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公开(公告)号：KR1020110079405A
公开(公告)日：2011-07-07
申请号：KR1020100004466
申请日：2010-01-18
Applicant: 숭실대학교산학협력단
Abstract: PURPOSE: An ultrasonic distance measuring method and a posture computation method for a mobile robot using the same are provided to improve the accuracy of the computed posture of a mobile robot by using a plurality of ultrasonic transceivers. CONSTITUTION: An ultrasonic distance measuring method comprises an ultrasonic wave transmitting step(S110), an ultrasonic wave receiving step(S120), and a time delay calculating step(S130). The time delay calculating step is as follows. The size of an envelope is calculated in each period of received ultrasonic wave. A noise section where the size of an envelope of each period of the received ultrasonic waves is maintained below a threshold continuously is removed from the received ultrasonic wave. The time delay is classified into the integer part and decimal part of a periodic time of ultrasonic waves, and the decimal part is calculated from the phase difference between transmitted ultrasonic wave and the received ultrasonic wave. The matched filter of the noise-removed received ultrasonic wave is calculated. The integer part where the matched filter has the maximum value is calculated, and the time delay is calculated.
Abstract translation: 目的：提供一种使用其的移动机器人的超声距离测量方法和姿势计算方法，以通过使用多个超声波收发器来提高移动机器人的计算姿势的精度。 构成：超声波测距方法包括超声波发送步骤（S110），超声波接收步骤（S120）和时间延迟计算步骤（S130）。 时间延迟计算步骤如下。 在接收的超声波的每个周期中计算包络的大小。 从所接收的超声波中除去接收到的超声波的每个周期的包络的尺寸连续地保持在阈值以下的噪声部。 时间延迟分为超声波周期时间的整数部分和小数部分，小数部分由发射超声波与接收到的超声波之间的相位差计算。 计算噪声消除的接收超声波的匹配滤波器。 计算匹配滤波器具有最大值的整数部分，并计算时间延迟。
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公开(公告)号：KR101374234B1
公开(公告)日：2014-03-13
申请号：KR1020120057375
申请日：2012-05-30
Applicant: 숭실대학교산학협력단
CPC classification number: C01B32/164 , B82Y40/00 , C01B32/16 , C01B32/168 , C01B32/174 , D01D10/00 , D01F1/10 , D01F9/14 , D01F11/10
Abstract: 본 발명은 탄소전구체로 보강된 탄소나노튜브섬유 및 이의 제조방법에 관한 것이다. 본 발명에 따른 탄소나노튜브섬유는 탄소나노튜브섬유의 내부 빈 공간이 탄소전구체로 채워져 탄화되어, 효과적인 응력전달과 접촉저항 감소로 인하여 역학적, 열적 특성이 향상되며 고온에서도 이러한 특성이 손상되지 않고 유지되는 효과가 있다.
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公开(公告)号：KR101174423B1
公开(公告)日：2012-08-17
申请号：KR1020100004466
申请日：2010-01-18
Applicant: 숭실대학교산학협력단
Abstract: 초음파거리측정방법및 이를이용한이동로봇의자세를구하는방법이제공된다. 본발명의실시예에따른초음파거리측정방법은초음파발신기에서발신한초음파를초음파수신기가수신할때의시간지연과초음파의속도를이용하여초음파발신기와초음파수신기사이의거리를측정하는방법에있어서, 시간지연을계산하는단계는수신초음파의각 주기에서포락선의크기 g를계산하는단계, 수신초음파의각 주기의포락선의크기 g가일정한임계값(threshold) 이하로계속되는신호가없는구간을제외하는잡음구간배제단계; 시간지연 d를초음파주기시간 c의정수부분 i 및소수부분 f로구분하고, 발신초음파와수신초음파사이의위상차로부터소수부분 f를계산하는단계, 시간지연 d를초음파주기시간 c의정수부분 i 및소수부분 f로구분하여잡음구간배제단계에서잡음을제거한수신초음파의정합필터를, 여기서 e는발신초음파의각 주기에서의포락선의크기이고 h=g(1-f)+gf인, 계산하는단계및 정합필터 y(jc)가최대값을갖는 j의값인정수부분 i를구하여, 시간지연 d=ic+f를구하는단계를포함하며, g는를, 여기서여기서 C와 S는,이고 T는임의의샘플링구간인, 이용하여계산한다.
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公开(公告)号：KR1020130134102A
公开(公告)日：2013-12-10
申请号：KR1020120057375
申请日：2012-05-30
Applicant: 숭실대학교산학협력단
CPC classification number: C01B32/164 , B82Y40/00 , C01B32/16 , C01B32/168 , C01B32/174 , D01D10/00 , D01F1/10 , D01F9/14 , D01F11/10 , B01J6/00 , B01J19/085 , B01J19/123 , C01B32/18 , D06M10/02 , D06M2101/40
Abstract: The present invention relates to a method for manufacturing carbon nanotube fiber reinforced with carbon precursors and a manufacturing method thereof. The carbon nanotube fiber according to the present invention is carbonized by filling the inner empty space of the carbon nanotube fiber with carbon precursors and improves dynamic and thermal characteristics due to effective stress transmission, and contact resistance decreases and maintains the characteristics at high temperatures.
Abstract translation: 本发明涉及用碳前体增强碳纳米管纤维的方法及其制造方法。 根据本发明的碳纳米管纤维通过用碳前体填充碳纳米管纤维的内部空间而被碳化，并且由于有效的应力传递而改善动态和热特性，并且接触电阻降低并且保持高温下的特性。
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