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영상정보를 이용한 자율 이동 로봇의 장애물 회피 및 경로계획에 대한 알고리즘
구본민,방만식,김자룡 진주여자전문대학 2001 論文集 Vol.24 No.-
In this paper, we has been studied self-controlled mobile robot system with CCD camera. This system consists of TMS320F240 digital signal processor, step motor. RF module and CCD camera. we used wireless RF module for movable command transmitting between robot and host PC. This robot go straight until 93 percent filled screen from input image. And the robot recognizes obstacle about 95 percent filled something, so it could avoid the obstacle and conclude new path plan.
Copper-tetra-tert-butylphthalocyanine LB막의 NO₂가스 탐지 특성
金泰玩,具滋龍,李昌熙 弘益大學校 科學技術硏究所 1997 科學技術硏究論文集 Vol.8 No.-
Langmuir-Blodgett(LB) technique is one of the ways of manufacturing organic this films. It has an advantage in alignment and orientation of the molecules in the films. It is being used to develop molecular electronic devices, gas sensor and etc. Phthalocyanine(Pc) is especially sensitive to the electron affinitive toxic gases, such as NO₂, NO, O₂, SO₂, and etc. It has chemiresistor properties, such as a change in electrical conductivity when it is exposed to the gases. In this study, CuTBP LB films were manufactured. NO₂ gas detection ability of the above LB films were examined. A chemiresistor device using CuTBP LB films was made and the possibility as a gas sensor was investigated. To increase the current level at constant bias, interdigital electrode was used. A lateral distance d(2, 1, 0.5mm) between fingers and number of finger pairs N were varied. We have observed that a conductance G is proportional to 1/d and N. when we compare the conductance between N = 1 and N = 25, the current where N = 25 is higher than that of N = 1 by 60 times. The sensitivity is about 50 times greater and stable.
Koo, Ja-Ryong,Kim, Young-Kwan,Kim, Jung-Soo The Korean Institute of Electrical and Electronic 1998 전기전자재료 Vol.11 No.10
Metallo-phthalocyanines(MPcs) are very sensitive to toxic molecules such as electron affinitive NO2 gas and also chemically and thermally stable since losts of MPcs have been studied for the potential chemcial gas sensors for $NO_2$ using their electrical conductivity. In this study, thin films of octa-dodecyloxy copper -phthalocyanine were prepared by Langmuir-Blodgett(LB) method and characterized by using UV/Vis absorption spectroscopy, and ellipsometry. It was found that the proper transfer surface pressure for the film deposition was 25mN/m and the limiting area per molecule was $112\AA$/molecule. The film thickness of one layer was $64\AA$. Current-voltage(I-V) characteristics of these films were investigated as a function of film thickness.
Koo, Ja-Ryong,Pyo, Sang-Woo,Kim, Jun-Ho,Kim, Jung-Soo,Gong, Doo-Won,Kim, Young-Kwan The Korean Institute of Electrical and Electronic 2005 Transactions on Electrical and Electronic Material Vol.6 No.4
Organic molecules have many properties that make them attractive for electronic applications. We have been examining the progress of memory cell by using molecular-scale switch to give an example of the application using both nano scale components and Si-technology. In this study, molecular electronic devices were fabricated with amino style derivatives as redox-active component. This molecule is amphiphilic to allow monolayer formation by the Langmuir-Blodgett (LB) method and then this LB monolayer is inserted between two metal electrodes. According to the current-voltage (I-V) characteristics, it was found that the devices show remarkable hysteresis behavior and can be used as memory devices at ambient conditions, when aluminum oxide layer was existed on bottom electrode. The diode-like characteristics were measured only, when Pt layer was existed as bottom electrode. It was also found that this metal layer interacts with organic molecules and acts as a protecting layer, when thin Ti layer was inserted between the organic molecular layer and Al top electrode. These electrical properties of the devices may be applicable to active components for the memory and/or logic gates in the future.