-1}$ was found in 750 nm films with an electron mobility $(\mu)$ of $10.6 cm^2V^{-1} s^{-1}$ and a carrier concentration (n) of $1.42\times10^{21} cm^{-3}$.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2007.06a
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• pp.379-380
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• 2007

The characteristics of a co-sputtered indium zinc tin oxide (IZTO) films prepared by dual target dc magnetron sputtering from IZO and ITO targets at a room temperature are investigated. Film properties, such as sheet resistance, optical transmittance, surface work function and surface roughness were examined as a function of ITO dc power at constant IZO dc power of 100 W. It was shown that the increase of the ITO dc power during co-sputtering of ITO and IZO target resulted in an increase of sheet resistance of the IZTO films. This can be attributed to high resistivity of ITO film prepared at room temperature. Surface smoothness and roughness were investigated by Scanning Electron Microscopy (SEM) and Atomic Force Microscopy (AFM). The synchrotron x-ray scattering results obtained from IZTO film with different ITO contents showed that introduction of ITO atoms into amorphous IZO film resulted in a crystallization of IZTO film with (222) preferred orientation due to low alc transition temperature of ITO film. However, the transmittance of the IZTO films with thickness of 150 nm is between 80 and 85 % at wavelength of 550 nm regardless of ITO content. Possible mechanism to explain the ITO and IZO co-sputtering effect on properties of IZTO is suggested.

• Korean Journal of Materials Research
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• v.18 no.10
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• pp.521-528
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• 2008

We present the structural, optical, and electrical properties of amorphous silicon suboxide (a-$SiO_x$) films grown on indium tin oxide glass substrates with a radio frequency magnetron technique from a polycrystalline silicon oxide target using ambient Ar. For different substrate-target distances (d = 8 cm and 10 cm), the deposition temperature effects were systematically studied. For d = 8cm, oxygen content in a-$SiO_x$ decreased with dissociation of oxygen onto the silicon oxide matrix; temperature increased due to enlargement of kinetic energy. For d = 10 cm, however, the oxygen content had a minimum between $150^{\circ}\;and\;200^{\circ}$. Using simple optical measurements, we can predict a preferred orientation of liquid crystal molecules on a-$SiO_x$ thin film. At higher oxygen content (x > 1.6), liquid crystal molecules on an inorganic liquid crystal alignment layer of a-$SiO_x$ showed homogeneous alignment; however, in the lower case (x < 1.6), liquid crystals showed homeotropic alignment.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.23 no.11
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• pp.1384-1390
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• 2019

This paper proposes a technological solution for improving the recognition direction of target objects for automatic vision inspection by machine vision. This paper proposes a technological solution for improving the recognition direction of target objects for automatic vision inspection by machine vision. This enables the automatic machine vision inspection to detect the image of the inspection object regardless of the position and orientation of the object, eliminating the need for a separate inspection jig and improving the automation level of the inspection process. This study develops the technology and method that can be applied to the wire harness manufacturing process as the inspection object and present the result of real system. The results of the system implementation was evaluated by the accredited institution. This includes successful measurement in the accuracy, detection recognition, reproducibility and positioning success rate, and achievement the goal in ten kinds of color discrimination ability, inspection time within one second and four automatic mode setting, etc.

• The Journal of the Korea Contents Association
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• v.18 no.11
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• pp.484-492
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• 2018

This study examined the effects of field complexity and type of target objects on the performance in baggage screening task. A total of 62 participants(male: 45.2%, female: 54.8%) participated and their mean age was 22.88. The simulated baggage screening task was developed for this study and after the orientation and task exercises, main experiment session was conducted. Participants performed a total of 200 tasks and 40(20%) contained target object. The complexity was set at three levels: high, middle, and low levels and the number of background items contained 20, 14. and 8 respectively. The type of target was set as gun, knife, liquid, and righter. The dependent variables were hit ratio and reaction time. The results showed that the hit ratio decreased and reaction time increased significantly as field complexity increased, and they varied depending on the type of target. The hit ratio of the knife was the highest and liquid lowest and reaction time of the knife was the fastest and liquid slowest. In addition, the interaction effect was also significant. Knife was not affected by complexity, however, small item such as lighter was most affected by complexity.

• Tunnel and Underground Space
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• v.13 no.6
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• pp.486-494
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• 2003

When the orientations of joints are measured on a rock exposure, there are frequent cases that are difficult to approach by the surveyor to the target joints or to set up scanlines on the slope. In this study, to complement such limit and weak points, a new algorithm was developed to interpret joint orientation from analyzing the images of rock slope. As a method of arranging the multiple images of a rock slope, the multistage convergent photographing system was introduced to overcome the limitation of photographing direction which existing method such as parallel stereophotogrammetric system has and to cover the range of image measurement, which is the overlapping area between the image pair, to a maximum extent. To determine camera parameters in the perspective projection equation that are the main elements of the analysis method, a new method was developed introducing three ground control points and single ground guide point. This method could be considered to be very simple compared with other existing methods using a number of ground control points and complicated analysis process. So the global coordinates of a specific point on a rock slope could be analyzed with this new method. The orientation of a joint could be calculated using the normal vector of the joint surface which can be derived from the global coordinates of several points on the joint surface analyzed from the images.