• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.69-72
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• 1996

This paper considers a global resolution of kinematic redundancy under inequality constraints as a constrained optimal control. In this formulation, joint limits and obstacles are regarded as state variable inequality constraints, and joint velocity limits as control variable inequality constraints. Necessary and sufficient conditions are derived by using Pontryagin's minimum principle and penalty function method. These conditions leads to a two-point boundary-value problem (TPBVP) with natural, periodic and inequality boundary conditions. In order to solve the TPBVP and to find a global minimum, a numerical algorithm, named two-stage algorithm, is presented. Given initial joint pose, the first stage finds the optimal joint trajectory and its corresponding minimum performance cost. The second stage searches for the optimal initial joint pose with globally minimum cost in the self-motion manifold. The effectiveness of the proposed algorithm is demonstrated through a simulation with a 3-dof planar redundant manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.19-24
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• 2003

A new method for designing critical control systems is proposed in this paper. The controller structure is chosen as a Davison type integral controller with an observer. The proposed method consists of two steps. First, the state feedback critical control system is designed using a quadratic performance index with tunable parameters. Second, the observer gain matrix is determined by the formal LTR procedure using a Riccati equation. Consequently, the search space can be reduced considerably compared with the conventional approach. Although the proposed method sacrifices a large freedom for the choice of controller structure provided by the principle of matching, the controller structure used in this paper is not excessively complex and can be used for most applications. An illustrative design example is presented.

• Journal of Korean Society of Water and Wastewater
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• v.20 no.1
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• pp.128-137
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• 2006

This study aims at developing the practical technology in the treatment of box-mill wastewater using the aerobic co-metabolism principle. The conventional activated sludge method exhibited the removal efficiency of $TBOD_5$ and $TCOD_{Mn}$ as 30~50% and 40~50%, respectively. Color was rather increased by 30~130% because the conventional treatment under the aerobic condition did not induce the conversion of molecular structure of dyeing agents. Meanwhile, when the aerobic co-metabolism principle was applied to the same wastewater, the removal efficiency of $TBOD_5$ and $TCOD_{Mn}$ were obtained as 92~97% and 90~94%, respectively. In particular, color was significantly reduced down to 65~85%. The enhancement of treatment efficiency was ascribed to occur not only that the non-degradables were converted to the second substrates, but also that the enzyme activity was increased as MLVSS was kept 3000mg/l or more with the first substrates injected.

• Journal of architectural history
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• v.24 no.6
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• pp.83-92
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• 2015

Deoksugung Palace Art Museum was built in 1938 as the first professional art museum in Korea. In 2015, National Research Institute of Cultural Heritage published a book on architectural drawings of this building. This book, called Architectural Drawings of the Deoksugung Palace Art Museum, consists of 646 sheets, 23 types of documents, as well as other historical letters. This paper focuses on the analysis of the characteristics of classicism in Architectural Drawings. It shows that every dimensions of drawings were controled by 3 partition composition through the analysis of architectural plan drawings, elevation drawings and even section drawings. Thus, Classicism for the museum is not about classical elements but the principle of composition of each elements for the construction. This paper further argues that Deoksugung Palace Art Museum exemplifies beautiful Classicism architecture which follows the principle of classical architectural composition.

• The Journal of Fisheries Business Administration
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• v.14 no.2
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• pp.1-14
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• 1983

This paper considers a classification of the 88 islands located at Kyong-nam area in Korea, using by examples of 12 components of the islands. By means of principal component analysis 2 principle components were extracted, which explained a total of 73.7% of the variance. Using an eigen variable criterion (λ>1), no further principle components were discussed. Principal component 1 and 2 explained 63.4% and 10.3% of the total variance respectively, The representation of the unrelated factor scores along the first and second principal axes produced a new information with respect to the classification of the islands. Based upon the representation, 88 islands were classified into 6 groups i. e. A, B, C, D, E, and F according to similarity of the components among them in this paper. The "Group F" belongs to a miscellaneous assortment that does not fit into the logical category. category.

• Korean Institute of Interior Design Journal
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• no.25
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• pp.205-212
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• 2000

The purpose of this study was to analyze the form of composition and principle of reduction in architectural composition. Theorical category is to find reduction system with the connection between idea of society and tradition in compositional frame. The results were as follows : First, it is appeared the mimesis of style. The mimesis of style is differentiated characteristics between Greek Style or Roman Style and Gothic Revival or Renaissance Revival. Second, it is the reduction of primitive of form. It si divided with mimesis of nature and reduction of primitive hut. Like Laugier the former find the architectural prototype, the latter is convinced of simplicity, purity of nature with us.

• Journal for History of Mathematics
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• v.27 no.1
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• pp.67-79
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• 2014

When imaginary numbers were first encountered in the 16th century, mathematicians were able to calculate the imaginary numbers the same as they are today. However, it required 200 years to mathematically acknowledge the existence of imaginary numbers. The new mathematical situation that arose with a development in mathematics required a harmony of real numbers and imaginary numbers. As a result, the concept of complex number became clear. A history behind the development of complex numbers involved a process of determining a comprehensive perspective that ties real numbers and imaginary numbers in a single category, complex numbers. This came after a resolution of conflict between real numbers and imaginary numbers. This study identified the new perspective and way of mathematical thinking emerging from resolving the conflicts. Also educational implications of the analysis were discussed.

• Journal for History of Mathematics
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• v.23 no.1
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• pp.25-40
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• 2010

We first seek a principle of cognitive development processes by reviewing and summarizing Piaget's cognitive development theory, constructivism and Dubinsky's APOS theory, and also the epistemology on logics of 墨子 and 荀子. We investigate Chapter 8 方程 on the theory of systems of linear equations, of the Nine Chapters, one of the oldest ancient Asian mathematical books, from the viewpoint of our principle of cognitive development processes. We conclude the educational value of the chapter and the value of the research on Asian ancient mathematical works and heritages.

• Journal of Power Electronics
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• v.15 no.6
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• pp.1421-1428
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• 2015

The efficiency and reliability of the dual-buck inverter (DBI) were greatly improved by eliminating the shoot-through problem and optimally designing the freewheeling diode. The traditional DBI suffers from large harmonic components with low output voltage and large capacity output filter inductor. To overcome the aforementioned disadvantages, a modified DBI (MBDI) was proposed by adopting a quasi-resonant link and pulse density modulation (PDM). This paper first introduces the working principle of the MBDI and PDM, and then the selection principle of system parameters is presented. Finally, a mathematical model of the MBDIis built, and an experiment prototype is set up. Simulation and experimental results verify the correctness of the theoretical analysis and the feasibility of the scheme.

• Journal of Korean Society of Rural Planning
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• v.10 no.4 s.25
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• pp.29-37
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• 2004

The purpose of this study is to propose the principle of rural village planning process based on rural resources, differently space planning process(regional planning, village planning, urban planning etc). The importance of this planning process is resources planning, facility planning, program planning. So we planed rural villages - two rural traditional theme villages. The major findings of this planning were as follows; First, we have to consider economic value of rural resources. Second, resources were used differently, according to village conditions, though same it. It is important to apply value-added it. Third, in future we have to additional studies; environment planning factor, community participation, resources evaluation in this planning.