• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.450-456
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• 2006

Monte Carlo localization is known to be one of the most reliable methods for pose estimation of a mobile robot. Although MCL is capable of estimating the robot pose even for a completely unknown initial pose in the known environment, it takes considerable time to give an initial pose estimate because the number of random samples is usually very large especially for a large-scale environment. For practical implementation of MCL, therefore, a reduction in sample size is desirable. This paper presents a novel approach to reducing the number of samples used in the particle filter for efficient implementation of MCL. To this end, the topological information generated through the thinning technique, which is commonly used in image processing, is employed. The global topological map is first created from the given grid map for the environment. The robot then scans the local environment using a laser rangefinder and generates a local topological map. The robot then navigates only on this local topological edge, which is likely to be similar to the one obtained off-line from the given grid map. Random samples are drawn near the topological edge instead of being taken with uniform distribution all over the environment, since the robot traverses along the edge. Experimental results using the proposed method show that the number of samples can be reduced considerably, and the time required for robot pose estimation can also be substantially decreased without adverse effects on the performance of MCL.

• Transactions of Materials Processing
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• v.17 no.1
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• pp.52-58
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• 2008

Tube hydroforming process is generally consisted with pre-bending, preforming and hydroforming processes. Among forming defects which may occur in tube hydroforming such as buckling, wrinkling and bursting, the wrinkling and bursting by local instability under excessive tensile stress mode were mainly caused by thinning phenomenon in the manufacturing process. Thus the accurate prediction and suitable evaluation of the thinning phenomenon play an important role in designing and producing the successfully hydroformed parts without any failures. In this work, the formability on hydroformed part for automobile, i.e. engine cradle, was evaluated using finite element analysis. The initial tube radius, loading path with axial feeding force and internal pressure, and preformed configuration after preforming process were considered as the dominant process parameters in total tube hydroforming process. The effects on these process parameters could be confirmed through the numerical experiments with respect to several kinds of finite element simulation conditions. The degree of enhancement on formability with each process parameters such as initial tube radius, loading path and preform configuration were also compared. Therefore, it is noted that the evaluation approach of the formability on hydroformed parts for lots of industrial fields proposed in this study will provide one of feasible methods to satisfy the increasing practical demands for the improvement of the formability in tube hydroforming processes.

• Transactions of Materials Processing
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• v.19 no.4
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• pp.253-262
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• 2010

For multi-stage deep drawing process including ironing operation and biaxial forming in this study, tool developments are achieved, and the developed tool sets are applied to experimental investigations. In process and tool designs, a contact condition between intermediate blank and lower die is considered as the sequential one. In this study, the material used is cold-rolled thin sheet (SPCE) with the initial thickness of 0.4mm. From the experimental approaches, several failures such as tearing, localized thickening and thinning, are observed. To solve these failures, the contact surface on the lower die is modified. As the experimental results by applying the modified lower die, it is investigated that the failures are not occurred, and the excessive deformation behavior due to the thinning and thickening effects are decreased. Furthermore, the thickness distributions on the major axis and the minor axis of each intermediate blank are investigated to be already satisfied the target (ironing) thickness, respectively. By this systematic approach, it is confirmed that the experimental results show good agreements with the designed and required configuration of each deformed and final products.

• Korea-Australia Rheology Journal
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• v.14 no.2
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• pp.77-86
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• 2002

A microscopic theoretical study is performed to predict the rheological properties of human blood in the low concentration limit. The shear thinning behavior of blood in the low shear limit is studied by considering the aggregate formation of red blood cells, which is called the rouleaux formation. Then the constitutive equations of blood in the high shear limit are derived for various flow situations by considering the unique features of deformation of blood cells. Specifically, the effects of the surface-area-preserving constraint and the lank-treading motion of blood cells on the rheological properties are studied.

