• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.500-507
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• 2022

In this study, a motion planning method based on the integer representation of contact status between wheels and the ground is proposed for planning swing motion of a 6×6 wheel-legged robot to cross large obstacles and gaps. Wheel-legged robots can drive on a flat road by wheels and overcome large obstacles by legs. Autonomously crossing large obstacles requires the robot to perform complex motion planning of multi-contacts and wheel-rolling at the same time. The lift-off and touch-down status of wheels and the trajectories of legs should be carefully planned to avoid collision between the robot body and the obstacle. To address this issue, we propose a planning method for swing motion of robot legs. It combines an integer representation of discrete contact status and a trajectory optimization based on the direct collocation method, which results in a mixed-integer nonlinear programming (MINLP) problem. The planned motion is used to control the joint angles of the articulated legs. The proposed method is verified by the MuJoCo simulation and shows that over 95% and 83% success rate when the height of vertical obstacles and the length of gaps are equal to or less than 1.68 times of the wheel radius and 1.44 times of the wheel diameter, respectively.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.438-446
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• 2022

In this paper, we propose an intelligent three-legged landing system that can maintain stability and level even on rough terrain than conventional four-legged landing systems. Conventional landing gear has the limitation that it requires flat terrain for landing. The 3-leg landing system proposed in this paper extends the usable range of the legs and reduces the weight, allowing the quadcopter to operate in various environments. To do this, kinematics determine the joint angles and coordinates of the legs of the two-link structure. Based on the angle value of the quadcopter detected via the IMU sensor, the leg control method that corrects the posture is determined. A force sensor attached to the end of the leg is used to detect contact with the ground. At the moment of contact with the ground, landing control starts according to the value of the IMU sensor. The proposed system verifies its reliability in various environments through an indoor landing test stand. Finally, in an outdoor environment, the quadcopter lands on a 20 degree incline and 20 cm rough terrain after flight. This demonstrates the stability and effectiveness of the 3-leg landing system even on rough terrain compared to the 4-leg landing system.

• Geomechanics and Engineering
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• v.31 no.5
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• pp.529-543
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• 2022

The lattice-spring-based synthetic rock mass model (LS-SRM) technique has been extensively employed in large open-pit mining and underground projects in the last decade. Since the LS-SRM requires a complex and time-consuming calibration process, a robust approach was developed using the Response Surface Methodology (RSM) to optimize the calibration procedure. For this purpose, numerical models were designed using the Box-Behnken Design technique, and numerical simulations were performed under uniaxial and triaxial stress states. The model input parameters represented the models' micro-mechanical (lattice) properties and the macro-scale properties, including uniaxial compressive strength (UCS), elastic modulus, cohesion, and friction angle constitute the output parameters of the model. The results from RSM models indicate that the lattice UCS and lattice friction angle are the most influential parameters on the macro-scale UCS of the specimen. Moreover, lattice UCS and elastic modulus mainly control macro-scale cohesion. Lattice friction angle (flat joint fiction angle) and lattice elastic modulus affect the macro-scale friction angle. Model validation was performed using physical laboratory experiment results, ranging from weak to hard rock. The results indicated that the RSM model could be employed to calibrate LS-SRM numerical models without a trial-and-error process.

• The Bulletin of The Korean Astronomical Society
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• v.45 no.1
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• pp.48.4-49
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• 2020

We reconstruct the expansion history of the universe using type Ia supernovae (SN Ia) in a manner independent of any cosmological model assumptions. To do so, we implement a nonparametric iterative smoothing method on the Joint Light-curve Analysis (JLA) data while exploring the SN Ia light-curve hyperparameter space by Markov Chain Monte Carlo (MCMC) sampling. We test to see how the posteriors of these hyperparameters depend on cosmology, whether using different dark energy models or reconstructions shift these posteriors. Our constraints on the SN Ia light-curve hyperparameters from our model-independent analysis are very consistent with the constraints from using different parameterizations of the equation of state of dark energy, namely the flat ΛCDM cosmology, the Chevallier-Polarski-Linder model, and the Phenomenologically Emergent Dark Energy (PEDE) model. This implies that the distance moduli constructed from the JLA data are mostly independent of the cosmological models. We also studied that the possibility the light-curve parameters evolve with redshift and our results show consistency with no evolution. The reconstructed expansion history of the universe and dark energy properties also seem to be in good agreement with the expectations of the standard ΛCDM model. However, our results also indicate that the data still allow for considerable flexibility in the expansion history of the universe. This work is published in ApJ.

