• 제목/요약/키워드: x-t Diagram

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수직 다관절 로봇의 동적 특성을 고려한 Gain Tuning 연구 (6-Axes Articulated Robot Manipulator's Gain Tuning in consideration of dynamic specific)

  • 김효곤;정원지;김기정;김규탁;서영교;이기상
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 2005년도 추계학술대회 논문집
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    • pp.744-747
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    • 2005
  • This research studied 6-Axes Articulated Robot Manipulator's gain Tuning in consideration of dynamic. First of all, search fur proportional gain of velocity control loop by dynamic signal analyzer. Proportional gain of velocity control loop is connected to dynamic signal analyzer. Next Select free Proportional Gain value. And Select amplitude X of sinusoidal properly so that enough Velocity Feedback Signal may be paid as there is no group to utensil department. Next step, We can get Bode Diagram of Closed loop transfer function response examination in interested frequency. Integral calculus for gain of velocity loop is depended on integral calculus correction's number. We can obtain open loop transfer function by integrator. And we can know bode diagram's special quality from calculated open loop transfer function. With this, Velocity Control Loop's Parameter as inner loop is controlled. Next In moving, when vibration occurs, it controls notch filter. And finally, we have to control fred-forward filter parameter for elevation of control performance.

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Bonhoeffer - van der Pol 오실레이터 모델에서의 미소 파라미터 섭동에 의한 카오스 제어 (The study of Controlling chaos for Bonhoeffer-van der Pol oscillation model by small parameter perturbation)

  • 배영철;고재호;임화영
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1995년도 하계학술대회 논문집 B
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    • pp.817-819
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    • 1995
  • Applied by periodic Stimulating Currents in Bonhoeffer-Van der Pol(BVP) model, chaotic and periodic phenomena occured at specific conditions. The conditions of the chaotic motion in BVP comprised 0.7182< $A_{1}$ <0.792 and 1.09< $A_{1}$ <1.302 proved by the analysis of phase plane, bifurcation diagram, and lyapunov exponent. To control the chaotic motion, two methods were suggested by the first used the amplitude parameter $A_{1}$,$A_{1}={\varepsilon}((x-x_{s})-(y-y_{s}))$ and the second used the temperature parameter c, c=c$(1+ {\eta}cos{\Omega}t)$ which the values of $\eta$, ${\Omega}$ varied respectlvly, and $x_{s}$, $y_{s}$ are the periodic signal. As a result of simulating these methods, the chaotic phenomena was controlled with the periodic motion of periodisity. The feasibilities of the chaotic and the periodic phenomena were analysed by phase plane and lyapunov exponent.

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백금-안티모니 계의 식평구 및 화합흉에 대한 연구 (Phases and phase Equilibria of the Pt-Sb System)

  • 김원사
    • 한국결정학회지
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    • 제4권1호
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    • pp.18-24
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    • 1993
  • 백금-안티모니갔의 상평형 및 안정 화합물에 대한 연구를 위해 합성실험을 실시하였다. 반응생성물은 반 사현미경, X-선 회절분석, 전자현미분석 등으로 규명하 였다. 백금-안티모니계에는 Pt5Sb, Pt3Sb, Pt3Sb2, PtSb, PtSb5등 5종류의 화합물이 존재하며 Pt5Sb2는 존재하지 않는 것으로 밝혀졌다. Pt5Sb는 처음 발견된 화합물로서 83at.%Pt의 화학성분을 가지며, 정방정계와 격자상수 a=3.948(3), c=16.85(1)차를 가진다. Ptssb 의 X-선회절 분말자료는 a=3.9455(7), c=16.959(5) A 인 정방정계의 구조로 격자지수화가 가능하다. PtSb의 화학성분은 800연까지 50at.% Pt이나 10반종에서는 49at.%정 회이다. 백금속의 안티모니 고용한계는 1000°, 800°, 600°에서 각각 7.5, 10.0, 6.1at.%이다. Ptsb2와 Sb를 잇는 액상곡선의 형태도 수정되었다.

