• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2737-2742
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• 2003

Kinematic calibration enhances absolute accuracy by compensating for the fabrication tolerances and installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed. While the Cartesian postures are measured completely, all of the geometric parameters can be identified to their true values. With partial pose measurements, however, few geometric parameters may not be identifiable and effectiveness of the calibration results may vary significantly within the workspace. QR decomposition of the identification Jacobian matrix can reveal the non-identifiable parameters. Selecting postures for measurement is also an important issue for efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to find optimum postures. This paper investigates identifiable parameters and optimum postures for four different calibration procedures - measuring postures completely with inverse kinematic residuals, measuring postures completely with forward kinematics residuals, measuring only the three position components, and restraining the mobility of the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel HexaSlide type paralle manipulator, HSM. Results verify that all parameters are identifiable with complete posture measurements. For the case of position measurements, one and for the case of constraint link, three parameters were found non-identifiable. Optimal postures showed the same trend of orienting themselves on the boundaries of the search space.

• 설비공학논문집
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• 제8권4호
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• pp.519-526
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• 1996

A 2D-LDV system was employed to investigate the flow field characteristics in fully developed drag reducing turbulent channel flows. The additive used in this study was Habon-G which showed splendid drag reduction effect and minimum mechanical degradation trend in the closed flow circulation loop. In order to have better understanding of the drag reduction mechanism, the instantaneous velocities were carefully measured under various experimental conditions and the flow characteristics including time-averaged velocity, turbulent intensity and Reynolds shear stresses were carefully assessed. The time-averaged velocity profiles of surfactant flows showed more parabolic shape(typically shown in a laminar flow) together with significant suppression of turbulent production, yielding the shear induced micelle structure orienting in the flow direction due to its isotropic characteristics. Especially it was observed that the maximum intensity for drag reducing flows was shifted away from the wall and that the streamwise and normal turbulent intensities were strongly altered. This phenomenon strongly suggests that the viscous sublayer becomes thicker with addition of surfactant. Turbulent momentum transport was drastically suppressed across the whole drag reducing channel flow.

• 대한의용생체공학회:의공학회지
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• 제24권2호
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• pp.127-132
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• 2003

본 논문에서는 관절 경직 환자의 재활 치료를 위한 공압 실린더를 이용한 하이브리드형 로봇을 연구 개발하였다. 공압 실린더는 우수한 컴플라이언스를 가지고 있고 부피나 중량에 비해 높은 구동력을 가지고 있다 낮은 강성을 지닌 공압 구동기는 안정이 보장되어야 하는 물리 치료용 로봇의 구현에 적용하기 적당하다. 본 연구에서 제안한 로봇 시스템은 직렬형과 병렬형을 결합한 하이브리드 형으로 위치 결정부와 자세 결정부로 구분되며 하이브리드 구조를 통해 넓은 작업영역과 구동력을 얻을 수 있었다. 슬라이딩 모드 제어기를 이용하여 로봇 시스템의 공압 서보시스템의 추종성과 안정성을 얻을 수 있었으며 실험을 통하여서 개발된 시스템에 대한 검증을 하였다.

• 동굴
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• 제89호
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• pp.27-33
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• 2008

Solar energy is most green and clean, unlimited and sustainable energy source on the earth. It is almost 97% of imported consumer energy in Korea. Because of resource poor nation, it is necessary to do their best to make alternative energy to allot their deficiency of the matter in hand of energy resources of petroleum. In a point of view of this problems, the natural solar energy should be improved by any methods as much, possible as we need. Photovoltaic generation with solar tracking system for obtaining optimal power is one of most benefit equipment to improve power of solar-cell panel producing clean electric power efficiently. Solar tracker is a device for orienting a solar photovoltaic panel toward the sun perpendicularly to sunlight, especially in widely separated place. For this reason, we are very interested in developing the equipment system of tracker, specially in solar cell applications, obtaining a high degree of accuracy to ensure that the optimal sunlight could be directed precisely against to the powered device. As a result, it was obtained of 12.46 volts at 90$^\circ$toward solar panel and 9.44 volts at 45$^\circ$, furthermore, improved efficiency more than 30% of average output voltage between tracker system (12.41V) and fixed system (8.55V), respectively. It is also very useful for optimum power system of widely separated cave.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1476-1481
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• 2003

Kinematic calibration enhances absolute accuracy by compensating for the fabrication tolerances and installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed. This paper investigates identifiable parameters and optimum postures for four different calibration procedures - measuring postures completely with inverse kinematic residuals, measuring postures completely with forward kinematics residuals, measuring only the three position components, and restraining the mobility of the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel HexaSlide type parallel manipulator, HSM. Results verify that all parameters are identifiable with complete posture measurements. For the case of position measurements, one and for the case of constraint link, three parameters were found non-identifiable. Selecting postures for measurement is also an important issue for efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to find optimum postures. Optimal postures showed the same trend of orienting themselves on the boundaries of the search space.

