• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1178-1183
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• 2003

As personal robots coexist with a person with a role to help a person, while adapting various human life and environment, the personal robots have to accommodate frequently-changing or different-from-home-to-home environment. In addition, personal robots may have many kinds of different Kinematic configurations depending on the capabilities. Some may have a mobile base and others may have arms and a head. The motivation of this study arises from this not-well-defined home environment and varying Kinematic configuration. So the goal of this study is to develop a general control architecture for personal robots. There exist three major architectures; deliberative, reactive and hybrid. We found that these are applicable only for the defined environment with a fixed Kinematic configuration. Neither could accommodate the above two requirements. For the general solution, we propose a Supervised Hybrid Architecture (SHA), in which we use double layers of deliberative and reactive controls, distributed control with a modular design of Kinematic configurations, and real-time Linux OS. Deliberative and reactive actions interact through a corresponding arbitrator. These arbitrators help a robot to choose an appropriate architecture depending on the current situation to successfully perform a given task. The distributed control modules communicate through IEEE 1394 for the easy expandability. With a personal robot platform with a mobile base, two arms, a head and a pan-tilt stereo eye system, we tested the developed SHA for static as well as dynamic environments. For this application, we developed decision-making rules for selecting appropriate control methods for several situations of navigation task. Examples are shown to show the effectiveness.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.6
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• pp.2492-2512
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• 2018

Multicast communication can effectively reduce network resources consumption in contrast with unicast. With the advent of SDN, current researches on multicast traffic are mainly conducted in the SDN scenario, thus to mitigate the problems of IP multicast such as the unavoidable difficulty in traffic engineering and high security risk. However, migration to SDN cannot be achieved in one step, hybrid SDN emerges as a transitional networking form for ISP network. In hybrid SDN, for acquiring similar TE and security performance as in SDN multicast, we redirect every multicast traffic to an appropriate SDN node before reaching the destinations of the multicast group, thus to build up a core-based multicast tree substantially which is first introduced in CBT. Based on the core SDN node, it is possible to realize dynamic control over the routing paths to benefit traffic engineering (TE), while multicast traffic manageability can also be obtained, e.g., access control and middlebox-supported network services. On top of that, multiple core-based multicast trees are constructed for each multicast group by fully taking advantage of the routing flexibility of SDN nodes, in order to further enhance the TE performance. The multicast routing and splitting (MRS) algorithm is proposed whereby we jointly and efficiently determine an appropriate core SDN node for each group, as well as optimizing the traffic splitting fractions for the corresponding multiple core-based trees to minimize the maximum link utilization. We conduct simulations with different SDN deployment rate in real network topologies. The results indicate that, when 40% of the SDN switches are deployed in HSDN as well as calculating 2 trees for each group, HSDN multicast adopting MRS algorithm can obtain a comparable TE performance to SDN multicast.

• The korean journal of orthodontics
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• v.46 no.2
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• pp.73-80
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• 2016

Objective: The purpose of this study was to investigate the static (SFF) and kinetic frictional forces (KFF) in sliding mechanics of hybrid bracket systems that involve placing a conventional bracket (CB) or active self-ligating bracket (ASLB) on the maxillary anterior teeth (MXAT) and a passive SLB (PSLB) on the maxillary posterior teeth (MXPT). Methods: The samples consisted of two thoroughbred types (group 1, anterior-CB + posterior-CB; group 2, anterior-ASLB + posterior-ASLB) and four hybrid types (group 3, anterior-CB + posterior-PSLB-type 1; group 4, anterior-CB + posterior-PSLB-type 2; group 5, anterior-ASLB + posterior-PSLB-type 1; group 6, anterior-ASLB + posterior-PSLB-type 2) (n = 13 per group). After maxillary dentition alignment and maxillary first premolars removal in the stereolithographically-made typodont system, a $0.019{\times}0.025$-inch stainless steel wire was drawn through the right quadrant of the maxillary arch at 0.5 mm/min for 5 min. The SFF and KFF were measured with a mechanical testing machine and statistical analyses were performed. Results: Four different categories of SFF and KFF were observed among all groups (all p < 0.001). Group 1 demonstrated the highest SFF and KFF; groups 4 and 3 were second and third highest, respectively. The fourth category included groups 2, 5, and 6. Placing PSLBs on the MXPT resulted in significant SFF and KFF reductions in cases with CBs on the MXAT, but not in cases with ASLBs on the MXAT. Conclusions: These data might aid in the development of a hybrid bracket system that enables low-friction sliding of an archwire through the MXPT.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.1
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• pp.52-57
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• 2016

We introduce a hybrid scheduling in a multi-path poor scattering full-duplex (FD) system, which consists of one multi-antenna FD base station and a large number of single-antenna half-duplex mobile stations. Our hybrid scheduling utilizes partial channel state information at the transmitter. In particular, unlike the conventional scheduling method using opportunistic transmission for both uplink and downlink, the proposed scheme combines a random transmit beamforming for downlink and a zero forcing beamforming for uplink. As our main result, via computer simulations, it is shown that the proposed scheme has a superior sum-rate performance than that of the conventional scheduling method beyond a certain signal-to-noise ratio regime.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38C no.8
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• pp.663-673
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• 2013

The drastic growth of mobile communication and spreading of smart phone make the significant attention on Location Based Service. The one of most important things for vitalization of LBS is the accurate estimating position for mobile object. Focusing on IMU deployed in smart phone, we develop a hybrid positioning estimation framework with a combination of WPS. The developed approaches can strengthen the advantages of independent indoor applicability of IMU. The estimation of IMU is efficiently compensated by radio fingerprint based Wi-Fi Positioning System. We put a focus especially on the hybrid algorithmic framework. Compared on the existing approaches of WPS or IMU, we achieve the comparable higher performance on both of average error of estimation and deviation of errors. Furthermore test-bed based on smart phone platform is practically developed and all data have been harvested from the actual measurement of test indoor area. This can approve the practical usefulness of proposed framework.

