• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.4
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• pp.856-861
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• 2011

The mobile robot controller is designed to track the target and to maintain the formation at the same time. Formation control is included in mobile robot controller by extending the trajectory tracking algorithm. The dynamic model of mobile robot is used with kinematic model considering the practical physical parameters of mobile robot. The dynamic model of mobile robot transforms velocity control input of kinematic model into torque control input which is the practical control input of mobile robot. Formation controller of mobile robot is designed to satisfy Lyapunov stability by backstepping method. The designed formation controller is applied to the mobile robot for various target movements and simulated to confirm the Lyapunov stability.

• Asian-Australasian Journal of Animal Sciences
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• v.27 no.10
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• pp.1417-1425
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• 2014

The selection of morphologically normal spermatozoa is critical to obtain high breeding performances in boar breeding farms and artificial insemination (AI) centers. Parameters for the selection of semen mainly include total sperm motility, concentration, and morphology. However, these primary parameters are often not reliable for discriminating between normal and abnormal, non-fertilizable spermatozoa. The present study was designed to compare the motion characteristics, fertilization ability using in vitro fertilization (IVF), and acrosome formation of the semen from boars having low (boar number 2012) and normal (boar number 2004 and 2023) breeding performances. The ultimate goal was to identify additional simple and easy criteria for the selection of normal sperm. There was no significant difference between boar 2004 and boar 2023 sperm total motility in computer assisted sperm analysis. However, boar number 2012 semen presented a significantly reduced population of rapid moving spermatozoa and an increased population of slow moving spermatozoa compared to boar numbers 2004 and 2023. Analysis of detailed motion characteristics revealed that sperm from boar number 2012 had significantly reduced motility in progressiveness, average path velocity, straight-line velocity (VSL), curvilinear velocity (VCL), straightness, and linearity. The assessment of the fertilizing ability by IVF also showed that sperm from boar number 2012 showed a fertility rate of 3.4%, whereas sperm from boar number 2023 had a fertility rate of 75.45%. Interestingly, most of the sperm nuclei were found on the peripheral area of the oocytes, suggesting that the sperm from boar number 2012 lacked penetration ability into the oocyte zonapellucida. The acrosome formation analysis using Pisum sativum agglutinin staining demonstrated that the sperm from boar number 2012 had a defect in acrosome formation. Consequently, primary parameters for selecting semen before AI such as motility are not sufficient to select normal and fertilizable spermatozoa. In conclusion, the present study suggests that the acrosome staining and detailed motion characteristics such as progressiveness, VCL, and VSL should be included in determining semen quality together with primary parameters for successful AI and high breeding performance in the swine industry.

• Journal of Welding and Joining
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• v.15 no.5
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• pp.74-83
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• 1997

Effect of welding parameters such as current, speed and electrode pressure on the weld quality of tin coated steels for small containers was discussed in this paper. Welding was performed with low frequency wire seam welding system which was loaded with 1.5mm in diameter copper wire electrode. The welding parameters were monitored at the position close to the welding spot so as to minimize the instrumentation error, and the signals were stored into a digital data acquisition system before analysis. Results showed that critical current for sufficient nugget size increased as the base material thickness increased, while the width of the optimum welding range was reduced. The acceptable welding condition derived from this study was found to be effective within the thickness range of $\pm$10% of the nominal (0.25mm) thickness. Tin coating layer was proved not to affect seriously on the weld quality, i.e. strength and formability, since consumable wire electrode was used in this process. Test results also demonstrated that the welding current was thought to be the most effective parameter to form an acceptable weld, while welding speed or electrode pressure exerted less effect on the nugget formation. However, these two parameters played an important role because the former was related to the nugget overlap interval, and the latter, to the formation of expulsion during welding.

• Publications of The Korean Astronomical Society
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• v.30 no.2
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• pp.535-537
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• 2015

Interpreting ultraviolet-to-infrared (UV-to-IR) observations of galaxies in terms of constraints on physical parameters-such as stellar mass ($M_{\ast}$) and star formation rate (SFR)-requires spectral synthesis modelling. We investigate how increasing the level of sophistication of the standard simplifying assumptions of such models can improve estimates of galaxy physical parameters. To achieve this, we compile a sample of 1048 galaxies at redshifts 0.7 < z < 2.8 with accurate photometry at rest-frame UV to near-IR wavelengths from the 3D-HST Survey. We compare the spectral energy distributions of these galaxies with those from different model spectral libraries to derive estimates of the physical parameters. We find that spectral libraries including sophisticated descriptions of galaxy star formation histories (SFHs) and prescriptions for attenuation by dust and nebular emission provide a much better representation of the observations than 'classical' spectral libraries, in which galaxy SFHs are assumed to be exponentially declining functions of time, associated with a simple prescription for dust attenuation free of nebular emission. As a result, for the galaxies in our sample, $M_{\ast}$ derived using classical spectral libraries tends to be systematically overestimated and SFRs systematically underestimated relative to the values derived adopting a more realistic spectral library. We conclude that the sophisticated approach considered here is required to reliably interpret fundamental diagnostics of galaxy evolution.

