• 제어로봇시스템학회논문지
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• 제16권7호
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• pp.632-638
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• 2010

This paper presents an optimum tire force distribution method for 6WD/6WS(6-Wheel-Drive and 6-Wheel-Steering) electric vehicles. Using an independent steering and driving system, the performance of 6WD/6WS vehicles can be improved, as, for example, with respect to their maneuverability under low speed and their stability at high speed. Therefore, there should be a control strategy for finding the optimum tire forces that satisfy the driver's command and minimize energy consumption. From the driver's commands (steering angle and accelerator/brake pedal stroke), the desired yaw moment, the desired lateral force, and the desired longitudinal force were obtained. These three values were distributed to each wheel as the torque and the steering angle, based on the optimum tire force distribution method. The optimum tire force distribution method finds the longitudinal/lateral tire forces of each wheel that minimize the cost function, which is the sum of the normalized tire forces. Next, the longitudinal/lateral tire forces of each wheel are converted into the reference torque inputs and the steering wheel angle inputs. The proposed method was tested through a simulation, and its effectiveness was verified.

• Communications for Statistical Applications and Methods
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• 제4권3호
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• pp.707-714
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• 1997

The littice designs have prove efficient but they are not alwasy available. This article proposes an alternative, an almost lattice design, of the triple lattice design (v=36, k=6, r=4) which is not available. Here, we compare the almost lattice design to the .alpha.-design (v=36, k=6, r=4) which is another alternative of the triple lattice design (v=36, k=6, r=4). Consequently, we show the almost lattice design is a more efficient alternative than the $\alpha$-design through A-, D-, and E-optimality.

• 한국인터넷방송통신학회논문지
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• 제14권4호
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• pp.197-203
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• 2014

발전소의 전력 케이블 시스템에서 발생할 수 있는 사고를 예측하고 방지하는 기술이 필요하다. 사선 상태에 있는 케이블의 동작 특성을 진단하기 위하여 부분방전 및 $tan{\delta}$ 법이 사용되고 있으나, 케이블이 갖고 있는 문제점들을 사전에 발견하기란 쉬운 일이 아니다. 이 논문에서 우리가 연구한 케이블은 (주)서부 발전소에서 설치되어 운전 중인, 발전 운영에 핵심 역할을 하는 6.6kV 고전압 배전 선로이다. 케이블의 온도 및 전류를 측정하고, 이를 바탕으로 절연저항을 측정하기 위한 장치를 개발하였다. 이 장치를 발전소 현장에 시험 설치를 하였고, 동작 중인 케이블의 수명을 평가하기 위한 동작특성의 진단을 성공적으로 마무리 하였다. 진단 데이터를 분석 평가함으로써 단기적으로는 운전 중 6.6kV 케이블 시스템의 고장상태를 파악하는데 활용되며, 장기적으로는 발전소 부하에서의 6.6kV 케이블 시스템의 설치 및 운영에 있어서 원가를 절감하기 위한 노력에 기여하고자 한다.

• 한국통신학회논문지
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• 제39C권8호
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• pp.674-680
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• 2014

본 논문은 해양과 IT 기술 융합의 하나로써 PMIPv6(proxy mobile IPv6) 네트워크가 구성된 항만에서 NEMO(network mobility) 지원 기법을 적용함으로써 항만 네트워크에 접속해있는 승객, 물류 등의 이동성 지원뿐만 아니라 외부에서 해당 네트워크로 handover하는 MN(mobile node)에 대한 연결 방안을 제안한다. PMIPv6 망의 항만에서 NEMO를 지원할때 LMA(local mobile anchor)와 HA(home agent)의 터널과 BCE(binding cache entry)가 중복되어 생성되는 문제점이 발생하기 때문에 이를 해결하기위한 방안인 프로세싱 오버헤드를 줄일 수 있는 PMIPv6망의 NEMO 지원을 위한 메시지 형식 보완을 제안하였다. 이를 위해서 MN 및 MR의 네트워크 초기접속간 PBU(proxy binding update) 메시지에 옵션필드를 추가하여 초기접속 혹은 handover임을 LMA/HA에 통보하고 바인딩 절차를 줄인다. 이에 따라 PMIPv6 기반의 항만 네트워크에서 NEMO를 지원할 때 발생하는 지연 시간 감소와 자원 절약을 할 수 있다.

• 대한기계학회논문집
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• 제18권6호
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• pp.1421-1429
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• 1994

An algorithm is developed for solving the inverse kinematic problem of a 6-degree-of-freedom robot with a wrist offset for which the closed form inverse solutions are not obtainable, but knowledge of one joint variable allows closed form solutions of the remaining joint variables. The algorithm does not require Forward Kinematics nor Jacobian but uses the implicit kinematic relationships between joint variables and the given hand position. An iterative back substitution method is used to solve the inversion and the optimal conditions of the convergence are incoporated. An example is given to illustrate the concepts, the solution procedure and its convergency.