• 한국약용작물학회:학술대회논문집
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• 2008.11a
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• pp.229-230
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• 2008

• Horticultural Science & Technology
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• v.34 no.1
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• pp.24-31
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• 2016

This study investigated the effects of flower and fruit thinning agents on fruit set and harvested fruit quality attributes in 'Gamhong' apples. Lime sulfur, MaxCel (1.9% BA), and Fruitone (3.5% NAA) were applied either at post-bloom or fruitlet stages to mature 'Gamhong/M.9' trees. In 2011, the numbers of fruits per cluster in terminal flowers were 1.74, 0.82, and 1.15 for the control, lime sulfur, and Maxcel (applied at 10-mm fruit stage) treatments, respectively. The percentages of single fruit per cluster were 36.0, 47.9, and 48.7% for the control, lime sulfur, and Maxcel (10 mm) treatments, respectively, while the percentages of clusters with three fruits per cluster were 22.9, 1.4, and 5.8%. In lateral flowers, fruit numbers per cluster were 1.20, 0.36, and 0.50 for the control, lime sulfur, and Maxcel (10 mm) treatments, respectively. In 2012, all the thinning treatments showed a positive effect on flower and fruit thinning, compared with the control. Moreover, the treatment with thinning agents did not affect fruit quality. Overall, the results suggest that a single application of flower or fruit thinning agents would be sufficient, rather than the mixed application of thinning agents, based on the observed decrease in fruit setting.

• Journal of Korean Society of Forest Science
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• v.105 no.3
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• pp.275-283
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• 2016

The objective of this study was to examine carbon dynamics with biomass, soil $CO_2$ efflux, litter and root decomposition after tree density control in young Pinus densiflora stands. The stands were established with 50% thinning, clear-cut, and control stands with three pseudo-replicated plots and a bare soil plot in 8-year-old Pinus densiflora nursery field. Monthly measurements were conducted from March 2012 to February 2014 and aboveground biomass and coarse-roots were estimated by derived allometric equations. Average diameter growth at root collar in control and thinned was 0.89 cm and 1.48 cm per year, respectively, and the diameter growth of control stand was significantly higher than that of thinned stands (p<0.05). Total biomass was estimated to 5.17, $4.85kg\;C\;m^{-2}$ per year in control and thinned, respectively. Annual soil $CO_2$ efflux in control, thinned, clear cut, and bare soil was 3.71, 3.90, 4.17, $4.56kg\;CO_2\;m^{-2}\;yr^{-1}$, respectively and removing trees significantly increased soil $CO_2$ efflux (p<0.05). Net Ecosystem Production (NEP) was 1.57, 1.36, -0.67, $-1.25kg\;C\;m^{-2}\;yr^{-1}$ in control, thinned, clear cut and bare soil in the young Pinus densiflora stands. NEP was significantly decreased by removing trees. Thinning increased diameter at root collar and carbon of individual tree and recovered 86% of carbon removed by thinning after one-year. In addition, soil $CO_2$ efflux increased and NEP increased by thinning. Results of this study, tree density control such as thinning increased the carbon storage and growth of the young Pinus densiflora stands.

• Journal of Mushroom
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• v.11 no.3
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• pp.131-136
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• 2013

The effects of fixed and variable relative humidity on fruiting body formation and characters of Pleurotus eryngii were investigated with normal and thinning treatment plots. In fixed relative humidity, as humidity was lower, period of harvest was longer as well as days for pinheading in the both of normal and thinning plots. In the normal plot, qualities of mushroom were 5.5, 5.8, and 6.3 and yield was 98.6 g per bottle for 90% relative humidity, it was best. In the thinning plot, qualities of mushroom were 7.7, 8.4, and 8.5 and yields were 102.1, 105.8, and 116.9 g at 70, 80, and 90% respectively. In variable relative humidity with a thinning plot, the yield of P. eryngii on condition I(>90% for 1 day ${\rightarrow}$ 85% until thinning(for about 11 days) ${\rightarrow}$ 80%) and III(>90% until pin-heading(about for a week) ${\rightarrow}$ 85% until thinning(about for 5 days) ${\rightarrow}$ 80%) were 85.5 and 87.8 g per bottle, and qualities were 7.8 and 8.0 respectively. For long shelf life and a cultural control of bacterial soft rot disease, the condition I will be more largely adopted by mushroom farmers.

