• Journal of Institute of Control, Robotics and Systems
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• v.19 no.10
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• pp.907-914
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• 2013

A FastSLAM is an algorithm for SLAM (Simultaneous Localization and Mapping) using a Rao-Blackwellized particle filter and its performance is known to degenerate over time due to the loss of particle diversity, mainly caused by the particle depletion problem in the resampling phase. In this paper, the GeSPIR (Geographically Stratified Particle Information-based Resampling) technique is proposed to solve the particle depletion problem. The proposed algorithm consists of the following four steps : the first step involves the grouping of particles divided into K regions, the second obtaining the normal weight of each region, the third specifying the protected areas, and the fourth resampling using regional equalization weight. Simulations show that the proposed algorithm obtains lower RMS errors in both robot and feature positions than the conventional FastSLAM algorithm.

• Electrical & Electronic Materials
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• v.10 no.2
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• pp.97-104
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• 1997

In this paper, in order to investigate the behavior of charged particles on (Sr.Ca)TiO$_{3}$ ceramics with paraelectric properties, the characteristics of electrical conduction and thermally stimulated current was measured respectively. As a result, the conduction mechanism is divided into three regions having different mechanism as the current increased. The region I below 200[V/Cm] shows the ohmic conduction. The region B between 200[V/cm] and 2000[V/cm] can be explained by the Poole-Frenkel emission theory, and the region III above 2000[V/cm] is dominated by the tunneling effect. The three peaks of TSC were obtained at the temperature of -20[.deg. C], 20[.deg. C] and 80[.deg. C], respectively. The origins of these peaks are that the .alpha. peak observed at -20[.deg. C] looks like to be ascribed to the ionization excitation from donor level in the grain, and the .alpha.' peak observed at 20 [.deg. C] appears to show up by hopping conduction of the trapped carrier of border between the oxidation layer and the grain, and the .betha. peak observed at 80[.deg. C] seems to be resulted from hopping conduction of existing carrier in the trap site of the border between the oxidation and second phase.

• Journal of the Korean Ceramic Society
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• v.47 no.4
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• pp.312-318
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• 2010

Chulwha pieces collected from Hakbong-ri site in Keryong mountain were studied whether there is reactions or not in each layer to investigate firing condition of glaze, body, Chulwha, engobe of Buncheong ware in the early Chosun Dynasty, 15th~16th Century. As a result of XRD analysis of a Chulwha piece, a main crystal phase was $\alpha$-Quartz and a second was Mullite. It was assumed the firing temperature would be around $1200^{\circ}C$ because a little amount of Mullite was formed in the body and there was no phase transition $\alpha$-Quartz to cristobalite. As a result of ICRM analysis, Chulwha and glaze didn't react and the melted glazes were sunk into the Chunwha particles. The thin layer of glaze was found on the Chulwha layer. As a result, the color of Chulwha layer always came to vivid black. Moreover, Chulwha painting didn't spread over the Buncheong ware, because Chulwha and engobe didn't react. The boundary interface of engobe and body was not clear because they had similar compositions. This shows engobe was composed of more $Al_2O_3$ than body.

• Biotechnology and Bioprocess Engineering:BBE
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• v.7 no.1
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• pp.16-20
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• 2002

Parameter estimations were made for the reversed-phase adsorption of perillyl alcohol (POH), a potent anti-cancer agent, on octadecylsilyl-silica gel (ODS). The average particle diameter of ODS was about $15\;{\mu}m$, and the particles were packed in the column $(3.9\;\times\;300mm)$. The mobile phase used was a mixture of acetonitrile and water, in which the acetonitrile ranged between 50 and $70\;(v/v\;\%)$. The first absolute moment and the second central moment were determined from the chromatographic elution curves by moment analysis. Experiments were carried out using POH solutions within the linear adsorption range. The fluid-to-particle mass transfer coefficient was estimated using the Wilson-Geankoplis equation. The axial dispersion coefficient and the intra particle diffusivity were determined from the slope and intercept of a plot of H vs $1/u_0$, respectively. The contributions of each mass-transfer step were axial dispersion, fluid-to-particle mass transfer, and intraparticle diffusion.

