• 제어로봇시스템학회논문지
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• 제20권11호
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• pp.1153-1163
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• 2014

An efficient 3D SLAM (Simultaneous Localization and Map Building) method is developed for urban building environments using a tilted 2D LRF (Laser Range Finder), in which a 3D map is composed of perpendicular/horizontal planar polygons. While the mobile robot is moving, from the LRF scan distance data in each scan period, line segments on the scan plane are successively extracted. We propose an "expected line segment" concept for matching: to add each of these scan line segments to the most suitable line segment group for each perpendicular/horizontal planar polygon in the 3D map. After performing 2D localization to determine the pose of the mobile robot, we construct updated perpendicular/horizontal infinite planes and then determine their boundaries to obtain the perpendicular/horizontal planar polygons which constitute our 3D map. Finally, the proposed SLAM algorithm is validated via extensive simulations and experiments.

• 한국자기학회지
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• 제3권1호
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• pp.41-47
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• 1993

Co-Cr계 수직자기기록매체에서 비교적 낮은 기판온도에서 높은 보자력을 얻기위하여 제 3원소로서 Ta의 첨가효과에 대하여 연구하였다. Cr함량이 17-21 at.%로 다른 Co-Cr 계에 Ta함량을 3.2 at.%까지 첨가시켜서 여러조성의 Co-Cr-Ta 박막을 제조하고, 자기적 성질 및 미세구조를 조사하였다. Ta첨가로 인한 수직보자력의 향상효과는 Cr함량이 낮은 박막의 경우에 컸으며, 특히 기판온도가 $100^{\circ}C$인 경우 그 향상효과가 더욱 뚜렷하였다. Ta의 첨가로 인한 수직보자력 향상은 결정립 미세화나, c-축 배향성향상에 의한 것이기 보다는 비강자성원소의 편석이 심화됨에 기인하는 것으로 판단된다.

• 한국자기학회지
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• 제4권3호
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• pp.256-262
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• 1994

코발트 단위층의 두께가 $2{\AA}$ 및 $4{\AA}$인 두 경우에 대해 막의 총두께가 약 $200{\AA}$인 Co/Pd 다층막을 제조하였으며 이 때 스퍼터링 압력이 자화반전 및 수직자기이방성에 미치는 영향에 대해 연구 하였다. 수직자기이방성 에너저지가 최대치를 보이는 압력이 존재하였으며 $2{\AA}$ 코발트층의 경우 $4{\AA}$ 경우 보다 낮은 압력에서 최대치가 나타났다. 자화시 자구벽 이동은 압력이 높을수록 어려워졌으며 높은 압력에서 는 자구벽 이동으로부터 자기모멘트 회전으로 자화반전기구가 바뀌었다. 또한 코발트층의 두께가 $2{\AA}$인 경우가 $4{\AA}$인 경우보다 수직자기이방성 에너지가 큰 것으로 나타났다.

• 천문학회보
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• 제37권1호
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• pp.96.2-96.2
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• 2012

We statistically examined ULF Pc 3-5 wave power in the regions of undisturbed upstream solar wind, quasi-parallel shock (and foreshock), quasi-perpendicular shock, and the magnetosheath to understand how and to what extent the wave power changes as the solar wind propagates to the magnetosheath. For this study, we used the magnetic field data from the THEMIS spacecraft and Wind (as shifted to the bow shock nose) for May-November in 2008 and 2009. The statistical results show that, in the case of the Pc5 wave power, the sheath power is roughly proportional to the upstream power for both quasi-parallel (and foreshock) and quasi-perpendicular shock regions. Also we identified undisturbed upstream condition from WIND as being well away from foreshock region, and found that the sheath power can be larger for quasi-parallel shock region by a factor of 5-15 than for quasi-perpendicular shock region. In the cases of Pc 3 and Pc4 waves, we found the higher sheath power when associated with the foreshock than with the quasi-perpendicular shock region.

• Journal of Magnetics
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• 제9권2호
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• pp.40-46
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• 2004

The magnetic properties of sputtered ($Ni_{83}Fe_{17}/Au/Co/Au$) multilayers with various thicknesses of Au (0.5 {\leq} t_{Au} {\leq} 3 nm), Ni-Fe ($1{\leq}t_{Ni-Fe}{\leq}4nm$) and Co ($0.2{\leq}t_{co}{\leq}1.5nm$) layers were characterized. An alternating in-plane and out-of-plane anisotropy of the ferromagnetic layers was achieved for the structures ($t_{Au}{\geq}1.5nm$) showing a weak coupling between the Ni-Fe layers with an in-plane anisotropy and the Co layers ($0.3{\leq}t_Co{\leq}1.2nm$) with a perpendicular anisotropy. For such a structure, a detailed discussion on the GMR effect is presented, relating to the magnetization reversal from a mutually perpendicular magnetic configuration at the remanence to a parallel one at the saturation. An influence of the dense labyrinth domain structure on the magnetoresistance effect is also addressed.

• Bulletin of the Korean Chemical Society
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• 제33권6호
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• pp.1867-1872
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• 2012

The 5-parameter Morse potential (5-MP) method for the interaction between O atom and Cr surfaces is constructed in the present work. The adsorption of O on Cr (100), (110), (111), and (211) surfaces are studied with 5-MP in detail. The fourfold hollow site of the Cr (100) surface is favored for O atom. On Cr (110), quasithreefold site is favored with the parallel frequencies (the frequencies of O atom paralleling the metal surface) of 342 and 538 $cm^{-1}$, and perpendicular frequency (the frequency of O atom perpendicular to the metal surface) at 526 $cm^{-1}$. On Cr (111), the most favored mode for O atom is found to be the quasi-threefold site with the perpendicular frequency at 553 $cm^{-1}$ and the parallel frequencies at 253 and 399 $cm^{-1}$. According to our calculation results, we speculate the most preferred mode for O adsorption on Cr (211) surface is the quasithreefold site with the perpendicular frequency at 583 $cm^{-1}$ and the parallel frequencies at 449 and 185 $cm^{-1}$.

