• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.10
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• pp.2554-2566
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• 1994

Robot position/force control has been a difficult task owing to the interaction between a robot and an environment with a rather high stiffness. In addition to the dynamic instability, the interaction causes the following problem : 1) chattering at steady-state, 2) dynamic coupling effect of robot, and 3) performance degradation due to a titled environment. To solve the problem, the Time Delay Control(TDC), which has been known to be quiet robust to plant uncertainties and disturbances, has been applied. In conjunction to TDC, the following three ideas were also used : 1) To reduce the amplitude of the chattering at the steady state, a novel scheme was adopted to enhance the resolution type solution of A/D conversion for the force sensor. 2) To reduce the dynamic coupling, a trajectory type position command was tried on a comparative basis to the step command, as well as a more accurate mass matrix was used instead of the constant mass matrix. 3) And finally to improve the performance in the tilted environment, force derivatives instead of position derivatives were used in the TDC law. Computer simulations and experiments resulted in obvious improvements on the quality of the hybrid control, thereby clearly demonstrating the effectiveness of TDC with the proposed ideas.

• Journal of Korean Tunnelling and Underground Space Association
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• v.9 no.1
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• pp.63-74
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• 2007

Unexpected ground conditions have always been a major problem for the construction of tunnel. Therefore, it is necessary to evaluate the risk capacity before and/or during construction of new tunnel. This paper presents the simplified risk assessment system using modified stability number (N), namely Underground Risk Index (URI) system, to evaluate the tunnel risk possibility in the design stage. URI is a scoring system for risk possibility by rating the each appraisal elements. The modified stability number (N) which is one of risk factor in the Interaction Matrix parameters such as RQD, UCS, weathering, overburden, stability number, ground water-table, RMR, permeability and so on, is used in the system. In addition, the case study is performed in order to verify the applicability of URI-system in practice.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.403-410
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• 2016

This paper proposes a robust image-based visual servoing scheme using a nonlinear observer for a monocular eye-in-hand manipulator. The proposed control method is divided into a range estimation phase and a target-tracking phase. In the range estimation phase, the range from the camera to the target is estimated under the non-moving target condition to solve the uncertainty of an interaction matrix. Then, in the target-tracking phase, the feature point uncertainty caused by the unknown motion of the target is estimated and feature point errors converge sufficiently near to zero through compensation for the feature point uncertainty.

• International Journal of Computer Science & Network Security
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• v.21 no.3
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• pp.41-47
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• 2021

Detection of protein-protein interactions (PPIs) remains essential for the development of therapies against diseases. Experimental studies to detect PPI are longer and more expensive. Today, with the availability of PPI data, several computer models for predicting PPIs have been proposed. One of the big challenges in this task is feature extraction. The relevance of the information extracted by some extraction techniques remains limited. In this work, we first propose an extraction method based on correlation relationships between the physicochemical properties of amino acids. The proposed method uses a correlation matrix obtained from the hydrophobicity and hydrophilicity properties that it then integrates in the calculation of the bigram. Then, we use the SVM algorithm to detect the presence of an interaction between 2 given proteins. Experimental results show that the proposed method obtains better performances compared to the approaches in the literature. It obtains performances of 94.75% in accuracy, 95.12% in precision and 96% in sensitivity on human HPRD protein data.

• IMMUNE NETWORK
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• v.24 no.3
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• pp.23.1-23.14
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• 2024

Adipose tissue, well known for its endocrine function, plays an immunological role in the body. The inflamed adipose tissue under LPS-induced systemic inflammation is characterized by the dominance of pro-inflammatory immune cells, particularly neutrophils. Although migration of macrophages toward damaged or dead adipocytes to form a crown-like structure in inflamed adipose tissue has been revealed, the neutrophilic interaction with adipocytes or the extracellular matrix remains unknown. Here, we demonstrated the involvement of adhesion molecules, particularly integrin α6β1, of neutrophils in adipocytes or the extracellular matrix of inflamed adipose tissue interaction. These results suggest that disrupting the adhesion between adipose tissue components and neutrophils may govern the accumulation of excessive neutrophils in inflamed tissues, a prerequisite in developing anti-inflammatory therapeutics by inhibiting inflammatory immune cells.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.8 s.179
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• pp.1931-1939
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• 2000

Operating excitation forces of the linear vibratory system are normally determined by direct measurement techniques using load cells, strain gauges, etc. But, hydraulic forces of the rotating turbomachinery such as centrifugal pumps are exerted on an impeller due to asymmety of the flow by the interaction between pump impeller and volute. So, investigations of wide range of hydraulic designs and geometric deviations are difficult by direct method. This paper presents a hybrid approach for fourier transformed operational excitation forces, which uses pseudo-inverse matrix of the transfer matrix for the system and the measured vibrational data with standard installed pump. The determination of the transfer function matrix is based on a linear rotor/stationary system and steady state harmonic response in finite element analysis. And, vibrational data is collected in both vertical and horizontal directions at inboard and outboard bearing housings. The results of the process may be enhanced by making acceleration measurements at many more locations than there are forces to be determined.