• Nuclear Engineering and Technology
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• v.53 no.1
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• pp.79-92
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• 2021

Venturi tube is based on turbulent flow, whereby the microbubbles can be generated by the turbulent fragmentation. This phenomenon is common in several venturi bubblers used by the nuclear, aerospace and chemical industries. The first objective of this paper is to study the liquid-phase velocity field experimentally and develop correlations for the turbulent quantities. The second objective is to research velocity field characteristics theoretically. Stereoscopic PIV measurements for the velocity field have been analyzed and utilized to develop the turbulent kinetic energy in the venturi tube. The tracking properties of the tracer particles have been verified enough for us to analyze the turbulence field. The turbulence kinetic energy has a bimodal distribution trend. Also, the results of turbulence intensity along the horizontal direction is gradually uniform along the downstream. Both the mean velocity and the fluctuation velocity are proportional to the Reynolds number. Besides, the distribution trend of the mean velocity and the velocity fluctuation can be determined by the geometric parameters of the venturi tube. An analytical function model for the flow field has been developed to obtain the approximate analytical solutions. Good agreement is observed between the model predictions and experimental data.

• Journal of Powder Materials
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• v.30 no.1
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• pp.7-12
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• 2023

Metal-additive manufacturing techniques, such as selective laser sintering (SLS), are increasingly utilized for new biomaterials, such as cobalt-chrome (Co-Cr). In this study, Co-Cr gas-atomized powders are used as charge materials for the SLS process. The aim is to understand the consolidation of Co-Cr alloy powder and characterization of samples sintered using SLS under various conditions. The results clearly suggest that besides the matrix phase, the second phase, which is attributed to pores and oxidation particles, is observed in the sintered specimens. The as-built samples exhibit completely different microstructural features compared with the casting or wrought products reported in the literature. The microstructure reveals melt pools, which represent the characteristics of the scanning direction, in particular, or of the SLS conditions, in general. It also exposes extremely fine grain sizes inside the melt pools, resulting in an enhancement in the hardness of the as-built products. Thus, the hardness values of the samples prepared by SLS under all parameter conditions used in this study are evidently higher than those of the casting products.

• The Korean Journal of Ceramics
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• v.5 no.1
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• pp.19-24
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• 1999

The influences of TiB2 additions to the β-sialon on mechanical propeties and electrical discharge machinability were investigated. Samples were prepared by adding 15, 30 and 45 vol.% TiB2 particles as a second phase to a β-sialon matrix. The β-sialon-TiB2 composites were sintered by hot pressing in a nitrogen atmosphere at 1800℃ with pressure of 30 MPa. The fracture toughness of the composites was increased with TiB2 content except 45 vol.% TiB2 composite. The crack propagation and crack deflection were observed with a SEM for etched samples after vicker's indentation. The composites containing more than 30 vol.% TiB3 had resistivity lower than 10-3 Ω㎝. The electrical discharge machining (EDM) of composited was conducted with two kind of machines such as die-sinker and wire cutter. The machinability was evaluated with the cutting rate surface roughness after machining.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.04a
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• pp.329-334
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• 1992

It has been shown that the application of hydrostatic pressure during superplastic forming of 8090A1 can prevent the cavitaiton normally encountered at atmospheric pressure and cavity growth rate factor .eta. in the plane strain state is greater than that in the equibiaxial stress state. .eta. value shows some difference compared to the theoretical value, which seems to be due to the continuous nucletion and coalescence of voids during superplastic deformation. Scatter of measured data of cavity volume fraction seems to be on preferential nucleation of viods on non-uniformly distributed second phase particles in the deforming matrix.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2005.06a
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• pp.331-338
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• 2005

The grain structure, dislocation density and second phase particles in various regions including the stir zone(SZ), thermo-mechanically affected zone(TMAZ), and heat affected zone(HAZ) of a friction stir weld 6.35mm thick aluminum 7075-T651 alloy were investigated and compared with the base metal. The microstruectures of nugget zone were compared according to tool rotation speeds and tool transition speeds. The hardness profiles of nugget zone were increased, while decreasing rotation speed and increasing welding speed. The optimal microstructure was gained at the low rotation speed 800rpm and th high welding speed 124mm/min. The nugget microstructures of fracture surface, transgranular dimple and quasicleavage type were showed different fracture type with the HAZ, shear fracture type.

• Transactions of Materials Processing
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• v.13 no.2
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• pp.160-167
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• 2004

In order to theoretically analyze the creep behavior of high Cr steel at $600^{\circ}C$, a unified elasto-viscoplastic constitutive model based on the consideration of dislocation density is proposed. A combination of a kinetic equation describing the mechanical response of a material at a given microstructure in terms of dislocation glide and evolution equations for internal variables characterizing the microstructure provides the constitutive equations of the model. Microstructural features of the material such as the grain size and spacing between second phase particles are directly implemented in the constitutive equations. The internal variables are associated with the total dislocation density in a simple model. The model has a modular structure and can be adjusted to describe a creep behavior using the material parameters obtained from uniaxial tensile tests.