• Journal of the Korea Institute of Building Construction
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• v.24 no.4
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• pp.413-424
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• 2024

To expedite construction of small precast concrete buildings using dry joints, this study developed and evaluated a connector system for solid slabs. The research included a comprehensive literature review on seismic design requirements for precast concrete floors, followed by an analytical evaluation of the connector's bearing capacity in 3-story buildings. Experimental assessments were conducted to determine the in-plane and out-of-plane capacities of the newly designed semi-circular connector. Finally, the constructability of both the semi-circular and flat connector configurations was compared through tests on single-story precast concrete frames.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.13 no.7
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• pp.667-678
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• 2002

In this paper, a new radiating structure with a multi-layered two-dimensional metallic disk array was proposed for shaping the flat-topped element pattern. It is an infinite periodic planar array structure with metallic disks finitely stacked above the radiating circular waveguide apertures. The theoretical analysis was in detail performed using rigid full-wave analysis, and was based on modal representations for the fields in the partial regions of the array structure and for the currents on the metallic disks. The final system of linear algebraic equations was derived using the orthogonal property of vector wave functions, mode-matching method, boundary conditions and Galerkin's method, and also their unknown modal coefficients needed for calculation of the array characteristics were determined by Gauss elimination method. The application of the algorithm was demonstrated in an array design for shaping the flat-topped element patterns of $\pm$20$^{\circ}$ beam width in Ka-band. The optimal design parameters normalized by a wavelength for general applications are presented, which are obtained through optimization process on the basis of simulation and design experience. A Ka-band experimental breadboard with symmetric nineteen elements was fabricated to compare simulation results with experimental results. The metallic disks array structure stacked above the radiating circular waveguide apertures was realized using ion-beam deposition method on thin polymer films. It was shown that the calculated and measured element patterns of the breadboard were in very close agreement within the beam scanning range. The result analysis for side lobe and grating lobe was done, and also a blindness phenomenon was discussed, which may cause by multi-layered metallic disk structure at the broadside. Input VSWR of the breadboard was less than 1.14, and its gains measured at 29.0 GHz. 29.5 GHz and 30 GHz were 10.2 dB, 10.0 dB and 10.7 dB, respectively. The experimental and simulation results showed that the proposed multi-layered metallic disk array structure could shape the efficient flat-topped element pattern.

• The Journal of the Korean bone and joint tumor society
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• v.7 no.1
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• pp.1-12
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• 2001

Purpose : To elucidate possibility of local chemotherapy from adraimycin-impregnated bone cement. Materials and Methods : Authors used 4 kinds of bone cements, Palcos R, LVC, CMW 3, Simplex P for this experimental model, included 2.5mg, 5mg, 25mg of adriamycin, respectively. We compared the differences of eluted-adriamycin concentrations between the cylindrical shape and the flat shape of bone cements, between ddH2O, 0.45% saline, 0.9% saline, and 3% saline as one of environmental conditions. Osteosarcoma cell line, Saos-2 were cultured under $37^{\circ}C$, 5% $CO_2$ in the humidified incubator with three different concentrations of adriamycinimpregnated bone cements and cellular toxicity of adriamycin eluted from bone cement was analysed according to MTT assay. Results : Authors noticed the flat shape of bone cement eluted more concentrations of adriamycin than the cyclindrical shape, bone cement immersed in 3% saline, more than 0.9% or 0.45% saline. Concentrations of adriamycin eluted from CMW 3 or Simplex R were more than Palacos R or LVC. Saos-2 were cultured with 2.5mg, 5mg, 25mg of adriamycin-impregnated bone cement, respectively, and their cellular toxicity were 95%, 98%, 99%, each. Conclusion : Adriamycin-impregnated bone cement can be one of anticancer-drug delivery sytems as possible local chemotherapy.