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Studies in Iron Manufacture Technology through Analysis of Iron Artifact in Han River Basin during the Proto-Three Kingdoms

  • Kim, Soo-Ki
    • Conservation and Restoration of Cultural Heritage
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    • 제1권1호
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    • pp.9-22
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    • 2012
  • The most widely excavated iron artifacts used as weapons or farm tools from central southern regions of Korea were subjects of non-metallic inclusion analysis through metallographic examination, microhardness measurement, and scanning electron microscopy with energy dispersive X-ray spectroscopy. Through metallographic interpretation and study of the analyzed results, the steel manufacturing and iron smelting using heat processing in the iron artifacts excavated from the central southern region of the ancient Korean peninsula was studied, and the analysis of the non-metallic inclusions mixed within the metallic structures was interpreted as the ternary phase diagram of the oxide to infer the type of iron ores for the iron products and the temperature of the furnace used to smelt them. Most of the ancient forged iron artifacts showed $Al_2O_3/SiO_2$ with high $SiO_2$ contents and relatively low $Al_2O_3$ contents for iron ore, indicating t hat for $Al_2O_3$ below 5%, it is presumed that magnetic iron ores were reduced to bloom iron (sponge iron) with direct-reduction process for production. The temperature for extraction of wustite for $Al_2O_3$ below 1% was found to be $1,020{\sim}1,050^{\circ}C$. Considering the oxide ternary constitutional diagram of glassy inclusions, the steel-manufacturing temperature was presumed to have been near $1,150{\sim}1,280^{\circ}C$ in most cases, and minimum melting temperature of casting iron part excavated in Daeseong-ri. Gyeonggi was near $1,400^{\circ}C$, and it is thought that hypoeutectic cast iron of about 2.3% carbon was casted and fragility of cast iron was improved by decarburizing in solid state.

On the Tensor Product of m-Partition Algebras

  • Kennedy, A. Joseph;Jaish, P.
    • Kyungpook Mathematical Journal
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    • 제61권4호
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    • pp.679-710
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    • 2021
  • We study the tensor product algebra Pk(x1) ⊗ Pk(x2) ⊗ ⋯ ⊗ Pk(xm), where Pk(x) is the partition algebra defined by Jones and Martin. We discuss the centralizer of this algebra and corresponding Schur-Weyl dualities and also index the inequivalent irreducible representations of the algebra Pk(x1) ⊗ Pk(x2) ⊗ ⋯ ⊗ Pk(xm) and compute their dimensions in the semisimple case. In addition, we describe the Bratteli diagrams and branching rules. Along with that, we have also constructed the RS correspondence for the tensor product of m-partition algebras which gives the bijection between the set of tensor product of m-partition diagram of Pk(n1) ⊗ Pk(n2) ⊗ ⋯ ⊗ Pk(nm) and the pairs of m-vacillating tableaux of shape [λ] ∈ Γkm, Γkm = {[λ] = (λ1, λ2, …, λm)|λi ∈ Γk, i ∈ {1, 2, …, m}} where Γk = {λi ⊢ t|0 ≤ t ≤ k}. Also, we provide proof of the identity $(n_1n_2{\cdots}n_m)^k={\sum}_{[{\lambda}]{\in}{\Lambda}^k_{{n_1},{n_2},{\ldots},{n_m}}}$ f[λ]mk[λ] where mk[λ] is the multiplicity of the irreducible representation of $S{_{n_1}}{\times}S{_{n_2}}{\times}....{\times}S{_{n_m}}$ module indexed by ${[{\lambda}]{\in}{\Lambda}^k_{{n_1},{n_2},{\ldots},{n_m}}}$, where f[λ] is the degree of the corresponding representation indexed by ${[{\lambda}]{\in}{\Lambda}^k_{{n_1},{n_2},{\ldots},{n_m}}}$ and ${[{\lambda}]{\in}{\Lambda}^k_{{n_1},{n_2},{\ldots},{n_m}}}=\{[{\lambda}]=({\lambda}_1,{\lambda}_2,{\ldots},{\lambda}_m){\mid}{\lambda}_i{\in}{\Lambda}^k_{n_i},i{\in}\{1,2,{\ldots},m\}\}$ where ${\Lambda}^k_{n_i}=\{{\mu}=({\mu}_1,{\mu}_2,{\ldots},{\mu}_t){\vdash}n_i{\mid}n_i-{\mu}_1{\leq}k\}$.

