LPCVD(Low Pressure Chemical Vapor Deposition) System을 이용하여 여러가지 증착 변수에 따른 실리콘 박막의 표면형상에 대해 고찰하였다. 중착압력, 중착온도, 반응기체의 유속에 따라 증착층의 표면형상이 큰 변화를 나타냈으며, 증착압력과 반응기체의 유속이 증가할수록 유효면적이 최대가 되는 증착온도가 증가하였다. 이러한 실험결과는 안정한 핵의 생성률이 최대가 될때 유효표면적이 최대가 된다는 가정으로부터 유도된 식과 일치하는 결과를 나타냈다.

This paper presents an edutainment robot for young children. The edutainment robot called ‘Mon-e’ has developed by the Central R&D Laboratory at KT. The main services of the Mon-E robot are autonomous moving service, object card and story book telling service and videophone service. The RFID technology was introduced for easy interface to young children. The face of Mon-E robot is mounted with an RFID reader. The RFID tag is pasted on story book and object card. If you approach a book or an object card to the face of Mon-E, the Mon-E robot recognizes the identified code and plays its service. In autonomous moving, if the Mon-E robot meets obstacles, it moves back and turns left or right or half rotation. In videophone service, if young children approach an RFID card to the Mon-E, the Mon-E can make a call to the specific number, which is contained in the RFID card. The developed Mon-E robot has tested in real world environment and is evaluated young children and their parents. In the result of evaluation, the feeling of satisfaction was high to main services of Mon-E robot.

This paper presents the system design and implementation of ‘Mon-e’, the KT’s edutainment robot for young children. We paid our special attention to the computer- illiterate young children, and the provision of the physical and friendly human interface of robots. Specifically, the paper focuses on the video telephony and home monitoring service using the Mon-e robot. RFID cards –based calling makes it possible for the computer-illiterate children to make a phone call to their parents. The SIP and DTMF based remote control of the robot enables the search and track of the children. This experimental development shows the potentialities and values of the convergence service of telecommunication and robotics

This paper presents the sound-based emotion estimation method and the growing HRI (human-robot interaction) system for a Mon-E robot. The method of emotion estimation uses the musical element based on the law of harmony and counterpoint. The emotion is estimated from sound using the information of musical elements which include chord, tempo, volume, harmonic and compass. In this paper, the estimated emotions display the standard 12 emotions including Eckman’s 6 emotions (anger, disgust, fear, happiness, sadness, surprise) and the opposite 6 emotions (calmness, love, confidence, unhappiness, gladness, comfortableness) of those. The growing HRI system analyzes sensing information, estimated emotion and service log in an edutainment robot. So, it commands the behavior of the robot. The growing HRI system consists of the emotion client and the emotion server. The emotion client estimates the emotion from sound. This client not only transmits the estimated emotion and sensing information to the emotion server but also delivers response coming from the emotion server to the main program of the robot. The emotion server not only updates the rule table of HRI using information transmitted from the emotion client and but also transmits the response of the HRI to the emotion client. The proposed system was applied to a Mon-E robot and can supply friendly HRI service to users.

국제해사기구(International Maritime Organization, IMO)에서는 선박의 해상 충돌을 방지하기 위하여 SOLAS의 요구조건에 따라 모든 선박에 대하여 선박자동식별장치(Automatic Identification System, AIS)를 의무적으로 장착하도록 권고하고 있다. AIS를 사용하면 타선에 대한 제원 및 항행정보의 획득이 가능하여 충돌방지뿐만 아니라 광역관제, 조난 선박의 탐색구조 등 안전관리에도 활용이 가능하다. 본 논문에서는 AIS 장비를 사용하여 ADS-B (Automatic Dependent Surveillance - Broadcast) 개념 기반의 항공감시용 송수신기를 구현한 결과에 대하여 살펴보도록 한다. 기본적으로 AIS는 해상에서 사용되기 때문에 고도 정보를 사용하지 않지만, AIS 장비 내부에 사용하는 GPS (Global Positioning System) 칩셋에서 제공하는 고도 정보의 추출이 가능하다. 고도 정보를 포함한 감시 메시지 형식을 정의하고, SOTDMA (Self-Organizing Time Division Multiple Access) 방식을 개선하여 ADS-B 송수신기를 구현하였다. 적용 결과를 확인하기 위하여 지상시험 및 비행시험을 수행하였다.

This paper describes the recognition method of moving objects in mobile robot with an omnidirectional camera. The moving object is detected using the specific pattern of an optical flow in omnidirectional image. This paper consists of two parts. In the first part, the pattern of an optical flow is investigated in omnidirectional image. The optical flow in omnidirectional image is influenced on the geometry characteristic of an omnidirectional camera. The pattern of an optical flow is theoretically and experimentally investigated. In the second part, the detection of moving objects is presented from the estimated optical flow. The moving object is extracted through the relative evaluation of optical flows which is derived from the pattern of optical flow. In particular, Focus-Of-Expansion (FOE) and Focus-Of-Contraction (FOC) vectors are defined from the estimated optical flow. They are used as reference vectors for the relative evaluation of optical flows. The proposed algorithm is performed in four motions of a mobile robot such as straight forward, left turn, right turn and rotation. Experimental results using real movie show the effectiveness of the proposed method.

In this study, we investigated PM10, NO2, and 1-hydroxypyrene(1-OHP) in urine at indoor environments which are 35 houses and 20 hospitals for using air cleaner and non-using air cleaner in Seoul metropolitan area and Kyoung-gi province from April, 2003 to February, 2004. Moreover, we examined effect of improvement for indoor air quality and health effect by concentration of 1-OHP also we investigated removal efficiency by air cleaner for PM10, NO2, and 1-OHP that were 28.5%, 27.4%, and 42.1% respectively. Concentration of PM10, NO2, and 1-OHP were 19.02±18.14㎍/m3, 8.66±3.06ppb, and 0.19±0.18㎍/g creatinine when air cleaner was no worked. The concentration for PM10, NO2, and 1-OHP were 13.60±10.79㎍/m3, 6.29±2.71ppb, and 0.11±0.10㎍/g creatinine, respectively. It was significant statistically. Therefore, it is considered using the air cleaner to remove the partial pollutants in indoor environment and is positive effect for health.