• Korean Journal of Veterinary Research
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• v.27 no.2
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• pp.167-183
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• 1987

The anatomical structure of the Skeleton of thoracic limb of thirty-one adult Korean native goats(body weight: 14~17kg) was observed after skeletal preparation, and the osteometry was performed in each bone. The results were as follows; 1. The thoracic limb of the Korean native goat was composed of scapula, humerus, radius, ulna, carpal bones, metacarpal bones, phalanges and sesamoid bones. 2. The scapula was flat and triangular in shape. There were no distinct tuber of spine and acromion in the spine. The subscapular fossa was deep and triangular in shape and the vertebral border was sigmoid form. The coracoid bone was formed as the coracoid process at the medial aspect of the supraglenoid tubercle but the clavicle wa.s not observed. The left and right scapular indexes were 57.92 and 58.31 and the glenoid cavity indexes were 89.23 and 86.82, respectively. 3. The greater tubercle of the humerus was devided into cranial and caudal parts. The third tubercle was observed and the face for the infraspinatus muscle was rectangular form. The left and right humerus indexes were 32.44 and 32.63, the head indexes were 94.13, 96.62 and the trochlear-epidondyle indexes were 67.32 and 65.81, respectively. 4. The radius and ulna were fused entirely except at the broad proximal and narrow distal interosseous spaces. The ulna was longer than the radius, and its reduced body and distal end were fused at the caudomedial surface of the radius. 5. The carpal bones were six in number. There were radial, intermediate, ulnar, accessory, second-third and fourth carpal hones in carpal bones. 6. The metacarpal bone was composed of a large metacarpal bone resulted from the fusion of the third and fourth metacarpal bones, and there was a metacarpal tubercle at the dorsolateral part of the proximal end. There were no vestiges of the second and fifth metacarpal bones. 7. The digits were composed of third and fourth digits and each digit was composed of the proximal, middle and distal phalanges. 8. The sesamoid bones were six in number. There were two at the fetlock joint and one at the coffine joint palmarly in each digit. 9. The ratios of the lengths among the scapula, humerus, antebrachium and metacarpal bone were 1.42 : 1.47 : 1.77 : 1.00 in the left and 1.42 : 1.45 : 1.77 : 1.00 in the right, respectively.

• Journal of the Institute of Convergence Signal Processing
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• v.14 no.2
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• pp.136-146
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• 2013

In this paper, the residual delay compensation algorithm is proposed for FX-type KJJVC. In case of initial version as that design algorithm of KJJVC, the integer calculation and the cos/sin table for the phase compensation coefficient were introduced in order to speed up of calculation. The mismatch between data timing and residual delay phase and also between bit-jump and residual delay phase were found and fixed. In final design of KJJVC residual delay compensation algorithm, the initialization problem on the rotation memory of residual delay compensation was found when the residual delay compensated value was applied to FFT-segment, and this problem is also fixed by modifying the FPGA code. Using the proposed residual delay compensation algorithm, the band shape of cross power spectrum becomes flat, which means there is no significant loss over the whole bandwidth. To verify the effectiveness of proposed residual delay compensation algorithm, we conducted the correlation experiments for real observation data using the simulator and KJJVC. We confirmed that the designed residual delay compensation algorithm is well applied in KJJVC, and the signal to noise ratio increases by about 8%.

• Geophysics and Geophysical Exploration
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• v.15 no.1
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• pp.8-15
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• 2012

To estimate the S-wave velocity structure beneath the KS31 broad-band station in Wonju, Korea, we used $H-{\kappa}$ stacking and joint inversion of receiver functions and surface-wave dispersion curves derived from 297 teleseismic events (Mw > 5.5) recorded during the period between 2002 and 2009. We thereby determined that the average depth to a nearly flat Moho is $32.4{\pm}0.5\;km$ within tens of kilometer radius of the seismic station. For the crust at this location, we estimate an average shear-wave velocity of 3.69 km/s and a ratio of P- to S-wave velocities, $V_p/V_s$, of $1.72{\pm}0.04$, as is typical for continental crust. A negative phase in the receiver functions at 1 s indicates the presence of a shearwave low velocity layer in a depth interval of 10 to 18 km in the upper crust beneath the KS31 station.