c-axis Tunneling in Intercalated Bi$_2Sr_2CaCu_2O_{8+x}$ Single Crystals

  • Lee, Min-Hyea;Chang, Hyun-Sik;Doh, Yong-Joo;Lee, Hu-Jong;Lee, Woo;Choy, Jin-Ho
    • 한국초전도학회:학술대회논문집
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    • 한국초전도학회 1999년도 High Temperature Superconductivity Vol.IX
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    • pp.260-260
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    • 1999
  • We compared c-axis tunneling characteristics of small stacked intrinsic Josephson junctions prepared on the surface of pristine, I-, and HgI$_2$-intercalated Bi$_2Sr_2CaCu_2O_{8+x}$ (Bi2212) single crystals. The R(T) curves are almost metallic in I-Bi2212 specimens, but semiconducting in HgI$_2$-Bi2212 ones.· The transition temperatures were 82.0 K, 73.0 K, and 76.8 K for pristine Bi2212, I-Bi2212, and HgI2-Bi2212 specimens, respectively, consistent with p-T$_c$ phase diagram. Current-voltage (IV) characteristics of both kinds of specimens show multiple quasiparticle branches with well developed gap features, indicating Josephson coupling is established between neighboring CuO$_2$ planes. The critical current I$_c$ of I-Bi2212 is almost the same as of that of pristine crystals, but I$_c$ is much reduced in Hgl$_2$-Bi2212. In spite of expanded interlayer distances, the interlayer coupling is not significantly affected in I-Bi2212due to holes generated by iodine atoms. The coupling in HgI$_2$-Bi2212 is, however, weakened due to inertness of HgI$_2$ molecules and the expansion of interlayer distance. Relation between the superconducting transition temperature T$_c$ and the critical current I$_c$ seems to contradict Anderson's interlayer-pair-tunneling theory but agree with a modified version of it.

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임상간호사의 유머, 직무만족, 직무스트레스 및 이직의도에 대한 구조모형 (Structural Equation Modeling for Humor, Job Satisfaction, Job Stress and Intention to Turnover)

  • 김지현
    • 간호행정학회지
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    • 제19권2호
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    • pp.265-272
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    • 2013
  • Purpose: This study was done to identify the effects and relationships of humor, job satisfaction, job stress and intent to turnover for nurses and suggest a theoretical structural path diagram among the variables. Methods: Data were collected at 6 hospitals located in Seoul, and Gyeonggi Province, from June to September, 2010. Participants were 275 nurses. Data were analyzed using Amos 19.0 for Structural Equation Modeling. Results: Humor had significant effects on job satisfaction (${\beta}$=.15, t=2.29, p=.022) and indirect effects on the intent to turnover in this model ($X^2$=44.18, df=23, RMSEA=0.05, TLI=0.97). But humor did not affect job stress unlike results of previous studies (t=-.02, p=.771). Conclusion: Humor may not affect job stress under the very stressful conditions of the health care environment. The model showed the effect of humor contributed to increases in job satisfaction but did not decrease job stress. Higher levels of job satisfaction could decrease the intent to turnover. Consequently, humor would be helpful in increasing job satisfaction to diminish nurse turnover. Further studies are suggested to investigate causal relationships among humor, burnout, and other emotional and organizational variables.

