• 분석과학
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• 제21권6호
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• pp.562-568
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• 2008

A novel two-dimensional cadmium(II)-nickel(II) bimetallic host clathrate, $[Cd{NH_2CH_2CH_2OH}_2Ni(CN)_4]{\cdot}3C_6H_5NH_2{\cdot}H_2O$, 1, has been synthesized and structurally characterized by X-ray single crystallographic method. The clathrate 1 crystallizes in the monoclinic system, space group $P2_1/c$ with a = 14.370(3), b = 7.728(1), c = 28.172(4) ${\AA}$, ${\beta}=97.58(1)^{\circ}$, V = 3101.1(9) ${\AA}^3$, Z = 4. The host framework of the clathrate 1 is built of the cyanide bridges between octahedral Cd(II) atom and square planar Ni(II) atom. The octahedral Cd atoms ligated by two 2-aminoethanol molecules and four cyanide ligands bridged with square planar Ni atoms. The Ni atoms bridges to four Cd atoms via cyanides is made up of puckered quadrangles of composition $\{CdNi(CN)_2\}_2$, all edges are shared. This cyanide bridges form an infinite two-dimensional host networks stacking along b axis. 2-Aminoethanol ligands bond to Cd atom through N atom as a monodentate ligand in the axial position and four cyanides take an equatorial plane with all in trans-configurations. The aniline guest molecules and water molecules are located in between the host layer sheets, respectively.

• Journal of Positioning, Navigation, and Timing
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• 제2권1호
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• pp.81-89
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• 2013

Many of the current visual odometry algorithms suffer from some extreme limitations such as requiring a high amount of computation time, complex algorithms, and not working in urban environments. In this paper, we present an approach that can solve all the above problems using a single camera. Using a planar motion assumption and Ackermann's principle of motion, we construct the vehicle's motion model as a circular planar motion (2DOF). Then, we adopt a 1-point method to improve the Ransac algorithm and the relative motion estimation. In the Ransac algorithm, we use a 1-point method to generate the hypothesis and then adopt the Levenberg-Marquardt method to minimize the geometric error function and verify inliers. In motion estimation, we combine the 1-point method with a simple least-square minimization solution to handle cases in which only a few feature points are present. The 1-point method is the key to speed up our visual odometry application to real-time systems. Finally, a Bundle Adjustment algorithm is adopted to refine the pose estimation. The results on real datasets in urban dynamic environments demonstrate the effectiveness of our proposed algorithm.

• 전기전자학회논문지
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• 제16권3호
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• pp.173-176
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• 2012

본 논문에서는 평판형 방사소자를 이용한 새로운 원형편파용 혼 안테나를 제안한다. 본 안테나는 평판형 마이크로스트립 안테나와 구형 혼으로 구성되며, 혼 내부에 삽입되는 마이크로스트립 안테나는 혼에 전력신호를 여기하는 급전부이자 편파기로서 동작한다. 또한, 마이크로스트립 안테나는 고이득, 높은 고립도 특성과 함께 광대역을 구현하기 위하여 금속 스페이서를 삽입한 적층형 구조로 설계되었다. 제안된 구조를 통하여, 혼 안테나는 급전부와 편파기와 같은 부가적인 구조를 별도로 설계하지 않음으로써 안테나의 소형화를 도모할 수 있다. 제안된 안테나는 8.6dBi의 이득과 4.8%의 3-dB 축비 대역폭을 가지며, 특히, 높은 대역에서 원형편파로 동작되는 이동통신 및 위성통신 분야의 다양한 안테나 시스템에 적용될 수 있다.

• 대한전자공학회논문지TC
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• 제45권7호
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• pp.72-76
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• 2008

본 논문에서는 모노폴 안테나를 변형한 평면형 모노폴 안테나를 제안하였다. 제안된 안테나의 루프구조 중심부를 개방하고 일정 부분을 내부로 접어서 안테나의 선로간의 커페시턴스를 증가하여 리액턴스 값을 최소화하였으며, 또한 안테나의 크기를 약 20%정도 최소화하였다. 제안된 안테나는 단일 평면으로 구현할 수 있는 CPW(Coplanar waveguide) 급전방법을 이용하였다. 안테나의 이득은 최대 3.1[dBi]이며 대역폭은 $VSWR{\le}2$를 기준하여 900MHz ($2.6{\sim}3.56GHz]$)로 29.9% 대역폭을 얻었다. 이는 S-DMB대역을 충족시킬 수 있다.

• Bulletin of the Korean Chemical Society
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• 제7권2호
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• pp.129-136
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• 1986

The dipole moments for some coordination compounds with organic ligands have been calculated adopting the molecuar orbitals obtained from EHT calculation with modified technique. Adopting the molecular orbitals with the modified technique, the calculated dipole moments for all the coordination compounds with organic ligands give closer agreements with experimental values than those using the molecular orbitals obtained from EHT calculation. The calculated dipole moments suggest that $(C_2H_5)_2SO,\;(C_6H_5)_2SO,\;and\;(C_6H_5)_2SeO$ may have a trigonal planar structure and $(C_6H_5)_3AsO,\;and\;(C_6H_5)_3PBCl_3$ a square planar structure and $(C_2H_5)_2OZrCl_4$ may be distorted markedly. This work may also indicate that the modified technique is superior to the EHT calculation as far as the dipole moment calculation is concerned.