• Asian-Australasian Journal of Animal Sciences
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• 제14권2호
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• pp.155-162
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• 2001

Effect of the north (N) or south pole (S) of a magnet and dithiothreitol (DTT) or heparin sodium (H) on the orientation of bull sperm were studied. Sperm were collected from four Japanese Black bulls of Okinawa Prefectural Livestock Experimental Station were treated with various concentrations of DTT or H during the first and sixth days and were then exposed them to N or S with a magnetic field of 3,000 Gauss for 24 hours. Experimental results showed that both N and S significantly increased the perpendicular oriented percentage of bull sperm in most treatments not treated or treated with DTT or H. Anisotropy of magnetic field of bull sperm was the main cause which induced them to orient perpendicular to the magnetic direction. The results of the experiment also showed that, in most cases, the two polarities had the same effect on the orientation of bull sperm. However, in some cases, N exerted a stronger effect on the perpendicular percentage of bull sperm than S, such as with the 20 mM DTT treatment at the first and sixth days and the 100 units H treatment at the sixth day. These cases showed that the perpendicular oriented percentage of bull sperm at N was significantly higher than that of S. It was only the 100 units heparin treatment at S both at the first and sixth days that upward perpendicular orientation was higher than that at N. This might be due to the fact that protamin-DNA structure of a small number of bull sperm nuclei slightly changed because of heparin action.

• 한국자기학회지
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• 제21권2호
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• pp.52-55
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• 2011

스핀전달토크는 나노구조에서 자성상태를 제어하는데 유용한 수단이다. 자기터널접합에서 스핀전달토크는 자성물질층의 자화가 이루는 평면에 평행한 성분과 수직인 성분으로 나눌 수 있다. 이중 평행한 성분의 스핀전달토크의 성질은 상당히 잘 알려져 있으나, 수직인 성분의 스핀전달토크의 성질에 대해서는 여전히 이견이 많다. 비대칭 자기터널접합에서의 최근 실험에서, 수직전달토크의 전압 의존성이 전압의 이차항 성분뿐만 아니라 일차항 성분도 가짐을 보고하였다. 하지만 물질 변수에 대한 의존성은 여전히 잘 알려지지 않았다. 이 논문에서는 비대칭 자기터널접합에서의 스핀전달토크의 전압의존성을, 강자성층의 스핀 갈라짐 에너지와 일함수의 차이, 그리고 페르미 에너지를 변화시켜 가면서 체계적인 조사를 하였다.

• 한국자기학회지
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• 제17권6호
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• pp.221-225
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• 2007

[ $Co_{73}Pt_{27}-TiO_2$ ] 수직자기 기록매체에 대해 집속이온빔(FIB)을 이용한 $Ga^+$ 이온 조사에 따른 자기적 특성의 변화를 조사하였다. $Ga^+$ 이온 도즈량을 $1\times10^{15}ions/cm^2$에서 $30\times10^{15}ions/cm^2$까지 증가시켰을 때 도즈량 $20\times10^{15}ions/cm^2$ 이상에서 수직자기이방성 및 강자성 특성이 사라지는 것이 관찰되었으며, 이는 스퍼터링 효과에 따른 수직자기 기록층의 두께 감소보다는 $Ga^+$ 이온 주입에 따른 수직자기 기록매체내의 조성 분포의 변화에 따른 것으로 보인다. $Ga^+$ 이온 조사법을 이용하며 $70\times70nm^2,\;100\times100nm^2$ 크기의 자기구조체 패턴을 형성하였다.

• Biomaterials and Biomechanics in Bioengineering
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• 제2권2호
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• pp.111-125
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• 2015

For engineers, generating a mesh in porous media (PMs) sometimes represents a smaller computational load than generating realistic stent geometries with computer fluid dynamics (CFD). For this reason, PMs have recently become attractive to mimic flow-diverter stents (FDs), which are used to treat intracranial aneurysms. PMs function by introducing a hydraulic resistance using Darcy's law; therefore, the pressure drop may be computed by test sections parallel and perpendicular to the main flow direction. However, in previous studies, the pressure drop parallel to the flow may have depended on the width of the gap between the stent and the wall of the test section. Furthermore, the influence of parameters such as the test section geometry and the distance over which the pressure drops was not clear. Given these problems, computing the pressure drop parallel to the flow becomes extremely difficult. The aim of the present study is to resolve this lack of information for stent modeling using PM and to compute the pressure drop using several methods to estimate the influence of the relevant parameters. To determine the pressure drop as a function of distance, an FD was placed parallel and perpendicular to the flow in test sections with rectangular geometries. The inclined angle method was employed to extrapolate the flow patterns in the parallel direction. A similar approach was applied with a cylindrical geometry to estimate loss due to pipe friction. Additionally, the pressure drops were computed by using CFD. To determine if the balance of pressure drops (parallel vs perpendicular) affects flow patterns, we calculated the flow patterns for an ideal aneurysm using PMs with various ratios of parallel pressure drop to perpendicular pressure drop. The results show that pressure drop in the parallel direction depends on test section. The PM thickness and the ratio of parallel permeability to perpendicular permeability affect the flow pattern in an ideal aneurysm. Based on the permeability ratio and the flow patterns, the pressure drop in the parallel direction can be determined.