• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.431-431
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• 2000

The modeling of 5-bar linkage robot manipulator dynamics by means of a mathematical and neural architecture is presented. Such a model is applicable to the design of a feedforward controller or adjustment of controller parameters. The inverse model consists of two parts: a mathematical part and a compensation part. In the mathematical part, the subsystems of a 5-bar linkage robot manipulator are constructed by applying Kawato's Feedback-Error-Learning method, and trained by given training data. In the compensation part, MLP backpropagation algorithm is used to compensate the unmodeled dynamics. The forward model is realized from the inverse model using the inverse of inertia matrix and the compensation torque is decoupled in the input torque of the forward model. This scheme can use tile mathematical knowledge of the robot manipulator and analogize the robot characteristics. It is shown that the model is reasonable to be used for design and initial gain tuning of a controller.

• Smart Structures and Systems
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• v.19 no.4
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• pp.431-439
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• 2017

This investigation is aimed to develop a model of experimental-computation determination of a support moment of a cantilever beam loaded with concentrated force at its end including the optimal choice of coordinates of deflection data points and parameters of transformation of deflection data in case of insufficient accuracy of the assignment of initial parameters (support settlement, angle of rotation of the bearing section) and cantilever beam length. The influence of distribution and characteristics of sensors on the cantilever beam on the accuracy of determining the support moment which improves in the course of transition from the uniform distribution of sensors to optimal non-uniform distribution is shown. On the basis of the theory of inverse problems the method of transformation reduction at numerical differentiation of deflection functions has been studied. For engineering evaluation formulae of uncertainty estimate to determine a support moment of a cantilever beam at predetermined uncertainty of measurements using sensors have been obtained.

• Proceedings of the Korean Vacuum Society Conference
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• 2014.02a
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• pp.431.2-431.2
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• 2014

The dielectric breakdown voltage (DBV) is a measure of an insulating fluids ability to withstand a high electric field stress without breaking down. Conventionally, the presence of water or particulate matter in a dielectric fluid comprises the liquid's breakdown strength. However, the addition of magnetic nanoparticles (MNPs) in the base oil can increase the dielectric breakdown voltage of the fluid reversely, if the condition of the added particles in the fluid is in balance with that of keeping down the initiation and propagation of electrical streamers. In this study, we developed a mathematical model by a set of coupled, nonlinear equations using the COMSOL multiphysics finite element simulation suite and calculated the dielectrophoretic activity of magnetic nanoparticles suspended in the presence of electric field, which is the behavior responsible for enhancing the dielectric characteristics of transformer oil, in order to examine how the activity differ in a transformer oil-based magnetic fluid.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.431-437
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• 2022

This paper deals with a study on the automatic depalletizing robot for parcels loaded in rolltainer of domestic postal distribution centers. Specifically, we proposed a robot system that detect parcels loaded in a rolltainer with a 3D camera and perform de-palletizing using a cooperative robot. In addition, we developed the task flow chart for parcel de-palletizing and the method of retreat motion generation in the case of collision with rolltainer. Then, we implemented the proposed methods to the robot's controller by developing robot program. The proposed robot system was installed at the Anyang Post Distribution Center and field tests were completed. Field tests have shown that the robotic system has a success rate of over 90% for depalletizing task. And it was confirmed that the average tact time per parcel was 7.3 seconds.