• Transactions on Electrical and Electronic Materials
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• v.13 no.6
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• pp.267-272
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• 2012

Considering the properties of the carbon nano tubes (CNT), their inclusion into the polymer matrix vastly increases the properties of the resultant composite. However, this is not the case due to the poor interfacial adhesion of the CNT and the polymer matrix. The present approach focuses on increasing the interaction between the polymer matrix and the CNT through the chemical modification of the CNT resulting in allyl ester functionalized carbon nanotubes (ACNT) and silane functionalized carbon nano tubes (SCNT) which are capable of reacting with the polymer matrix during the curing reaction. The addition of ACNT/SCNT into unsaturated polyester resin (UPR) resulted in the improvement of the electrical properties of resulted nanocomposites in comparison to the CNT. The surface resistivity, volume resistivity, dielectric strength, dry arc resistivity, and the comparative tracking index of the nanocomposites were significantly improved in comparison to CNT. The chemical modification of CNT was confirmed via spectroscopy.

• Journal of the Korean Data and Information Science Society
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• v.21 no.6
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• pp.1263-1270
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• 2010

Sixty patients were divided into three groups. Each group of twenty persons had fed on different diet foods over 5 weeks. Cholesterol had been measured repeatedly five times at an interval of a week during 5 weeks. It resulted from mixed model analysis of repeated measurements data that homogeneous toeplitz covariance matrix pattern was selected as the optimal covariance pattern. The correlations between measurements of different times for the covariance matrix are somewhat highly correlated as 0.64-0.78. Based upon the homogeneous toeplitz covariance pattern model, the time effect was found to be highly significant, but the treatment effect and treatment-time interaction effect were found to be insignificant.

• Nuclear Engineering and Technology
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• v.45 no.7
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• pp.859-870
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• 2013

The paper summarizes the irradiation test and post-irradiation examination (PIE) data for the U-Mo low-enriched fuel that was irradiated in the MIR reactor under the RERTR Program. The PIE data were analyzed for both full-size fuel rods and mini-rods with atomized powder dispersed in Al matrix as well as with additions of 2%, 5% and 13% of silicon in the matrix and ZrN protective coating on the fuel particles. The full-size fuel rods were irradiated up to an average burnup of ${\sim}60%^{235}U$; the mini-rods were irradiated to an average burnup of ${\sim}85%^{235}U$. The presented data show a significant increase of the void fraction in the U-Mo alloy as the U-235 burnup rises from ~ 40% up to ~ 85%. The effect of irradiation test conditions and U-235 burnup were analyzed with regard to the formation of an interaction layer between the matrix and fuel particles as well as generation of porosity in the U-Mo alloy. Shown here are changes in distribution of U fission products as the U-235 burnup increases from ~ 40% up to ~ 85%.

• Geomechanics and Engineering
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• v.28 no.2
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• pp.135-143
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• 2022

Soils are natural granular materials whose mechanical properties differ according to the size and composition of the particles, so soils exhibit an obvious scale effect. Traditional soil mechanics is based on continuum mechanics, which can not reflect the impact of particle size on soil mechanics. On that basis, a matrix-reinforcing-particle cell model is established in which the reinforcing particles are larger-diameter sand particles and the matrix comprises smaller-diameter bentonite particles. Since these two types of particles deform differently under shear stress, a new shear-strength theory under direct shear that considers the stress concentration and bypass phenomena of the matrix is established. In order to verify the rationality of this theory, a series of direct shear tests with different reinforcing particle diameter and volume fraction ratio are carried out. Theoretical analysis and experimental results showed that the interaction among particles of differing size and composition is the basic reason for the size effect of soils. Furthermore, the stress concentration and bypass phenomena of the matrix enhance the shear strength of a soil, and the volume ratio of reinforcing particles has an obvious impact on the shear strength. In addition, the newly proposed shear-strength theory agrees well with experimental values.