• The Bulletin of The Korean Astronomical Society
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• v.38 no.2
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• pp.55.2-55.2
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• 2013

We examine the effect of environment on star formation activity of a sample of a galaxy group catalogue constructed from the Sloan Digital Sky Survey(SDSS DR8) given in Tempel et al.(2012). As an environmental parameter, we use the richness of the galaxy group. According to this parameter, we select 6846 galaxies in dense environment and 297335 galaxies in low environment. By comparing the two samples, we identify the different relationship between star formation rate and stellar mass. In order to compare galaxies in different environment, we fixed other parameters(color, apparent magnitude), which can affect star formation efficiency except for stellar mass. Also, based on HI mass from the ALFALFA survey, we study the environmental dependence of Kennicutt-Schmidt law which show the correlation between star formation rate and gas content.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.8
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• pp.1910-1920
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• 1993

An experimental study to investigate the unconventional chip formation called triangulation of chip in cutting with a SPRT (self-propelled rotary tool) is performed using acoustic emission (AE) signal analysis. In doing that, a quantitative model of the AE RMS signal in triangulation with a SPRT is first developed. The predicted results from this model show good correlation between the AE RMS signal and the general characteristics of triangular chip formation. Then, effects of various process parameters such as cutting conditions (cutting speed, depth of cut, oblique angle and normal rake angle) and the work material properties on the chip formation in cutting with a SPRT are explored. Special attention is paid to the work material properties which are found to have significant effects on triangulation.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.8
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• pp.55-62
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• 2002

A burr has been defined as undesirable projection of material formed as the result of plastic flow from a cutting or shearing operation. It is unavoidable in all kinds of machining operation. As a result, burr makes troubles on manufacturing process due to deburring cost, quality of products and productivity. In face milling operation, burrs are formed along five edges on the workpiece. In this study, the primary interest is about exit burr The influence of the cutting parameters on the formation of exit burrs in face milling will be described experimentally. Using the results of experimental study, burr types are classified according to appearance and formation mechanism in exit burr. The burr formation mechanism in each type of burr is suggested. Data bases are developed to predict burr formation result.

• Journal of the Korean Society of Combustion
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• v.3 no.2
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• pp.29-40
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• 1998

Flame structures and NOx formation characteristics in the flame lets of coflow and counterflow diffusion flame are numerically studied. Calculations were carried out twice with the $C_2-Full$ and $C_2-Thermal$ Mechanism for each flame. Mixture fractions and scalar dissipation rates are used as the parameters to compare the flame let structures and NOx formation characteristics quantitatively. It was found that there is a similarity in flame temperature and stable species profiles except radical profiles between two flamelets. And there are some differences in NOx concentration and production rates. These results imply that the flow effects must be considered in calculations for NOx formation of turbulent flames using Laminar Flamelet Model.

• Laser Solutions
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• v.7 no.3
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• pp.25-36
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• 2004

This study was performed to clarification of the formation of weld discontinuities in the dissimilar laser fusion zone. Welding parameters were beam power of 1300, 1430, 1560, and 1700 W and travel speed of 1, 1.3, and 1.7 m/min. Most cavities in the fusion zone were observed near the tip. Cavities in the fusion zone observed to be formed and grown from pores in the tip. More cavities were formed as the beam position moves to the tip side. Small cavities were decreased but large cavities were increased when the energy input increased. W content in the fusion zone was increased with heat input and as the beam position close to the tip. In the fusion zone, W content in the dendrite boundary was increased with heat input. Considering the propagation path and fracture morphology, cracks were solidification cracking, and were initiated and propagated along the dendrite boundaries. The formation of cracks might be related with the W rich ${\mu}$ phase which was formed in the grain boundaries and dendrite boundaries.

• Biotechnology and Bioprocess Engineering:BBE
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• v.2 no.2
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• pp.117-121
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• 1997

Glutamic acid can be crystallized inside cation exchange column when displacer NaOH concentration is high enough to concentrate displaced glutamic acid beyond its solubility limit. Resulting crystal layer of glutamic acid was moved with liquid phase through the column, and thus could be eluted from the column and recovered in fraction collector. For the purpose of enhancing crystal recovery, effects of operating parameters on the crystal formation were investigated. The increase in the degree of crosslinking of resin favored crystal recovery because of its low degree of swelling. Higher concentration of displacer NaOH was advantageous. If NaOH concentration is too high, however, crystal recovery was lowered due to the solubility-enhancing effects of high pH and ionic strength. The decrease of mobile phase flow rate enhanced crystal recovery because enough time to attain local equilibrium could be provided, but film diffusion would control the overall crystal formation with extremely low flow rate. Lower temperature reduced solubility of glutamic acid and thus favored crystal formation unless the rate of ion exchange was severely reduced. The ion exchange operated by displacement mode coupled with crystallization was advantageous in reducing the burden of further purification steps and in preventing purity-loss resulted from overlapping between adjacent bands.