• YAKHAK HOEJI
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• v.40 no.4
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• pp.411-417
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• 1996

Epidermal growth factor(EGF), a potential healing agent for wounds and burns, has been formulated to topical gels with the hydrophilic polymers, Carbopol 934P. Physicochemical c haracteristics of the aqueous gels were evaluated by rheological properties and pH changes on storage. The gels were relatively stable at $4^{\circ}C$ and room temperature showing no changes in pH for two weeks, and revealed the rheogram of shear thinning plastic flow with the yield values in the range of 40 to 70dyne/$cm^2$. In vivo healing effects of different gel formulations have been compared with water-soluble and oleaginous ointments in full-thickness wound mouse model. The gel systems resulted in better wound healing effects than the other ointments. Furthermore, liposomal Carbopol gel has been developed by the addition of EGF-containing liposomal suspension into the Carbopol gel. The enhanced wound healing effects have been observed in the liposomal gel system, compared to the other gels and conventional ointments.

• Journal of Korean Academy of Oral and Maxillofacial Radiology
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• v.22 no.2
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• pp.241-252
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• 1992

The purpose of this study was to investigate the changes of morphology and structure of bone tissue in the irradiated mandibular bone in rats which were fed a low calcium diet. In order to carry out this experimant, 64 seven-week old Sprague-Dawley strain rats weighing about 150gms were selected and equally divided into one experimental group of 32 rats and one control group with the remainder. The experimental group and the control group were then subdivided into two groups when the rats reached ten-week old, 16 were assigned rats for each subdivided group, exposed to irradiation. The two irradiation groups received a single dose of 20 Gy in the jaws area only and irradiated with a cobalt-60 teletherapy unit. The rats in the control and experimental groups were serially terminated by fours on the 3rd, the 7th, the 14th, and the 21st day after irradiation. Following termination, both sides of the dead rats mandibular bodies were removed and fixed with 10% neutral formalin. One side of the mandibular body was radiographed with a soft X-ray apparatus. Thereafter, the obtained microradiographs were observed by a light microscope. The remaining side of the mandibular bone was further decalcified and embedded in paraffin as using the general method. The specimen sectioned and stained with hematoxylin and eosin, and Rabit Anti-Human Tumor Necrosis Factor-a, observed by a light microscope. The obtained results were as follows: 1. Microradiogram revealed that thinning of the cortex and a decrease in the trabecula of the interradicular bone and mandibular body were observed and noted from the start to finish throughout the experiment in the non-irradiated rats on the low calcium diet rather than in the non-irradiated rats on the normal diet. In microscopic observations, there were marked osteolytic changes in the center of the bone marrow. 2. Microradiogram revealed that thinning of the cortex and a decrease in the trabecula of interradicular bone and mandibular body were more marked after 7 days in the irradiated rats on the low calcium diet rather than in the non-irradiated rats on the low clacium diet. In microscopic observations, osteoblasts were decreased markedly after 7 days, and a few osteoclasts were observed. 3. Microradiogram revealed that thinning of the cortex and a decrease in trabecula of interradicular bone and the mandibular body were more marked from the strart to finish troughout the experiment in the irradiated rats on the low calcium diet rather than in the irradiated rats on the normal diet. In microscopic observations, there were no osteolytic changes noted in the irradiated rats on the normal diet. 4. In immunocytochemical findings, a few bone marrow cells including Tumor Necrosis Factor were observed in the irradiated rats on the normal diet, but was not observed in the rats on the low calcium diet.