• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1790-1795
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• 1991

The optimal load distribution for two cooperating robots is studied in this paper, and a new solution approach utilizing force ellipsoid is proposed. The load distribution problem is formulated as a nonlinear optimization problem with a quadratic cost function. The limit on instantaneous power is considered in the problem formulation as the joint torque constraints. The optimal solution minimizing energy consumption is obtained using the concept of force ellipsoid and the nonlinear optimization theory. The force ellipsoid provides a useful geometrical insight into the load distribution problem. Despite the presence of the joint torque constraints, the optimal solution is obtained almost as a closed form, in which the joint torques are given in terms of a single scalar parameter that can be obtained numerically by solving a scalar equation.

• Journal of radiological science and technology
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• v.19 no.2
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• pp.79-83
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• 1996

The thermoluminescence(TL) response in changing annealing condition, triboluminescence, and darkroom temperature for $Mg_2SiO_4$:Tb phosphor are examined. The experimental results are summerized as follows : 1. The uniformity of TL intensity is better In the disinfected $Mg_2SiO_4$ : Tb than in contaminated one. 2. The triboluminescence of $Mg_2SiO_4$ : Tb is almost not detected even if numbers of $Mg_2SiO_4$ : Tb falling are increased. 3. The fading effect of $Mg_2SiO_4$ : Tb is scarcely affected by freezing room. The followings are resulted from the study. The disinfected $Mg_2SiO_4$ : Tb phosphor should be used in the dose measurement and the immediate reading for $Mg_2SiO_4$ : Tb after exposure is better. And if the reading is not immediately taken, a law darkroom temperature for $Mg_2SiO_4$ : Tb storage is recommended.

• Journal of The Korean Astronomical Society
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• v.36 no.1
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• pp.21-31
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• 2003

ASTRO-F /FIS will carry out all sky survey in the wavelength from 50 to 200 ${\mu}m$. At far infrared, stars and galaxies may not be good calibration sources because the IR fluxes could be sensitive to the dust shell of stars and star formation activities of galaxies. On the other hand, asteroids could be good calibration sources at far infrared because of rather simple spectral energy distribution. Recent progresses in thermal models for asteroids enable us to calculate the far infrared flux fairly accurately. We have derived the Bond albedos and diameters for 559 asteroids based on the IRAS and ground based optical data. Using these thermal parameters and standard thermal model, we have calculated the spectral energy distributions of asteroids from 10 to 200 ${\mu}m$. We have found that more than $70\%$ of our sample asteroids have flux errors less than $10\%$ within the context of the best fitting thermal models. In order to assess flux uncertainties due to model parameters, we have computed SEDs by varing external parameters such as emissivity, beaming parameter and phase integral. We have found that about 100 asteroids can be modeled to be better than $5.8\%$ of flux uncertainties. The systematic effects due to uncertainties in phase integral are not so important.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.10a
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• pp.277-283
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• 2003

This paper constructed the 3D real-time numerical model for which predicts the water quality and movement characteristics of the inner bay, which consider the characteristics of the wind-driven current and density current in estuaries which generated by the river discharge from the Hyeong-san river and oceanic water of the Eastern sea. The constructed numerical model reappeared successfully the seawater circulation current of Yeong-il Bay, which used the input conditions of the real-time tidal current, river discharge and weather conditions at March of 2001 year. Also to observe the wind-driven current and density current in estuaries effected to the seawater circulation pattern of the inner bay, we investigated the analyzation for the each impact factors and the relationship with the water quality of Yeong-il bay

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.10a
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• pp.303-308
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• 2003

In this paper, wave numerical modeling was experimented for the analysis of impact factors for the wave transmission as the incident wave and topographic conditions in the narrow channel sea. Recently, Although the results of many researcher for the wave modelling, numerical equations have limited to simulation of wave transformation effects. Despite of thispresent problems, the models was used to design the coastal structures in barrow channel sites. Finally, this paper estimated the wave model(mild slope eq. model) as the analysis of the wave energy transmission according to changing of impact factors(width of channel, bottom slope in channel, incident wave angle, wave period). As the results of numerical experiment, the major impact factors which influence to wave energy transmission were the width of channel and incident wave direction. But in the case that the width of channel is larger than 3L(L=Length of wave), the reduction of wave energy was small.

• Journal of the Korean Ceramic Society
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• v.43 no.7 s.290
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• pp.402-407
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• 2006

NiO/YSZ(70 wt%NiO) composite powders were prepared by ball-milling of 8YSZ and NiO precursors, dried and then followed by calcination. The approach was to combine acidic $Ni(NO_3)_2{\cdot}6H_2O$ and basic $2NiCO_3{\cdot}3Ni(OH)_2{\cdot}4H_2O$ via acid-base reaction as a mixed NiO precursor. Their effects were studied in the aspects of DSC, microstructure, porosity, and electrical conductivity. Ni/YSZ composite of 1N9C (1 mole NiO from the nitrate and 9 moles of NiO from the carbonate) was prepared by consolidation at $1400^{\circ}C$ for 3 h, and then followed by reduction at $1000^{\circ}C$ for 3 h under flowing of 6% $H_2/N_2$. It showed a homogeneous microstructure with ${\sim}20%$ porosity and 1880 S/cm at $1000^{\circ}C$.

• The Journal of the Korean dental association
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• v.38 no.9 s.376
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• pp.850-855
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• 2000

• Journal of the Korean Geosynthetics Society
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• v.9 no.2
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• pp.11-20
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• 2010

This paper studies the discharge capacity of vertical drain boards that is controlling hydraulic gradient among many factors in the specification. The KS K 0940(2008), a testing method based on the conventional Delft type method for measuring the discharge capacity of a vertical drain, was specified in Korea Standard recently. In this test method, the variation in hydraulic gradient can result in large differences in the discharge capacity for the same vertical drain board.

• Journal of the Korean Geotechnical Society
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• v.21 no.1
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• pp.51-58
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• 2005

The use of geogrid for SRW systems and bridge abutment has increased rapidly over the past 10 years in Korea. The concept of segmental retaining walls and reinforced soil is very old and for example The Ziggurats of Babylonia(i.e. Tower of Babel) were built some 2,500 to 3,000 years ago using soil reinforcing methods very similar to those described in current design. Modern SRW(Semental Retaining Wall) units were introduced in 1960's as concrete crib retaining wall systems. In this paper, the friction properties between segmental concrete units and geogrid are investigated by performing various tests.

• Preventive Nutrition and Food Science
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• v.5 no.3
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• pp.165-169
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• 2000

Kombucha beverages were made from sweetened tea by Oriental, European and Tibetan tea fungus starters. The hot water extracts o green tea, black tea, Gugija and Omija were mixed with white and/or brown sugar, and were fermented under a static culture at 3$0^{\circ}C$. Titrable acidity, pH, color and cellulose production in kombucha beverages were evaluated. All tea fungus starters showed a higher acid production in green/black tea extracts rather than Gugija and Omija extracts. In green/black tea extracts Oriental tea fungus produced a kombucha beverage with a higher titrable acidity and lower pH than those of European and Tibetan tea fungus starters. By the static fermentation of green/black tea extract for 18 days, Oriental, Tibetan and European tea fungus starters produced cellulose pellicles of 0.43g, 0.16g, and 0.19 g (dry weight) on the top in the culture, respectively. As a mother starter, the cellulose pellicle was more efficient in acid production compared with tea fungus broth. Oriental/Tibetan mixed tea fungus showed the best acid production in the green/black tea extract supplemented with brown sugar.