• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2423-2425
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• 2004

Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and the floor decreases suddenly, the robot has slip state. First of all, this paper models adhesion characteristics and slip in wheeled robot. Secondly, the paper proposes estimation method of adhesion force coefficient(AFC) according to slip velocity. In order to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. The paper proposes an anti-slip control system based on an ordinary disturbance observer, that is, the re-adhesion control is achieved by reducing the driving torque enough to give maximum adhesion force coefficient. fuzzy logic controller(FLC) is petty useful with slip through that compare fuzzy with PI control for the controller performance. These procedure is implemented using a Pioneer 2-DXE parameter.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.100-105
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• 1992

A mathematical model is developed for a CSTR in which free radical solution polymerization of methyl methacrylate(MMA) takes place. It turns out that five ordinary differential equations are to be treated simultaneously in order to predict the reactor performance. Although the reaction proceeds under the conditions of relatively low temperature and pressure, the system shows very complex bifurcation features due to the diffusion limitation (gel effect) and the temperature dependence of the kinetic parameters and physical properties. The effects of various system parameters on the reactor performance as well as on the polymer properties are investigated by using the bifurcation analysis. The application of the singularity theory enables us to divide the parameter space into several different regions, in each of which the system takes a unique steady state structure. Under certain circumstances, complex dynamic features such as HB points and limit cycles are observed and these should be taken into consideration in the reactor design.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.146-151
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• 1992

A two-compartment four-cell model is developed for the adiabatic autoclave slim type reactor for free radical polymerization of low density polyethylene(LDPE). The mass and energy balances give rise to a set of ordinary differential equations, and by analyzing the system it is possible to predict properly not only the reactor performance but also the properties of polymer product. The steady state multiplicity is found to exist and examined by constructing the bifurcation diagram. The effects of various operation parameters on the reactor performance and polymer properties are investigated systematically to show that the temperature distribution plays the central role for the properties of polymer product. Therefore, it is essential to establish a good control strategy for the temperature in each compartment. In this study it is shown that the reactor system can be adoptively controlled by pole-placement algorithm with conventional PID controller. To accomplish a satisfactory control, the estimator and controller are initialized during the period of start-up.

• Proceedings of the Korea Concrete Institute Conference
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• 2000.04a
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• pp.126-129
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• 2000

To investigate the influence of kinds of cement on state of high-strength concrete, this study deals with the engineering properties of high-strength concrete used 4 kinds of ordinary portland cement. The result of this study be summarized as follows. 1) It appeared that the change in fluidity with time differ with kinds of cement. 2) The difference of setting time was seen over 3 hours according to kinds of cement. Therefore, it must be examined about used materials when high-strength concrete is manufactured in the construction field.

• Proceedings of the Korean Geotechical Society Conference
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• 2001.03a
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• pp.445-452
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• 2001

Generally, OPC(ordinary portland cement) is used for grouting in Korea, and bentonite has usually been added to prevent the deposition of cement particles. The dispersion of CB(cement bentonite) grout is influenced by variable factors i.e. water to cement ratio, particle size of cement, kind of bentonite, adding volume, methods of adding, viscosity of CB grout materials and curdling time. Among variable factors, the viscosity of CB grout materials is influenced by the dispersion, and dispersion is improved as increasing the mixing speed. In this paper, described a suitable mixing speed of the High Speed Mixer in field, engineering characteristics of CB grout materials vary with the water to cement ratio and the mixing speed as well as confirming the state of dispersion.

• Journal of Korean Institute of Industrial Engineers
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• v.7 no.1
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• pp.5-11
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• 1981

In the case of numerical implementation, the exact solution method for the M/M/s system where customers demand multiple server use [2] reveals limitations, if a system has large number of servers or types of customers. This is due to the huge matrices involved in the course of the calculations. This paper offers an approximation scheme for such cases. Capitalizing the characteristics of the service rate curve of the system, this method approximates the service rate as a piecewise linear function. With the service rates obtained from the linear function for each number of customers n (n=0. 1. 2,$\cdots$), ${\mu}(n)$, steady-state probabilities and measures of performance are found treating this system as an ordinary M/M/s system. This scheme performs well when the traffic intensity of a system is below about 0.8. Some numerical examples are presented.

• Journal of the Korean Society of Costume
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• v.42
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• pp.5-24
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• 1999

The purpose of this study is to present new design for religious habits which represen traditional Korean characters as well as prope charisms of religious congregations. The preliminary research was carried out through questionnaires. The result of this survey suggests the way how to improve the design of habits as follows: 1. The habit has to be simple according to the spirit of vowed poverty. 2. It is necessary to take into consideration the reality of Korean culture and the climate with four seasons 3. The habit is to be of help to give witness to evangelical life and safeguard the dignity of the religious state. 4. It has to be appropriate to the environment and circumstance of apostolic mission. 5. It has be funtional and conducive to apostolic activities and labors. 6. The design has to be such as will not alienate ordinary people. 7. It should express the charism of each religiou congregation as well as Korean identity. Consquently four types of inculturated habit design were newly developed and actual dresses or suit have been manufactured as a apart of this study.

• Journal of the Korean Applied Science and Technology
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• v.14 no.1
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• pp.89-93
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• 1997

In this research, ultra-thin films of organic charge transfer complex were deposited on to ordinary microscope slide-glass subtrates with a Langmuir-Blodgett technique. ${\pi}$-A isotherm characteristics of these complex were studied in order to find optimum conditions of deposition by varying temperature of subphase, compression speed, and spreading amount. Transfer ratio of these films were studied during the process of deposition. The UV-visible absorbance spectra of LB films were measured to find state of deposition by varing layer number. The observed optimum conditions of surface, pressure, spreading amount, and dipping speed for depositing LB films(Y-type) were 38m/Nm, $150{\mu}l$ and 5mm/min, respectively. Since the tansfer ratio is close to 100%, the monolayer on the subphase seems to be well transferred to the solid substrate. The thickness of the film was well-controlled as the UV-vis absorbance of films were changed linear according to the number of layers.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.5
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• pp.1338-1346
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• 1994

The objective of this study is to investigate the effect of various parameters, such as temperature, mean current density and voltage on the performance of phosphoric acid fuel cell (PAFC) by numerical analysis. Two types of flow passages, which are Z-parallel type and Z-counter type, are evaluated to obtain the best current density and temperature distribution. Parametric studies and sensitivity analysis of the PAFC system's operation in single cell are accomplished. A steady state simulation of the entire system is developed using nonlinear ordinary differential equations. The finite difference method and trial and error procedures are used to obtain a solution.

• Bulletin of the Korean Chemical Society
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• v.27 no.4
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• pp.545-548
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• 2006

We investigated the Surface-enhanced Raman Spectroscopy (SERS) spectrum of ethephone (2-chloroethylphosphonic acid). We observed significant signals in the ordinary Raman spectrum for solid-state ethephone as well as when it was adsorbed on a colloidal silver surface, strong vibrational signals were obtained at a very low concentration. The SERS spectra were obtained by silver colloids that were prepared by the $\gamma$-irradiation method. The influence of pH and the influence of anion $(Cl^-,\;Br^-,\;I^-)$ on the adsorption orientation were investigated. Two different adsorption mechanisms were deduced, depending on the experimental conditions. The chlorine atom or the chlorine and two oxygen atoms were adsorbed on the colloidal silver surface. Among halide ions, $Br^-$ and $I^-$ were more strongly adsorbed on the colloidal silver surfaces. As a result, the adsorption of ethephone was less effective due to their steric hinderance.