• Journal of Institute of Control, Robotics and Systems
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• v.6 no.5
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• pp.404-414
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• 2000

This paper addresses the development of a 3-fingered humanoid robot hand system and a real-time grasp synthesis of multifingered robot hands to find grasp configurations which satisfy the force closure condition of arbitrary shaped objects. We propose a fast and efficient grasp synthesis algorithm for planar polygonal objects, which yields the contact locations on a given polygonal object to obtain a force closure grasp by the multifingered robot hand. For an optimum grasp and real-time computation, we develop the preference and the hibernation process and assign physical constraints of the humanoid hand to the motion of each finger. The preferences consist of each sublayer reflecting the primitive preference similar to the conditional behaviors of humans for given objectives and their arrangements are adjusted by the heuristics inspired from human's grasping behaviors. The proposed method reduces the computational time significantly at the sacrifice of global optimality, and enables the grasp posture to be changable within two-finger and three-finger grasps. The performance of the presented algorithm is evaluated via simulation studies to obtain the force-closure grasps of polygonal objects with fingertip grasps. The architecture suggested is verified through experimental implementation to our robot hand system by solving the 2- or 3-finger grasp synthesis.

• Journal of Sensor Science and Technology
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• v.21 no.1
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• pp.13-20
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• 2012

Due to its high conductivity, pyrylium has been frequently used in electron transfer reactions or in the synthesis of various organic materials. It has also been used as a sensor material. Traditionally, the compounds have been synthesized using various methods; mostly in a multiple steps. In this study, two pyrylium salts, 2, 6-di-(4'-methylphenyl) pyrylium fluoroborate and perchlorate were synthesized. The synthesis of these products was confirmed by 1H-NMR, LC/TOF-MS and FT-IR analyses while their photo-properties were analyzed using UV/VIS spectrophotometry. In addition, the electron transfer capacities of the salts were analyzed with a conductivity meter, it was found that their electron conductivities were high. When the synthesized compounds were dissolved in acetone, a green fluorescent material was observed to form. The fluorescent material can be used as a sensitizer in the electrical industry.

• International Journal of Control, Automation, and Systems
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• v.6 no.1
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• pp.24-34
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• 2008

A novel neural network model, termed the standard neural network model (SNNM), similar to the nominal model in linear robust control theory, is suggested to facilitate the synthesis of controllers for delayed (or non-delayed) nonlinear systems composed of neural networks. The model is composed of a linear dynamic system and a bounded static delayed (or non-delayed) nonlinear operator. Based on the global asymptotic stability analysis of SNNMs, Static state-feedback controller and dynamic output feedback controller are designed for the SNNMs to stabilize the closed-loop systems, respectively. The control design equations are shown to be a set of linear matrix inequalities (LMIs) which can be easily solved by various convex optimization algorithms to determine the control signals. Most neural-network-based nonlinear systems with time delays or without time delays can be transformed into the SNNMs for controller synthesis in a unified way. Two application examples are given where the SNNMs are employed to synthesize the feedback stabilizing controllers for an SISO nonlinear system modeled by the neural network, and for a chaotic neural network, respectively. Through these examples, it is demonstrated that the SNNM not only makes controller synthesis of neural-network-based systems much easier, but also provides a new approach to the synthesis of the controllers for the other type of nonlinear systems.

• Journal of the Korea Society of Computer and Information
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• v.20 no.2
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• pp.149-156
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• 2015

In this paper, we propose a Korean sentence symbol preprocessor for a SSML (speech synthesis markup language) supported speech synthesis system in order to improve the quality of the synthesized result. After the analysis of Korean Wikipedia documents, we propose 8 categories for the meaning of sentence symbols and 11 regular expression for the classification of each category. After the development of a Korean sentence symbol preprocess system we archived 56% of precision and 71.45% of recall ratio for 63,000 sentences.

• Environmental Engineering Research
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• v.10 no.4
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• pp.174-180
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• 2005

Nano-sized iron was synthesized using borohydride reduction of $Fe^{3+}$ in aqueous solution. A wide range of synthesis conditions including varying concentrations of reagents, reagent feeding rate, and solution pH was applied in an aqueous system under anaerobic condition. The reactivity of nano-sized iron from each synthesis was evaluated by reacting the iron with TCE in batch systems. Evidence obtained from this study suggest the reactivity of iron is strongly dependent on the synthesis solution pH. The iron reactivity increased as solution pH decreased. More rapid TCE reduction was observed for iron samples synthesized from higher initial $Fe^{3+}$ concentration, which resulted in lower solution pH during the synthesis reaction. Faster feeding of $BH_4^-$ solution to the $Fe^{3+}$ solution resulted in lower synthesis solution pH and the resultant iron samples gave higher TCE reduction rate. Lowering the pH of the solution after completion of the synthesis reaction significantly increased reactivity of iron. It is presumed that the increase in the reactivity of iron synthesized at lower pH is due to less precipitation of iron (hydr)oxides or less surface passivation of iron.

