• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.161.5-161
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• 2001

Robots are required to assist our activities in daily life. In this paper, we focus on arm movement to catch moving object as one of important tasks frequently performed by human. We propose an algorithm which enables a robot to perform human-like arm motion to catch a moving object. First we analyze human hand trajectories and velocity profiles to catch an object. From the experimental results, we extract some characteristics in the process of approaching and following a moving object and confirm that these are necessary to realize human-like motion. We then adopt an instantaneous optimal control method which evaluates the error and energy cost at each sampling step, and design two time-varying weight matrices to introduce human characteristic into robot motion. The matrix concerning the error is defined as a time-increasing ...

• 한국전산유체공학회:학술대회논문집
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• 1997.10a
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• pp.86-91
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• 1997

This paper describes analysis of complex flow around Car-like body using Chimera grid technique. As a computational algorithm, Pullboat and Chaussee's Diagonal algorithm is selected to reduce computational time. Introducing hole points flag to this Diagonal algorithm, an algorithm for Chimera grid is generated easily. This study solves 3-D unsteady incompressible Navier-Stokes equations on a non-orthogonal curvilinear coordinate system using second-order accurate schemes for the time derivatives, and third/second-order scheme for the spatial derivatives. The Marker-and-Cell concept is applied to efficiently solve continuity equation. The fourth-order artificial damping is added to the continuity equation for numerical stability, It has concluded that the results of present study properly agree with physical flow phenomena.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.267-274
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• 2012

We proposed the KPP (Korea university Path Planner) in our previous works. The KPP is the path planning scheme of a car-like mobile robot in parking environment. The objective of this paper is to investigate the advantage of the KPP through the quantitative and qualitative analysis compared with conventional RRT. For comparison, we proposed travel time for performance index. This paper shows that the KPP shows outstanding performances from the viewpoint of travel time and computational efficiency compared with RRT.

• Journal of the Korean Data and Information Science Society
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• v.6 no.1
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• pp.105-110
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• 1995

In this paper, we shall convey preservation of some partial orderings and closures of some positive ageing classes under k-out-of-n systems of like components. That is, if the life time of a component A is larger than that of a component B in any of the NBU, DMRL, NBUE, HNBUE, NBUFR and NBUFRA orderings, then a k-out-of-n system formed by i.i.d.. components of type A has larger life time, in that ordering, than that of a similar system consisting of n i.i.d. components type of B. And using these partial orderings, closures of positive aging classes(NBU, DMRL, NBUE, HNBUE, NBUFR and NBUFRA) under the coherent system like components.

• Korean Journal of Optics and Photonics
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• v.12 no.3
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• pp.158-164
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• 2001

We observed a velocity-selective saturated absorption spectrum when the pump beam intersects the probe beam at a finite angle with a saturated absorption spectroscopic configuration in the cesium vapor cell. And we also observed a dispersion-like signal by measuring the difference between two velocity-selective absorption spectra produced by two parallel probe beams intersected by one pump beam. The dispersion-like signal was changed with the crossing angle and the crossing position of the pump and probe beams and compared with the calculated result. The dispersion-like signal was used as a frequency discriminator, and the laser could be frequency-stabilized without any frequency modulation. As a result, the square root of Allan variance was $\sigma_y(\tau=1s)=7$\times10^{-12}$, for the sampling time of 1 s.of 1 s.

• Wind and Structures
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• v.26 no.3
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• pp.115-128
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• 2018

Appropriate modeling of a tornado-like vortex is a prerequisite when studying the near-ground wind characteristics of a tornado and tornado-induced wind loads on structures. Both Ward- and ISU-type tornado simulators employ guide vanes to induce angular momentum to converge flow in order to generate tornado-like vortices. But in the Ward-type simulator, the guide vanes are mounted near the ground while in the ISU-type they are located at a high position to allow vertical circulation of flow that creates a rotating downdraft to generate a tornado-like vortex. In this study, numerical simulations were performed to reproduce tornado-like vortices using both Ward-type and ISU-type tornado simulators, from which the effects of rotating downdraft on the vortex characteristics were clarified. Particular attention was devoted to the wander of tornado-like vortices, and their dependences on swirl ratio and fetch length were investigated. The present study showed that the dynamic vortex structure depends significantly on the vortex-generating mechanism, although the time-averaged structure remains similar. This feature should be taken into consideration when tornado-like-vortex simulators are utilized to investigate tornado-induced wind forces on structures.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.11 no.6
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• pp.428-435
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• 1998