• 대한조선학회논문집
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• 제57권5호
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• pp.287-296
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• 2020

The present study aims to improve the accuracy of the maneuvering simulations based on captive model test results. To derive the hydrodynamic coefficients in a self-propelled condition, a mathematical maneuvering model using a whole vehicle model was established. Captive model tests were carried out using the Vertical Planar Motion Mechanism (VPMM) equipment. A motor controller was used to control the constant propeller revolution rate during pure motion tests. The resistance tests, self-propulsion tests, static drift tests, and VPMM tests were performed in the towing tank of Seoul National University. When the vertical drift angle changes, the gravity load on the sensors were changed. The hydrodynamic forces were deduced by subtracting the gravity load from the measured forces. The hydrodynamic coefficients were calculated using the least-square method. The simulation of the turning circle test was compared with the free-running model test result, and the error of the turning radius was 8.3 % compared to the free-running model test.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2004년도 제22회 춘계학술대회논문집
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• pp.408-413
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• 2004

Numerical and experimental investigation were car-ried out to clarify the flow structure of underexpanded jet from a square nozzle. The square nozzle rep-resents one of the clustered combustors of a linear aerospike engine. From the numerical results, the three-dimensional shock wave of the underexpanded square jet was found to be composed of two shocks. One is the intercepting shock which corresponds to the shock observed in two-dimensional planar jet. The other is the recompression shock divided into two types. The expansion fans coming from the nozzle edges interact with each other at the comers of the nozzle exit, and overexpanded regions are generated. Therefore one of the two recompression shocks is formed at the comers of the nozzle exit behind the overexpanded regions. As the jet goes downstream, the overexpanded regions grow larger to coalesce at the symmetry planes. Then, the other type of the recompression shock is generated. The three-dimensional shock structure formed by the intercepting shock and the recompression shocks dominates the expansion of the jet boundary. The shock detection algorithm us-ing CFD results was developed to reveal the relation between the shock waves and the jet boundary, and it was found that the cross-sectional jet shape becomes cross-shape. The key features observed in the numerical investigation were verified by the experimental results. The shock structure at the diagonal plane was in good agreement with the experimental schlieren images. Moreover, the cross-sections visualized by the Mie scattering method confirmed that the cross-section of the jet becomes cross-shape.

• 대한전자공학회논문지TC
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• 제40권11호
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• pp.93-98
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• 2003

본 논문은 도파관 급전 방법의 인쇄형 사각 루-프 구조를 이용하여 PCS대역 과 IMT2000 주파수 대역의 안테나를 설계 및 제작하였다. 제안된 안테나는 전방향 방사패턴의 특성을 가지며 단일 평판으로 구현할 수 있어 급전방법이 용이하고, 크기가 작으며, 제작이 편리하고 넓은 대역폭을 갖는 안테나이다 안테나의 이득은 2.67〔㏈i〕이며 대역폭은 YSWR(equation omitted)1.5를 기준하여 계산과 측정결과 각각 100㎒(1.68∼2.68〔㎓〕)와 144㎒(1.46∼2.6〔㎓〕)의 대역을 얻었다. 이는 PCS대역(1.75∼l.87〔㎓〕) 과 IMT2000대역 (1.92∼2.17〔㎓〕)을 충족시킬 수 있다.

• 대한화학회지
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• 제22권5호
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• pp.295-303
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• 1978

정팔면체[Co(III)-$O_3N_3$], 정사면체[M(II)-$O_2N_2$] 및 정사각형형[M(II)-$O_2N_2$]형태 착물의 쌍극자모멘트를 중심이온의 valence basis sets와 리간드의 single basis 궤도함수($2p_z$)를 사용하여 spherical harmonics의 전개방법에 의하여 계산하였다. 이들 착물에 대하여 계산한 쌍극자모멘트의 값이 실험치와 일치하였다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제9권3호
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• pp.206-212
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• 2009

This paper presents an optimized integrated task planning and control approach for manipulating a nonholonomic robot by mobile manipulators. Then, we derive a kinematics model and a mobility of the mobile manipulator(M2) platform considering it as the combined system of the manipulator and the mobile robot. to improve task execution efficiency utilizing the redundancy, optimal trajectory of the mobile manipulator(M2) platform are maintained while it is moving to a new task point. A cost function for optimality can be defined as a combination of the square errors of the desired and actual configurations of the mobile robot and of the task robot. In the combination of the two square errors, a newly defined mobility of a mobile robot is utilized as a weighting index. With the aid of the gradient method, the cost function is minimized, so the path trajectory that the M2 platform generates is optimized. The simulation results of the 2 ink planar nonholonomic M2 platform are given to show the effectiveness of the proposed algorithm.