• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.24 no.1
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• pp.98-102
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• 2015

This paper proposes an autonomous navigation method for a nonholonomic mobile robot, based on the generalized Voronoi diagram (GVD). We define the look-ahead point for a given motion constraint to determine the direction of motion, which solves the problem of a minimum turning radius for the real nonholonomic mobile robot. This method can be used to direct the robot to explore an unknown environment and construct smooth feedback curves for the nonholonomic robot. As the trajectories can be smoothed, the position of the robot can be stabilized in the plane. The simulation results are presented to verify the performance of the proposed methods for the nonholonomic mobile robot. Furthermore, this approach is worth drawing on the experience of any other mobile robots.

• Journal of the Korean Arthroscopy Society
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• v.15 no.1
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• pp.28-31
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• 2011

Pyogenic arthritis of the shoulder is very rare disease in infant. Early diagnosis and proper treatment are very important prognostic factors. We treated a 10-month-old infant who was suffering pyogenic arthritis of the shoulder by arthroscopic irrigation and synovectomy with direct inspection. Finally, satisfactory result was achieved without any major scar or complications.

• Bulletin of the Korean Mathematical Society
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• v.54 no.5
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• pp.1743-1755
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• 2017

Let B be a simply-connected projective variety such that the first cohomology groups of all line bundles on B are zero. Let E be a vector bundle over B and $X={\mathbb{P}}(E)$. It is easily seen that a power of any endomorphism of X takes fibers to fibers. We prove that if X admits an endomorphism which is of degree greater than one on the fibers, then E splits into a direct sum of line bundles.

• Bulletin of the Korean Mathematical Society
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• v.54 no.5
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• pp.1757-1771
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• 2017

Let K be a field and G be a group of its automorphisms. It follows from Speiser's generalization of Hilbert's Theorem 90, [10] that any K-semilinear representation of the group G is isomorphic to a direct sum of copies of K, if G is finite. In this note three examples of pairs (K, G) are presented such that certain irreducible K-semilinear representations of G admit a simple description: (i) with precompact G, (ii) K is a field of rational functions and G permutes the variables, (iii) K is a universal domain over field of characteristic zero and G its automorphism group. The example (iii) is new and it generalizes the principal result of [7].

• Bulletin of the Korean Mathematical Society
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• v.45 no.3
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• pp.485-494
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• 2008

There are two well known reduction formulae for structural constants of the cohomology ring of Grassmannians, i.e., Littlewood-Richardson coefficients. Two reduction formulae are a conjugate pair in the sense that indexing partitions of one formula are conjugate to those of the other formula. A nice bijective proof of the first reduction formula is given in the authors' previous paper while a (combinatorial) proof for the second reduction formula in the paper depends on the identity between Littlewood-Richardson coefficients of conjugate shape. In this article, a direct bijective proof for the second reduction formula for Littlewood-Richardson coefficients is given. Our proof is independent of any previously known results (or bijections) on tableaux theory and supplements the arguments on bijective proofs of reduction formulae in the authors' previous paper.

• Journal of computational fluids engineering
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• v.14 no.1
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• pp.35-44
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• 2009

To adequately analyze flows in pipe or duct network system, traditional node-based junction coupling methods require the junction loss which is specified by empirical or analytic correlations. In this paper, a new finite volume junction coupling method using a ghost junction cell is developed by considering the interchange of linear momentum as well as the important wall-effect at junction without requiring any correlation on the junction loss. Also, boundary treatment is modified to preserve the stagnation enthalpy across boundaries, such as pipe-end and the interface between junction and branch. Also, the computational accuracy and efficiency of the Godunov-type finite volume schemes are investigated by tracing the total mechanical energy of rapid transients due to sudden closure of valve at downstream end.

• Journal of Mechanical Science and Technology
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• v.14 no.10
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• pp.1081-1088
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• 2000

In this paper, a compliance control strategy for robot manipulators that employs a self-adjusting stiffiness function is proposed. Based on the contact force, each entry of the diagonal stiffness matrix corresponding to a task coordinate in the operational space is adaptively adjusted during contact along the corresponding axis. The proposed method can be used for both the unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end-effector. The experimental results involving a two-link direct drive manipulator interacting with an unknown environment demonstrates the effectiveness of the proposed method.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2017.05a
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• pp.24-25
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• 2017

Ambient temperature has a direct impact on the hydraulic process. Though -any experiments have been processed in order to investigate the hydration properties under the various ambient temperature of OPC, there are not reported about aluminate-based composite. This presentation is composed of contents on the experimental investigation of the hydration heat of pulverized rapid cooling ladle furnace slag based composite. Based on the experimental outcomes, gypsum can decrease the hydration heat dramatically and lower ambient temperature has a negative effect on accelerated the hydraulic process.

• 한국정보디스플레이학회:학술대회논문집
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• 2002.08a
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• pp.491-493
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• 2002

Liquid chromatographic direct resolution of racemic naphthyl propionate liquid crystals were successful on a commercial chiral column, (S,S)-Whelk-O1. The very simple procedure can be applied to the intermediate and final products without any structural modification.

• Proceedings of the KIEE Conference
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• 2008.10c
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• pp.132-135
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• 2008

This paper presents a PLL(Phase Lock Loop) control method for speed control of high speed miniature BLDCM(Brushless DC Motor) using hall sensor. The Proposed PLL based speed control method uses a only phase shift between reference pulse signal according to speed reference and actual pulse signal from hall sensor. It doesn't use any speed calculation, and calculates a direct current reference from phase shift. The current reference is changed to reduce the phase shift between reference and actual pulse. So the actual speed can keep the reference speed. The proposed control scheme is very simple but effective speed control is possible.