전라남도 고흥 북부지역에 분포하는 편마암류의 변성작용에 관한 연구 (A Study on the Metamorphism of Gneisses in the Northern Gohung Area, Chonnam)

  • 신상은;조계복;박배영
    • 한국지구과학회지
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    • 제25권6호
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    • pp.443-473
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    • 2004
  • 고흥 북부지역에는 화강암질 편마암, 반상변정질 편마암 및 미그마타이트질 편마암이 널리 분포하고 있다. 편마암류는 실리카-알카리 lUGS 분류도에 의하면 화강섬록암 영역에 해당된다. 미량원소는 $SiO_2$ 양이 증가함에 따라 Li,Zn, Sc, Sr, Ni, V, Y등 대부분이 감소하는 경향을 보인다. 사장석 성분은 안데신으로 상당한 범위($An_{32-48}$)를 보여주며 석류석 성분에서 $X_{alm}$$X_{sps}$은 석류석 입자의 주변부에서 높고 $X_{pyp}$는 중심부에서 높으며, XFe는 석류석 입자 주변부에서 높은 변화를 보인다. 본 역의 편마암류의 모암인 화강암류는 대륙의 동시 충돌형과 후기 조산대 및 후 조산대 영역에서 형성되었을 것으로 예상되며 S형과 I형 화성암류가 모두 나타난다. 변성작용은 저압 내지 중압형의 고온 변성작용(803-913$^{\circ}C$, 6.1-7.3kb) 받은 후 저압, 중온의 후퇴 변성작용(570-726$^{\circ}C$, 2.2-5.1 kb) 및 녹니석화 작용 등의 중첩된 후퇴 변성작용이 수반되었다.

돌고래-1 공 석유근원암의 화학분석 (Chemical Analysis of Dolgorae-1 well Petroleum Source Rock)

  • 이상학;양문열
    • 공업화학
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    • 제2권2호
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    • pp.185-191
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    • 1991
  • 한국 대륙붕 블럭 VI의 돌고래-1공에서 채취한 근원암의 화학성분 및 특성에 관해 조사하였다. 유징분석기를 사용하여 가스, 기름 및 총추출유기물의 양을 구했으며 총추출 유기물의 양은 0.59 %이었다. 비투멘의 양과 분자량은 용매추출법과 겔투과 크로마토그래피에 의해 구했으며, X-선회절법, 적외선분광법 및 열무게 측정법으로 물리화학적 성질을 고찰하였다. 분석 결과로부터 돌고래-1공의 시료는 미미한 석유근원암으로 평가되었다.

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Spin-glass behavior in (A,B)-site deficient manganese perovskites

  • Lee, Kyu-Won;Phan, Manh-Huong;Yu, Seong-Cho;Nguyen Chau;Tho, Nguyen-Duc
    • 한국자기학회:학술대회 개요집
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    • 한국자기학회 2003년도 하계학술연구발표회 및 한.일 공동심포지엄
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    • pp.150-151
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    • 2003
  • In the past years, a giant magnetoresistance (GMR) effect found in perovskite-like structured materials has attracted considerable attention among scientists and manufacturers, since, a practical point of view, the capacity of producing magnetic and sensing sensors. In a stream of this interest, further efforts to understand the underlying mechanism that leads to the GMR effect relative to the correlation between transport and magnetic properties, have been extensively devoted. In these cases, spin-glass-like behaviors are ascribed to the frustration of random competing exchange interactions, namely the ferromagnetic double-exchange interaction between Co$\^$3+/ (or Mn$\^$3+/) and Co$\^$4+/(or Mn$\^$4+/) and the antiferromagnetic one like spins. Noticeably, the distinction of spin-glass region from cluster-glass one, involved in the remarkable changes in transport and magnetic properties at a critical value of doping concentration, was observed. Magnetic anomalies in zero-field-cooled (ZFC) magnetization as well as ac magnetic susceptibility below Curie temperature T$\sub$c/ and the charge/orbital fluctuation were also realized. In this work, we present a study of magnetic properties of a deficient manganese perovskites system of La$\sub$0.6/Sr$\sub$x/MnTi$\sub$y/O$_3$, and particularly provide its new magnetic phase diagram.

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