• Bulletin of the Korean Chemical Society
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• v.20 no.4
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• pp.431-435
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• 1999

An organic precipitate flotation of Cd(Ⅱ) and Pb(Ⅱ) was investigated by the coprecipitation with lanthanum 8-hydroxyquinolinate. Trace amounts of Cd(Ⅱ) and Pb(Ⅱ) with a significantly large amount of La(Ⅲ) were simultaneously precipitated in a 1,000 mL sample solution with the ethanolic 8-hydroxyquinoline solution. The pH was adjusted to 9.0 with 2 M ammonia solution. The precipitates were floated with the aid of tiny nitrogen bubbles and supported by the stable foam layer of sodium lauryl sulfate. The floats were collected on the fritted glass filter by a suction. The material collected was dissolved with 5.0 mL of ethanol and 1.5 mL of concentrated nitric acid, and then diluted to 25.0 mL with a deionized water. The analytes were determined by a flame atomic absorption spectrophotometry. The recoveries of the analytes spiked in the sample were 94.8% for Pb(Ⅱ) and 92.0% for Cd(Ⅱ). This flotation technique is simple and rapid, and also applicable to the determination of trace Cd(Ⅱ) and Pb(Ⅱ) at lew ppb levels.

• The Transactions of the Korean Institute of Power Electronics
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• v.27 no.5
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• pp.431-437
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• 2022

This study proposes a converter that makes battery charging, discharging, and zero voltage control possible. The proposed topology consists of an LLC converter and a half-bridge inverter, and all power semiconductor devices are applied Si-MOSFETs. The topology is designed with an LLC switching frequency of 100 kHz, a half-bridge inverter switching frequency of 50 kHz, and a battery voltage of 5 V. The advantages of the charging/discharging operation of the 5 V battery voltage and the zero voltage control of the battery are verified. In addition, by using a two-stage topology, the battery can be charged, discharged through current control, and discharged to zero voltage. With the proposed topology, the current can be maintained even when the battery voltage drops to zero.

• Food Science of Animal Resources
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• v.35 no.4
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• pp.431-440
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• 2015

Chicken bone is not adequately utilized despite its high nutritional value and protein content. Although not a common raw material, chicken bone can be used in many different ways besides manufacturing of collagen products. In this study, a multi-step procedure was optimized to isolate chicken bone collagen for higher yield and quality for manufacture of collagen products. The chemical composition of chicken bone was 2.9% nitrogen corresponding to about 15.6% protein, 9.5% fat, 14.7% mineral and 57.5% moisture. The lowest amount of protein loss was aimed along with the separation of the highest amount of visible impurities, non-collagen proteins, minerals and fats. Treatments under optimum conditions removed 57.1% of fats and 87.5% of minerals with respect to their initial concentrations. Meanwhile, 18.6% of protein and 14.9% of hydroxyproline were lost, suggesting that a selective separation of non-collagen components and isolation of collagen were achieved. A significant part of impurities were selectively removed and over 80% of the original collagen was preserved during the treatments.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.2 s.173
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• pp.431-437
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• 2000

In this paper, thermite and gas pressure weldings have been used to join rails in-track and analyzed as functions of hardness and wear characteristics. The wear rate of thermite welded rail is low compared with that of gas pressure welded rail, which is tested in a pin-on-disk wear tester. The hardness of thermite welded materials is relatively high and narrowly distributed between three zones; welded part, thermally affected zone, and base matrix. Wear of a welded rail may be a major factor in railroad maintenance costs and failures at the rail-rail huh joint.

• Journal of Digital Convergence
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• v.11 no.10
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• pp.431-435
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• 2013

In information society, Convergence was combined with a word 'digital'. Digital convergence means a service or new product which appeared through fusion of unit technologies in information and communication regions. The effects of convergence technologies and social phenomenons are visualized in overall regions of society such as economy, society, culture, etc. In this paper, we described a prospects and technologies needed in digital convergence environment. And we described a wearable computer which was leading case in digital convergence.

• Journal of Chest Surgery
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• v.47 no.4
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• pp.431-433
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• 2014

Aspergillus is a common saprophytic fungi of the human airways and causes a broad spectrum of diseases, ranging from aspergilloma to invasive aspergillosis. There are few reports on mediastinal aspergilloma without any underlying pulmonary disease or immunocompromise. Herein, we report a case of mediastinal aspergilloma that we experienced and treated by thoracoscopic resection and oral antifungal medication.