• Journal of the Korean Society for information Management
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• v.23 no.3 s.61
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• pp.91-125
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• 2006

Recent advancements in information technology and the Internet have caused an explosive increase in the information available and the means to distribute it. However, such information overflow has made the efficient and accurate search of information a difficulty for most users. To solve this problem, an information retrieval and filtering system was developed as an important tool for users. Libraries and information centers have been in the forefront to provide customized services to satisfy the user's information needs under the changing information environment of today. The aim of this study is to propose an efficient information service for libraries and information centers to provide a personalized recommendation system to the user. The proposed method overcomes the weaknesses of existing systems, by providing a personalized hybrid recommendation method for multimedia contents that works in a large-scaled data and user environment. The system based on the proposed hybrid method uses an effective framework to combine Association Rule with Collaborative Filtering Method.

• Journal of Adhesion and Interface
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• v.7 no.4
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• pp.32-38
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• 2006

A series of organic-inorganic hybrids, PCL/EP/$SiO_2$, involving epoxy resin and triethoxysilane-terminated polycaprolactone elastomer (PCL-TESi) were prepared via polymerization of diglycidyl ether of bisphenol A (DGEBA) with amine curing agent KB-2 and sol-gel process of PCL-TESi. The curing reactions were started from the initially homogeneous mixture of DGEBA, KB-2 and the PCL-TESi. The organicinorganic hybrids containing up to 4.95% (wt) of $SiO_2$ were obtained and characterized by FT-IR, transmission electron microscopy (TEM), differential scanning calorimetry (DSC) and thermogravimetry analysis (TGA). It was experimentally shown that the swelling property in toluene, morphologies and thermal properties of the resulting hybrids were quite dependent on the contents of $SiO_2$. The crosslink network density decreases with increasing of the PCL-TESi. And in TEM, the phase separated morphology of these hybrids was found, which resulted from the coagulation of Si-O-Si networks resulting from $-Si(OC_2H_5)_3$ of PCL-TESi self-curing by hydrolytic silanol condensation, with the advancement of the curing reaction in the modified epoxy resin systems. Meanwhile, the change of the $SiO_2$ content made the morphologies changed from aggregated particles of Si-O-Si in the hybrid to nanocluster of interconnected Si-O-Si particles, then to aggregated Si-O-Si dispersing in the continuous cured epoxy phase again, and last to co-continuous interpenetrating network. The glass transition behavior of the hybrid material was cooperative motion of large chain segments, which were hindered by the inorganic Si-O-Si network. And in TG analysis, the characteristic temperature at 5% of weight loss was evidently increased from $120.5^{\circ}C$ of pure cured epoxy to $277.6^{\circ}C$ of 3.84% (wt) of $SiO_2$ modified epoxy due to the existence of Si-O-Si when PCL-TESi was added in the hybrid.

• Journal of Hydrogen and New Energy
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• v.20 no.1
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• pp.38-44
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• 2009

Recently, the research focused on fuel cell hybrid vehicles (FCHVs) is becoming an attractive solution due to environmental pollution generated by fossil fuel vehicles. The proper energy control strategy will result in extending the fuel cell lifetime, increasing of energy efficiency and an improvement of vehicle performance. Battery state of charge (SoC) is an important quantity and the estimation of the SoC is also the basis of the energy control strategy for hybrid electric vehicles. Estimating the battery's SoC is complicated by the fact that the SoC depends on many factors such as temperature, battery capacitance and internal resistance. In this paper, battery charging time estimated by SoC is studied by using the speed response and current response. Hybrid system is consist of a fuel cell unit and a battery in series connection. For experiment, speed response of vehicle and current response of battery were determined under different state of charge. As the results, the optimal battery charging time can be estimated. Current response time was faster than RPM response time at low speed and vice versa at high speed.

• Journal of the Korean Institute of Gas
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• v.18 no.2
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• pp.28-34
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• 2014

In the natural gas pressure regulation station, high pressure natural gas is decompressing using pressure regulation valves. Waste pressure occurred in the pressure regulation process can be recovered through adopting turbo expanders. However, in the waste pressure recovery process, Joule Thompson effect causes below $0^{\circ}C$ and this low temperature freezes outside land of pipeline or generates methane hydrate in the pipeline which can block the pipeline. Therefore, turbo expander systems are accompanying with a boiler for preheating natural gas. Molten carbonate fuel cell (MCFC), one of the high temperature fuel cell, can use natural gas as a direct fuel and is also exhausting low emission gas and generating electricity. In this paper, a thermodynamic analysis on the hybrid MCFC-turbo expander system is conducted. The fuel cell system is analyzed for the base load of the hybrid system.

• Polymer(Korea)
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• v.25 no.1
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• pp.63-70
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• 2001

The objective of this study was to investigate the effect of cure type on the processing and physical properties under conditions of similar stress-strain properties. On the carbon black filled natural rubber(NR) based compound, the induction time decreased, but the cure rate became fast with increasing loading of sulfur donor agent. Tensile strength was little affected on the curing type. However, elongation generally decreased with increasing accelerator. Effect of cure type on the blow-out properties was followings: CV