This paper proposes a method to reduce the pose error and to solve the dead reckoning issue which occurs when the mobile robot with continuous-tracks travels in the unstructured environments. When the continuous-track type mobile platform travels on terrain such as sand, gravel, stairs and etc., slippage occurs and thus the driving state of the mobile robot cannot be recognized normally. To compensate for this pose error, the proposed method utilizes optical flow estimation detected by camera. This method is tested through experiment. Finally, This method reduces the pose error detected on inertia measurement unit within some limit, while the pose error of without compensation increases without limit during robot move.

In order to guarantee reliability of the environmental testing on defense systems, it is important to use test equipment that meets requirements of the related test standards. Especially with regard to the rain test method in MIL-STD-810G w/change 1, the latest standard, it has been highly needed to introduce a novel technique and system to provide droplet-size and precipitation-rate conditions. In this study, droplet-diameter spectra of various nozzles were measured by a high-speed camera. Then, a pair of nozzles were selected based on the experimental results showing the spectra lie within the range from 0.5 mm to 4.5 mm, as suggested in the rain test method. Also, the flow-precipitation rate calibration system was developed to precisely correlate the precipitation rate measured in the chamber and the flow rate into the nozzle bank. In conclusion, the rain test equipment has been successfully developed fulfilling the requirements of the test standard.

High-quality colloidal CdSe/ZnS (core/shell) is synthesized using a continuous microreactor. The particle size of the synthesized quantum dots (QDs) is a function of the precursor flow rate; as the precursor flow rate increases, the size of the QDs decreases and the band gap energy increases. The photoluminescence properties are found to depend strongly on the flow rate of the CdSe precursor owing to the change in the core size. In addition, a gradual shift in the maximum luminescent wave (λmax) to shorter wavelengths (blue shift) is found owing to the decrease in the QD size in accordance with the quantum confinement effect. The ZnS shell decreases the surface defect concentration of CdSe. It also lowers the thermal energy dissipation by increasing the concentration of recombination. Thus, a relatively high emission and quantum yield occur because of an increase in the optical energy emitted at equal concentration. In addition, the maximum quantum yield is derived for process conditions of 0.35 ml/min and is related to the optimum thickness of the shell material.

기포가 포함된 다상흐름의 측정은 중요함에도 불구하고 많은 제약이 있었다. 특히, 공극률이 높은 다상 흐름은 밀도차의 급격한 변화와 두꺼운 공기-물 경계면으로 인해 측정이 매우 어렵다. 본 연구에서는 공극률에 상관없이 기포흐름을 측정할 수 있는 기포영상유속측정법과 다발 광섬유유동측정계를 소개하고자 한다. 기포영상측정기법의 경우, 화상측정시 발생하는 원근에 의한 오차를 최소화하고 추정할 수 있는 피사계 심도에 대한 계산방법을 제시하여 정도 분석을 위한 방안을 제시하였다. 다발 광섬유유동측정계는 얇은 광섬유의 특성을 이용해 다발로 제작하여 측정률을 증가시키고자 하였다. 제시된 두 기법을 기포플룸에 적용하여 신뢰도를 검토하였으며 잘 일치하는 것을 확인하였다. 소개된 기법으로 대표적인 하천 다상흐름인 도수흐름을 측정하여 그 적용성을 검토하였다.

In this paper, we propose a digital image stabilization technique using edge detection and Lucas-Kanade optical flow in order to minimize the motion of the shaken image. The accuracy of motion estimation based on block matching technique depends on the size of search window, which results in long calculation time. Therefore it is not applicable to real-time system. In addition, since the size of vector depends on that of block, it is difficult to estimate the motion which is bigger than the block size. The proposed method extracts the trust region using edge detection, to estimate the motion of some critical points in trust region based on Lucas-Kanade optical flow algorithm. The experimental results show that the proposed method stabilizes the shaking of motion image effectively in real time.

We have proposed and demonstrated an gas-flow sensor using optical fiber bragg grating(FEG). The flow sensor has no electronics and no mechanical parts in its sensing part and the structure is th11s simple and immune to electromagnetic interference(EMI). The FEG sensor was consisted qf the sensing element and a coil heater. The metal coil was used to supply the current to the FEG. While some currents supply to the coil, the refractive index of the FEG under the coil is changed and thus the wavelength shift of fiber optic sensor was induced In this work, the wavelength shift according to flow-rate was experimentally studied and was used to evaluate the gas flow-rate in a gas tube. As a result, it was possible to measure the flow-rate in a linear range from 5 to 20l/min with a resolution of approximately 1l/min at the applied currents of 100 mA and 120 mA. The measured sensitivities were 15.3 pm/l/min for 100 mA and 20.2 pm/l/min for 120 mA.