SOI-like-bulk CMOS device is proposed, which having the advantages of SOI(Silicon On Insulator) and protects short channel effects efficiently with adding partial epitaxial process at standard CMOS process. SOI-like-bulk NMOS and PMOS with 0.25${\mu}{\textrm}{m}$ gate length have designed and optimized through analyzing the characteristics of these devices and applying again to the design of processes. The threshold voltages of the designed NMOS and PMOS are 0.3[V], -0.35[V] respectively and those have shown the stable characteristics under 1.5[V] gate and drain voltages. The leakage current of typical bulk-CMOS increase with shortening the channel length, but the proposed structures on this a study reduce the leakage current and improve the subthreshold characteristics at the same time. In addition, subthreshold swing value, S is 70.91[mV/decade] in SOI-like-bulk NMOS and 63.37[mV/ decade] SOI-like-bulk PMOS. And the characteristics of SOI-like-bulk CMOS are better than those of standard bulk CMOS. To validate the circuit application, CMOS inverter circuit has designed and transient & DC transfer characteristics are analyzed with mixed mode simulation.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.11
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• pp.17-22
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• 2010

This paper presents a unique method for simulating permanent magnet motors without time-consuming numerical methods used in the conventional magnetic circuit method. The conventional method gives us average values like torque and power over specified periods of time, but it is usually very difficult and time-consuming to obtain instantaneous characteristics like cogging torques and torque ripples. The convolution operations method we present, however, considers relative angle variations of stator magnetic circuits and rotor magnetic circuits. As a result, it makes uses of instantaneous values possible. The authors compare the new method with the coventional method and verify that calculating cogging torque values and back-emf values is possible with the proposed new convolution method.

• Biomolecules & Therapeutics
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• v.16 no.3
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• pp.261-269
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• 2008

This experiment was performed to investigate the anxiolytic-like effects of cyclopeptide fraction alkaloids of Zizyphi Spinosi Semen (CFAZ), by using the experimental paradigms of anxiety, and compared with those of a known anxiolytic, diazepam. CFAZ (8.0 mg/kg, p.o.) increased the percentage of time spent on the open arms and the number of open arms entries in the elevated plus-maze test, increased the number of head dips in the hole-board test, and increased the percentage of center zone ambulatory time in the open-field box. However, CFAZ has no effect on the locomotor activity, while diazepam (2.0 mg/kg, p.o.) significantly reduced locomotor activity. CFAZ did not influence the grip force in the grip strength meter test, either. From the molecular experiments, CFAZ increased chloride influx in cultured cerebellar granule cells. In addition, $GABA_A$ receptors $\gamma$-subunit were over-expressed by CFAZ in cultured cerebellar granule cells. It is concluded that CFAZ may have anxiolytic-like effects, and these effects may be mediated by $GABA_A$ receptors.

• Journal of Soil and Groundwater Environment
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• v.18 no.7
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• pp.25-31
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• 2013

Hydrogen peroxide takes much of the cost for Fenton reaction applied for treatment of organic contaminants. Therefore, the effective use of hydrogen peroxide makes the technology more cost effective. The effective use of hydrogen peroxide is especially needed in the soil and groundwater remediation where complete mixing is not possible and it takes a long time for reactive species to transport to the fixed target compounds. Stabilization ability for hydrogen peroxide of malonic acid was evaluated in Fenton and Fenton-like reactions in this study. Malonic acid contributes on the stabilization of hydrogen peroxide by weak interaction between iron and the stabilizer and inhibiting the catalytic role of iron. The stabilization effect increased as the solution pH decrease below the $pK_{a1}$. The stabilization effect increased as the concentration of malonic acid increased and the effect was maximized at the malonic acid concentration of about ten times higher than the iron concentration. The model organic contaminant was successfully oxidized in the presence of the stabilizer but the degradation rate was slower than the system without the stabilizer. The stabilization effect was also proved in a Fenton-like reaction where magnetite and hematite were used instead of soluble iron species.