• 한국감성과학회:학술대회논문집
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• 한국감성과학회 1999년도 춘계학술발표논문집 논문집
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• pp.221-230
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• 1999

Automobile horn's psychoacoustic characteristic and significance as a anturalistic signal of danger makes it a valuable auditory stimulus to study such psychophysiological responses as startle, orienting and defense reactions. However, comparison and differentiation of physiological responses to commercially available horns is a complicated task due to small contrast of technical features of horns and influence of such processes as habituation on physiological outcome with increased number of auditory stimulation trials. In the study on 10 college students we performed comparative analysis of tonic and phasic reactivity of physiological responses mediated by autonomic nervous system in order to identify role of habituation and decrement of autonomic responsivity, as well as possibility o differentiate subjectively most and least preferred and subjectively more appropriate horns according to physiological manifestations. It was showed that electrodermal and cardiovascular reactivity have concurrent patterns of adaptation to repeated stimulation, namely skin conductance variables habituated, cardiac reactivity failed to show signs of habituation, while vascular component of response were facilitated demonstrating marked sensitization. Differentiation of Physiological responses to horns with respect to their subjective rating scores was possible, however electrodermal reactivity was effective only at the first block of trials, while phasic and tonic cardiovascular reactivity differentiate responses during whole course of experiment. There are discussed possible autonomic mechanisms involved in mediation of observed results.

• 가족자원경영과 정책
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• 제3권1호
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• pp.51-65
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• 1999

The purpose of this study is to structure finance management education programme and to provide basic data orienting finance service system by means of analyzing the level of financial problem and its influential variables. The following is the result of this study: First, the level of financial problem perceived by housewife in urban areas is in the following order ; property which is perceived the least. Second, the level of financial problem perceived by housewife in urban areas is dependant on housewife age, husband education level, husband occupation, the degree of property, the degree of debts, tendency of fortune control, tendency of materialism, feeling of appropriate resource. It is especially noting that housewife in forties shows high level of financial of financial problem recognition than housewife in twenties does. This indicates needs for middle for middle-aged home management in which happens house moving to larger size, education of children, marriage of children, preparation for stabilization basis after children’s marriage, and shortage of surplus money. Third, variables which affect all sub-areas are family property sum, tendency of materialism, feeding of appropriate resources. The less family property sum, the stronger tendency of materialism, and the more perceive feeling of appropriate resources, the more perceive they financial problems.

• 한국전기전자재료학회논문지
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• 제16권11호
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• pp.1008-1013
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• 2003

We have studied the effect of black matrix (BM) according to the dielectric anisotropy of liquid crystals (LCs) for a homogeneously aligned LC cell driven by fringe-electric field. The results show that for a LC with positive dielectric anisotropy (+LC) there is a large transmittance change when using a conductive BM, whereas the transmittance change is low for a LC with negative dielectric anisotropy (-LC). The conductive BM existing on top substrate produces vertical electric field, which makes the LC molecules be tilt upward from the substrate and have small twist angle for the +LC. However, for the -LC the conductive BM affects the LC distribution only slightly due to characteristic of the -LC orienting perpendicular to the field. Therefore, for the +LC the electro-optic characteristics are strongly dependent on conductivity of the BM on top substrate in a homogeneous liquid crystal cell driven by fringe-electric field.

• 한국감성과학회:학술대회논문집
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• 한국감성과학회 1998년도 춘계학술발표 논문집
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• pp.44-56
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• 1998

Effects of the music and white noise on recovery of the autonomic and cortical responses evoked by aversive visual stimulation were analyzed in 20 subjects. It was suggested that the music is able to exert modulatory influence on the physiological activity resulted from exposure to unpleasant IAPS based stimuli. Spectral power of DDG, heart rate(HR)respiration rate (RSR) and electrodermal activity(EDA)were recorded and analyzed for each experimental condition. It was observed HR and RSR deceleration, increased EDA and electrocortical activation expressed in decreased alpha power and increase of delta activity ao occipital and frontal areas. Obtained results suggest that audutory stimulation both with pleasant and sad music lead to restoration of pre-stimulation activation levels of most physiological parameters during listenning to music and in post-stimulation period. White noise evoked short-term physiological responses typical for orienting reaction and quite distinct from changes produced by music. Available data to differentiate effeces among pleasant and sad music, due toqualitative similarities of physilolgical patterns, but suppert an assumption that music is capable to facilitate the process of recovery of physilolgical responses elicited by visual stimulation of negative valence, thus positively modulate post-stress state.

• Bulletin of the Korean Chemical Society
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• 제35권1호
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• pp.62-68
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• 2014

Coptis chinensis 3'-hydroxy-N-methylcoclaurine 4'-O-methyltransferase (HOMT), an essential enzyme in the berberine biosynthetic pathway, catalyzes the methylation of 3'-hydroxy-N-methylcoclaurine (HMC) producing reticuline. A 3D model of HOMT was constructed by homology modeling and further subjected to docking with its ligands and molecular dynamics simulations. The 3D structure of HOMT revealed unique structural features which permitted the methylation of HMC. The methylation of HMC was proposed to proceed by deprotonation of the 4'-hydroxyl group via His257 and Asp258 of HOMT, followed by a nucleophilic attack on the SAM-methyl group resulting in reticuline. HOMT showed high substrate specificity for methylation of HMC. The study evidenced that Gly117, Thr312 and Asp258 in HOMT might be the key residues for orienting substrate for specific catalysis.