• 로봇학회논문지
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• 제14권1호
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• pp.65-73
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• 2019

In this paper, we propose an algorithm that estimates the location of lunar rover using IMU and vision system instead of the dead-reckoning method using IMU and encoder, which is difficult to estimate the exact distance due to the accumulated error and slip. First, in the lunar environment, magnetic fields are not uniform, unlike the Earth, so only acceleration and gyro sensor data were used for the localization. These data were applied to extended kalman filter to estimate Roll, Pitch, Yaw Euler angles of the exploration rover. Also, the lunar module has special color which can not be seen in the lunar environment. Therefore, the lunar module were correctly recognized by applying the HSV color filter to the stereo image taken by lunar rover. Then, the distance between the exploration rover and the lunar module was estimated through SIFT feature point matching algorithm and geometry. Finally, the estimated Euler angles and distances were used to estimate the current position of the rover from the lunar module. The performance of the proposed algorithm was been compared to the conventional algorithm to show the superiority of the proposed algorithm.

• Steel and Composite Structures
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• 제32권6호
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• pp.769-778
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• 2019

The specially prefabricated steel moment connections with pyramid head is one of the significant innovations in the steel structures forms to improve the installation time and simplify the construction procedure. The beams in this structure form are supported by two top and bottom angles and web double angles. Such a configuration despite its advantages increases the welding operation and filed installation time and costs. In this paper, the effect of using beams with channel and I section in three classes of seismically compact, seismically non-compact, and slender section according to width-to-thickness ratio on the behavior of the connection was investigated under monotonic and cyclic loading. Modeling was performed by ABAQUS and verified by the results of an experimental specimen. The findings indicated that using I and channel section instead of angle section reduces the amount of welding materials as well as easing the installation procedure. However, it has no significant effect on the ultimate strength and ductility of the connection. Furthermore, if the beam section is seismically compact, this form is considered as a special moment frame that has a rotation capacity up to 0.04 radians without any reduction in connection moment resistance.

• Journal of Power Electronics
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• 제16권2호
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• pp.464-472
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• 2016

This study applies the selective harmonic elimination (SHE) technique to design and operate a regulated AC/DC/AC power supply suitable for maritime military applications and underground trains. The input is a single 50/60 Hz AC voltage, and the output is a 400 Hz regulated voltage. The switching angles for a multi-level inverter and transformer turns ratio are determined to operate with special connected transformers with equal power ratings and produce an almost sinusoidal current. As a result of its capability of directly controlling harmonics, the SHE technique is applicable to apparatus with congenital immunity to specific harmonics, such as series-connected transformers, which are specially designed to equally share the total load power. In the present work, a single-phase 50/60 Hz input source is rectified via a semi-controlled bridge rectifier to control DC voltage levels and thereby regulate the output load voltage at a constant level. The DC-rectified voltage then supplies six single-phase quazi-square H-bridge inverters, each of which supplies the primary of a single-phase transformer. The secondaries of the six transformers are connected in series. Through off-line calculation, the switching angles of the six inverters and the turns ratios of the six transformers are designed to ensure equal power distribution for the transformers. The SHE technique is also employed to eliminate the higher-order harmonics of the output voltage. A digital implementation is carried out to determine the switching angles. Theoretical results are demonstrated, and a scaled-down experimental 600 VA prototype is built to verify the validity of the proposed system.

• 한국의학물리학회지:의학물리
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• 제15권2호
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• pp.94-99
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• 2004

GafChromic 필름은 높은 분해능과 낮은 민감도 그리고 조직 등가 물질에 유사하게 구성되어 있다. 본 연구의 목적은 GafChromic 필름을 이용하여 고선량률 근접치료에 사용하는 Ir-192선원 근접 거리에서의 비등방성을 측정하는 것이다. GafChromic 필름은 0 Gy 105 Gy까지 4 MV 선형가속기를 이용하여 흑화도를 구하였다. 비등방성 값은 아크릴 팬톰에서 GafChromic 필름을 이용하여 측정하였고, 측정된 값은 J. F. Williamson이 몬데칼로 계산한 값과 비교하였다. 비교 결과 거리(r) 2.5 mm, 각도 50 ∼ 130도까지 영역에서 4.4% 이내로 일치하였고 반면 140도 부근에서 17.6% 차이가 나는 것을 알 수 있었고, 한편 거리(r) 5 mm, 각도 35 ∼ 160도까지 3.7% 이내로 일치하였고, 30도 부근에서는 7.6% 정도 차이가 나는 것을 알 수 있었다. GafChromic필름은 고선량률 근접치료 Ir-192선원의 근접 거리에서 비등방성 측정 시 기존에 사용되고 있는 측정 장비보다 매우 유용한 것으로 생각된다.

