본 논문에서는 이단계 칼만필터를 활용한 구조물의 3 자유도 동적변위 계측 시스템을 소개한다. 개발 시스템은 센서 모듈, 베이스 모듈, 컴퓨테이션 모듈로 구성되어 있다. 센서 모듈은 100Hz 샘플주파수의 고정밀 가속도를 계측하는 포스피드백 가 속도계와 10Hz의 샘플주파수의 저정밀도의 속도, 변위를 계측하는 저가의 RTK-GNSS로 구성되어 있다. 계측된 데이터는 LAN 케이블을 통하여 컴퓨테이션 모듈로 전송되고, 컴퓨테이션 모듈에서 이단계 칼만필터를 활용하여 100Hz 샘플주파수의 고정밀 변위를 실시간으로 산정한다. 개발 시스템의 변위 계측 정밀도를 검증하기 위해 미국, 캘리포니아에 위치한 San Francisco-Oaklmand Bay bridge 에서 현장 실험을 수행하였으며, 실험 결과 1.68mm RMS 오차를 보임을 확인하였다.

Multi-regional water supply system, which installed for supplying multiple water demands, is characterized by large-sized, long-distance, tree-type layout. This system is vulnerable to long-standing service interruption when a pipe breaks is occurred. In this study, a numerical method is proposed to calculate drainage time that directly affects time of service interruption. To begin with, governing equations are formulated to embed the delayed drainage effect by the friction loss, and to resolve complicated connection of pipelines, which are derived from the continuity and energy equations. The nonlinear hydraulic equations are solved by using explicit time integration method and the Newton-Raphson method. The developed model is verified by comparing the result with analytical solution. Furthermore, the model’s applicability is validated by the examples of pipelines in serial, in parallel, and complex layout. Finally, the model is utilized to suggest an appropriate actions to reduce the deviation of draining time in the C transmission line of the B multi-regional water supply system.

This study was carried out considering that activated carbon physically adsorbs radon. Among the air cleaners equipped with activated carbon filter, eight air cleaners sold in Korea were selected and the radon reduction rate experiment was conducted. The instrument used an ionization chamber type instrument with a sensitivity of 3 CPM. The experiment was carried out by excluding the natural rate of reduction of radon in order to accurately grasp the radon reduction rate of activated carbon filter. Of the eight air purifiers, only three showed a reduction rate of more than 30%, while the remaining five air purifiers showed a reduction rate of less than 20%. This does not seem to be much different from the natural reduction rate. In addition, since it is not adsorbed by radon alone due to the nature of activated carbon, it is expected that the reduction rate will be lower in a real life environment.

목 적 : 슬릿 램프용 450nm~500nm 대역 투과필터를 제작하고, 이에 관한 특성 연구를 하였다. 방 법 : 대역 투과필터 설계 시 장파장 투과필터와 단파장 투과필터를 설계한 후 합성하였다. 설계 데이 터를 기반으로 전자 빔 증착 장치를 사용하여 장파장 투과필터와 단파장 투과필터와 슬릿 램프용 450nm~500nm 대역 투과필터를 제작하였다. 제작한 필터의 단면을 보기 위하여 SEM사진을 찍었고, 필터 의 광투과율을 측정하기 위해 분광광도계를 사용하였다. 결 과 : 제작한 단파장 투과필터는 설계치와 비슷하나 파장 490nm 근처와 350nm~400nm에서 차이가 난다. 이는 층 수 가 커짐에 따라 박막의 균일도가 안 좋아져서 필터의 굴절률에 약간 변화를 주어 투과율 스펙트럼의 경사도가 큰 부분에서 차이가 나는 것으로 여겨진다. 제작된 장파장 투과필터는 설계치의 비슷 하며 실험치가 전체적으로 오른쪽으로 약간 이동됨을 알 수 있다. 그러므로 제작한 450nm~500nm 대역 투 과필터는 450nm에서는 장파장 투과필터의 오른쪽 이동으로 인해 설계된 대역 투과필터 안쪽으로 들어가고 500nm에서는 투과율이 약 20% 떨어지는 것을 알 수 있었다. 또한 제작한 필터의 단면은 SEM사진으로부터 단파장 투과필터와 장파장 투과필터의 두께를 알 수 있었다. 결 론 : BK7 유리 한 면에는 단파장 투과필터를 제작하고 다른 한 면에는 장파장 투과필터를 제작하여 450nm~500nm 대역 투과필터를 만들었고, 이 필터를 사용하여 눈의 건조 상태나 콘택트렌즈와 각막 틈새 를 파악할 때 관찰고자 하는 부위의 명도대비를 높이고자 한다.