• 통합자연과학논문집
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• 제2권4호
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• pp.270-274
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• 2009

Organometallic polymers containing spirosilole unit have been interested, since spirosiloles has a unique optical and electronic properties. New functionalized spirosiloles (2,5-dibromo-3,4,6,7,8,9-hexaphenylspirosilole, DBHPSS) have been synthesized from the reduction of bis(1,1-phenylethynyl)-2,3,4,5-tetraphenylsilole with lithium naphthalenide for the possible applications in optics. DBHPSS has been characterized by $^1H$-NMR, fluorescence, and UV-vis absorption spectroscopy and elemental analysis. Bis(phenylethynyl)tetraphenylsilole displays an emission maxima at 490 nm with an excitation wavelength of 380 nm. However, DBHPSS displays an emission maxima at 550 nm with an excitation wavelength of 420 nm.

• Animal Bioscience
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• 제37권3호
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• pp.492-499
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• 2024

Objective: The objective was to determine the influence of amino acid (AA) supplementation during the adaptation period on the ileal digestibility of crude protein and AA in corn and soybean meal (SBM) fed to pigs. Methods: Six barrows with an initial body weight of 30.9±2.6 kg fitted with a T-cannula at the distal ileum were assigned to a 6×6 Latin square design with 6 dietary treatments and 6 periods. Two experimental diets contained corn or SBM as the sole AA source and an N-free diet was additionally prepared. For AA supplementation groups, an AA mixture consisted of Gly, Lys, Met, Thr, Trp, Ile, Val, His, and Phe was added to the corn diet and the N-free diet at the expense of cornstarch, and an AA mixture of Lys, Met, and Thr was added to the SBM diet. All diets contained 0.5% of chromic oxide. The 6 experimental diets were fed to the pigs for four and half days, and the 3 diets containing an AA mixture were switched to the respective diets without AA mixture during the following two and half days. Ileal digesta were collected on days 6 and 7. Results: The addition of an AA mixture during the adaptation period increased apparent ileal digestibility of Arg and Trp in corn (p<0.05) but did not affect that in SBM. The addition of an AA mixture during the adaptation period increased apparent ileal digestibility of Pro and Gly regardless of feed ingredient (p<0.05) but did not affect that of other AA. All AA except Pro in corn and SBM were unaffected by the addition of the AA mixture during the adaptation period. Conclusion: The addition of amino acids to a low-protein diet during the adaptation period does not affect the standardized ileal digestibility of indispensable amino acids in pigs.

• Toxicological Research
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• 제17권3호
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• pp.163-165
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• 2001

A patient,58 years of age, with suspected 0/l pneumoconiosis since 1993, complained of a dry cough and exertioning dyspnea for 6 months. He had worked in an asbestos company for more than 20 years from 1974. He was subsequently diagnosed with an interstitial lung disease during an annual special health check-up for asbestos workers. h chest X-ray showed an interstitial lung disease and high-resolution computed tomography (HRCT) showed a round opaque asbestosis with chronic hypersensitivity pneumonitis. A pulmonary function test indicated that the patient had a mild restrictive lung disease with FEV1 1.67 litters and 82% FEVl/FVC. The bronchoalveloar larvage fluid included many asbestos bodies, indicating previous exposure to asbestos. Transmission electron microscopy (TEM) using an energy dispersive X-ray analyzer (EDX) revealed many asbestos bodies consisting of mainly crocidolite fibers (6,071$\times$$10^6$fibers/g of dry lung). The patient had an unusually high asbestos content of 6,112$\times$$10^6$ asbestos fibers/9 of dry lung.

• Journal of Information Display
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• 제13권3호
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• pp.107-111
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• 2012

An almost pure phase of $Ba_3Si_6O_{12}N_2$ doped with $Eu^{2+}$ was successfully synthesized through the ammonia nitridation of an oxide precursor prepared through an aqueous-solution method, using propylene- glycol-modified silane. The emission peak intensity of the obtained $Ba_3Si_6O_{12}N_2:Eu^{2+}$ was -2.2 times higher than that of the sample prepared through a solid-state reaction method.

• Molecules and Cells
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• 제28권5호
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• pp.463-472
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• 2009

Although the possible cellular roles of several ubiquitin-specific proteases (UBPs) were identified in Arabidopsis, almost nothing is known about UBP homologs in rice, a monocot model plant. In this report, we searched the rice genome database (http://signal.salk.edu/cgi-bin/RiceGE) and identified 21 putative UBP family members (OsUBPs) in the rice genome. These OsUBP genes each contain a ubiquitin carboxyl-terminal hydrolase (UCH) domain with highly conserved Cys and His boxes and were subdivided into 9 groups based on their sequence identities and domain structures. RT-PCR analysis indicated that rice OsUBP genes are expressed at varying degrees in different rice tissues. We isolated a full-length cDNA clone for OsUBP6, which possesses not only a UCH domain, but also an N-terminal ubiquitin motif. Bacterially expressed OsUBP6 was capable of dismantling K48-linked tetra-ubiquitin chains in vitro. Quantitative real-time RT-PCR indicated that OsUBP6 is constitutively expressed in different tissues of rice plants. An in vivo targeting experiment showed that OsUBP6 is predominantly localized to the nucleus in onion epidermal cells. We also examined how knock-out of OsUBP6 affects developmental growth of rice plants. Although homozygous T3 osubp6 T-DNA insertion mutant seedlings displayed slower growth relative to wild type seedlings, mature mutant plants appeared to be normal. These results raise the possibility that loss of OsUBP6 is functionally compensated for by an as-yet unknown OsUBP homolog during later stages of development in rice plants.