• Structural Engineering and Mechanics
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• 제14권3호
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• pp.245-262
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• 2002

The free vibration analysis of stiffened laminated composite plates has been performed using the layered (zigzag) finite element method based on the first order shear deformation theory. The layers of the laminated plate is modeled using nine-node isoparametric degenerated flat shell element. The stiffeners are modeled as three-node isoparametric beam elements based on Timoshenko beam theory. Bilinear in-plane displacement constraints are used to maintain the inter-layer continuity. A special lumping technique is used in deriving the lumped mass matrices. The natural frequencies are extracted using the subspace iteration method. Numerical results are presented for unstiffened laminated plates, stiffened isotropic plates, stiffened symmetric angle-ply laminates, stiffened skew-symmetric angle-ply laminates and stiffened skew-symmetric cross-ply laminates. The effects of fiber orientations (ply angles), number of layers, stiffener depths and degrees of orthotropy are examined.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.932-937
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• 2002

The polyimide nozzle and silicon restrictor inside a thermal micro actuator have been fabricated using state of the art laser micromachining methods. Numerical models of fluid dynamics inside the actuator chamber and nozzle are presented. The models include fluid flow from reservoir, bubble formation and growth, ejection through the nozzle, and dynamics of refill through restrictor. Since high tapered nozzle and restrictor are very important parameters for overall actuator performance design, a special setup for the beam delivery system has been developed. The effects of variations of nozzle thickness, diameter, taper angles, and restrictor shapes are simulated and some results are compared with the experimental results. It is fecund that the fluid ejection through the thinner and high tapered nozzle is more steady, fast, and robust and the tapered restrictor shows more satisfying refill than the zero taper one.

• 한국통신학회논문지
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• 제9권3호
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• pp.113-119
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• 1984

誘電體圓柱가 축에 수직한 방향으로 正弦的으로 振動할 때 이에 의한 電磁波의 散亂을 고찰하였다. 순간적인 振動速度와 같은 等速度가 있다고 가정하고 그 순간은 特殊相對性理論에 기초하여 散亂界를 구하고 이를 한 振動週期에 확대 적용하였다. 平均散亂電力의 角度分布와 散亂斷面績, 레이다斷面績의 평균을 平面波의 入射角, 振動振幅과 振動角速度로 표시되는 순간진동속도의 최대치를 변수로 하여 변화상태를 규명하였다. 冷플라즈마의 圓柱가 진동하는 경우도 검토하였다.

• 전기전자학회논문지
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• 제11권4호
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• pp.297-306
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• 2007

A sensor network is composed of a large number of sensor nodes that are densely deployed in a field. Each sensor performs a sensing task for detection specific events. After detecting this event, location information of the sensor node is very important. Range-based scheme of the proposed approaches typically achieve high accuracy on either node-to-node distances or angles, but this scheme have a drawback because all sensor nodes have the special hardware. On the other hand, range-free scheme provides economic advantage because of no needed hardware even if that leads to coarse positioning accuracy. In this paper, we propose a range-free localization algorithm without range information in wireless sensor networks. This is a range-free approach and uses a small number of anchor nodes and known sensor nodes. This paper develops a localization mechanism using the geometry conjecture (perpendicular bisector of a chord). The conjecture states that a perpendicular bisector of a chord passes through the center of the circle.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2006년도 정기 학술대회 논문집
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• pp.719-724
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• 2006

Owing to its special features of light weight, high durability, corrosion-resistant, composite material used in civil infrastructure can not only solve fundamental problems of deterioration and corrosion, but also reduce both construction and maintenance cost significantly. Composite deck panels of 스냅핏 type connection previously designed and fabricated have been redesigned herein. The sensitivity of gaps between snap-fits and tip angles was investigated. Stacking sequence of plies was scrutinized in order to facilitate pultrusion process. Deck panels of redesigned configuration due to bending has been analyzed. A comparison between the preliminary and modified deck design has been made.

• 가정과삶의질연구
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• 제3권1호
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• pp.51-67
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• 1985

The purpose of the present paper is to review the content of the Consumer Education Programs, is to establish a hypothetical model regarding the contents of the consumer Education programs, and is also to analyze the contents of the Consumer Education Programs seen from the various angles of the value of our home life. For this, we have researched literatures and habe made the hypothetical model for the desirable contents of the consumer education programs, and also have conducted a case study together with and analysis bearing the actual evidence. Form what we have studied regarding the results of the research, conclusions that can be derived are as follows; First, the contents of the consumer education programs of Korea are not sufficient to improve the quality of the environments of our houses, family life, and decision making. Secondly, the contents of the consumer education do not meet the societal and economic changes. Third, since the contents of the consumer program of Korea emphasize the theory-oriented discussion, they are not suitable to educate the consumers who are really in need of consumer education.