• Proceedings of the Polymer Society of Korea Conference
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• 2006.10a
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• pp.221-221
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• 2006

The stereochemical control in polypropylenes and styrene-ethylene copolymers based on homogeneous single-site polymerization catalysts has received great attention since the stereocpecificity is one of the key factors in tailoring the polymer properties. Thus, we have developed new tactics for isospecificity in propylene polymerization with the unbridged metallocenebased systems and syndiospecific styrene-styrene sequence in styrene-ethylene copolymerization with the group 4 metallocene system. Brief details of the synthesis, structures and the polymerization behavior of a set of new metallocene catalysts will be presented.

• Journal of Food Hygiene and Safety
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• v.8 no.4
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• pp.181-188
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• 1993

It is well known that bacterial lipopolysaccharide (LPS) stimulates the prostaglandin (PG) synthesis in various experimental system, but the mechanism and the detailed nature of its action are yet to be understood. Thus, this study was designed to characterize LPS induced PG synthesis in rat alveolar macrophage. Although results were not so much prominent, LPS stimulated PGE2 synthesis in macrophage with short term exposure, and this was thought to be mainly due to the activation of phopholipase A2+ But there was a burst in the PG synthesis 6 hours after the LPS treatment and this was accompanied with the increase of cyclooxygenase activity. This effect was not mediated by tumor necrosis factor (TNF) or platelet activating factor (PAF), and the existence of serum was prerequisite for its action. Growth factors such as epidermal growth factor (EGF) and platelet derived growth factor (PDGF) themselves did not stimulate PG synthesis and the showed stimulatory activities to some extent. Normal rat serum was more effective for the elicitation of the LPS action than growth factors. Thus, considering the amounts of growth fafctors contained in normal serum, it was suggested that another factors like LPS binding protein (LBP) might be involved in the serum effect on LPS action. Conclusively. it was thought that LPS could stimulate PG synthesis through interaction with serum factors such as EGF, PDGF and/or LBP.

• Journal of the Korea Convergence Society
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• v.8 no.5
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• pp.1-11
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• 2017

With a given spring-mass-damper system, $H_{\infty}$ and ${\mu}$-synthesis control methods are used to build system controllers which minimize vibrations at two major natural frequencies in two cases; without uncertainty; with 20% uncertainty. In order to check the stability and performance of two controllers, those are examined using GM and PM values. The signal strength of output responses is compared using the concept of central numerical differentiation and then results are quantified using the RMS method. Lastly, 40 random samples of $H_{\infty}$ and ${\mu}$-synthesis controllers are obtained for three different $W_{per\;f1}$ weighting functions and drawn in the time domain in order to compare the stability. Overall, ${\mu}$-synthesis controller manages the vibrations much better than $H_{\infty}$ controller according to the robust stability and performance values obtained by simulating random samples of 40 plant models.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.4
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• pp.595-602
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• 2021

Marine accidents are mostly caused by medium and small ships, and are continuously increasing. In this paper, we propose an architecture of the speech synthesis based automatic safety navigation support service providing system for small ships that equiped onboard systems compared with vessels. The main purpose of the system is to prevent marine accidents by providing synthesized voice safety messages to nearby ships. The safety navigation support service is operated by connecting GPS and AIS to synthesize voice safety messages, automatically broadcast through VHF. Therefore, we developed a data processing module, a staged risk analysis module, a voice synthesis safety message generation module, and a VHF broadcasting equipment control module, which are components of the system. In addition, we conducted laboratory-level and sea-trial demonstration tests using the developed the system, which verified usefulness of the proposed service.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.413-418
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• 2003

In this paper, a new multirate optimal finite impulse response (FIR) filter is proposed for the signal reconstruction in the nosy filter bank systems. The multirate optimal FIR filter replaces the conventional synthesis filters and the Kalman synthesis filter. First, the generic linear model is derived from the multirate state space model for an autoregressive (AR)input signal. Second, the multirate optimal FIR filter is derived from the multirate generic linear model using the minimum variance criterion. This paper also provides numerical examples and results. The simulation results illustrate that the performance is improved compared with conventional synthesis filters and the proposed filter has advantages over the Kalman synthesis filter.