The key motivation of this study is for a style of the sensor arrangement to have an effect on the localization performance of mobile robots in case of using sonar sensors. In general robot platforms with sonar sensors, sonar sensors are supposed to be radially arranged on their rotational axis of mobile robots. However, relevant limits to several functions required for their autonomous navigation occur unexpectedly, because a sonar sensor generally has the negative nature of its wide beam width together with the specular reflection. We present a new strategy of the sonar sensor arrangement capable of enhancing the localization performance. Sonar sensors are intended to be arranged nonradially (twistedly expressed in this paper) on their rotational axis. The localization scheme called STARER: Sonar-Twisted ARrangement localizER is based on the extended Kalman filter (EKF) with occupancy grid maps. Experimental results demonstrate the validity and robustness of the proposed method for the localization of mobile robots.

산업발달과 함께 환경오염이 심해짐에 따라 환경성 질환 또한 증가하고 있다. 이에, 맑은 공기, 깨끗한 물에 대한 일반 대중들의 관심이 높아지면서 정수기, 공기청정기 등 오염물질로부터 노출을 감소시킬 수 있는 제품들이 필수 구매용품처럼 인식되어 가고 있다. 이러한 제품 수요는 증가하는 반면, 제품의 규제준수 및 제품 내 함유물질에 대한 안전성 측면에서의 관리체계는 부족한 실정이다. 국내ㆍ외적으로 살생물제를 포함한 화학물질 및 유해화학물질을 함유하고 있는 제품 사용으로 발생될 수 있는 인체/환경에 대한 노출을 관리하기 위한 규제가 강화되고 있으며, 유해물질 함유 제품에 대한 안전성 확인의 시급성 또한 거론되고 있으므로 소재개발에서부터 함유물질에 대한 규제 및 안전성 확인이 이뤄져야 한다.

Two dimensional finite element method with quadrilateral basis functions was applied to the spherical high order filter on the spherical surface limited area domain. The basis function consists of four shape functions which are defined on separate four grid boxes sharing the same gridpoint. With the basis functions, the first order derivative was expressed as an algebraic equation associated with nine point stencil. As the theory depicts, the convergence rate of the error for the spherical Laplacian operator was found to be fourth order, while it was the second order for the spherical Laplacian operator. The accuracy of the new high order filter was shown to be almost the same as those of Fourier finite element high order filter. The two-dimension finite element high order filter was incorporated in the weather research and forecasting (WRF) model as a hyper viscosity. The effect of the high order filter was compared with the built-in viscosity scheme of the WRF model. It was revealed that the high order filter performed better than the built in viscosity scheme did in providing a sharper cutoff of small scale disturbances without affecting the large scale field. Simulation of the tropical cyclone track and intensity with the high order filter showed a forecast performance comparable to the built in viscosity scheme. However, the predicted amount and spatial distribution of the rainfall for the simulation with the high order filter was closer to the observed values than the case of built in viscosity scheme.

In this paper, the performance of a synthetic fiber filter aimed at high-speed operation and dosed with different coagulants or filter aids was investigated. Without a coagulant, the filter efficiency was about 62% which was greatly enhanced when three types of coagulants namely PAC, Alum, and FeCl3 were used. Among the coagulants tested, PAC was the most effective, giving 91% filter efficiency, followed by Alum with 90%, and FeCl3 with 78%. PAC worked effectively at a very small range of dose, but Alum was relatively effective in a wide range of concentration. Compared with PAC and Alum, FeCl3 provided more or less contant efficiency regardless of its dose but gave the poorest filter efficiency. Moreover, as the inflow turbidity increased, headloss increased and the efficiency decreased at any dose and type of coagulant. The headloss recorded in this particular synthetic fiber filter is not significant as compared to that observed in typical granular filters. The recovery of solids estimated after filter cleaning was about 80% for both PAC and Alum, but poorer at 72% in the case of FeCl3 due to the heavy and large floc characteristics. The recurrence of filter efficiency verified through repetitive filter runs was found to be satisfactory.

For several years, keyboard and mouse have been used as the main interacting devices between users and computer games, but they are becoming outdated. Gesture-based human-computer interaction systems are becoming more popular owing to the emergence of virtual reality and augmented reality technologies. Therefore research on these systems has attracted a significant attention. The researches focus on designing the interactive interfaces between users and computers. Human-computer interaction is an important factor in computer games because it affects not only the experience of the users, but also the design of the entire game. In this research, we develop an particle filter-based face tracking method using color distributions as features, for the purpose of applying to gesture-based human-computer interaction systems for computer games. The experimental results proved the efficiency of particle filter and color features in face tracking, showing its potential in designing human-computer interactive games.