• Korean Journal of Materials Research
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• v.7 no.2
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• pp.107-113
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• 1997

$SrBi_{2}Ta_{2}O_{9}(SBT)$ thin films wcre prepared on $Pt/Ti/SiO_{2}/Si$ suhsrrate by pL~snia-enhanced chemical vapor deposition. Sr and Ta huhhling temperatures were kept ,it $120^{\circ}C$ Iron1 X- ray tiiffriict!on. n~icrostruc~ure. and composjrional analysis of SH7' films, respectivels Hi I~ut~t~lmg tempcl.arure was varied SR'I' thin tilrns dcpositcd ar i3i buhbling temperature of $130^{\circ}C$ have dielccrric constanr of 150 anti dissipation factor of 0 02 at IOOkFic. I .eakagc wrrent density of films was ahour $1.0{\times}10^{-8}A/cm^2$ at 20kV/cm. 1.eakage current i11amcrc1istic.s of Sli'l' films nras c.ontrolled by I'oole Frcnkel emission Kenianent polariziit~on and mercivc field oi SR\ulcorner' films annealed at $550^{\circ}C$ were $9{\mu}C/cm^2$ and 70kV/cm, respectively.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.42 no.5 s.305
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• pp.1-12
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• 2005

A Mobile manipulator - a serial connection of a mobile robot and a task robot - is a very useful system to achieve various tasks in dangerous environment. because it has the higher performance than a fixed base manipulator in regard to the size of it's operational workspace. Unfortunately the use of a mobile robot introduces non-holonomic constraints, and the combination of a mobile robot and a manipulator generally introduces kinematic redundancy. In this paper, first a method for estimating the position of object at the cartesian coordinate system acquired by using the geometrical relationship between the image captured by 2-DOF active camera mounted on mobile robot and real object is proposed. Second, we propose a method to determine a optimal path between current the position of mobile manipulator whose mobile robot is non-holonomic and the position of object estimated by image information through the global displacement of the system in a symbolic way, using homogenous matrices. Then, we compute the corresponding joint parameters to make the desired displacement coincide with the computed symbolic displacement and object is captured through the control of a manipulator. The effectiveness of proposed method is demonstrated by the simulation and real experiment using the mobile manipulator.

• Journal of the Korea Society of Computer and Information
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• v.10 no.6 s.38
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• pp.345-354
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• 2005

A mobile manipulator - a serial connection of a mobile robot and a task robot - is a very useful system to achieve various tasks in dangerous environment, because it has the higher performance than a fixed base manipulator in terms of its operational workspace size as well as efficiency. A method for estimating the position of an object in the Cartesian coordinate system based upon the geometrical relationship between the image captured by 2-DOF active camera mounted on mobile robot and the real object, is proposed. With this Position estimation, a method of determining an optimal path for the mobile manipulator from the current position to the position of object estimated by the image information using homogeneous matrices. Finally, the corresponding joint parameters to make the desired displacement are calculated to capture the object through the control of a manipulator. The effectiveness of proposed method is demonstrated by the simulation and real experiments using the mobile manipulator.

• Applied Chemistry for Engineering
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• v.5 no.5
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• pp.825-835
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• 1994

Synthesis of ETBE as an octane number enhancer from ethanol and isobutene in a flow reactor under atmospheric pressure was studied. Amberlyst-15 and Amberlyst XN-1010 were used as catalysts within the temperature range of $70-140^{\circ}C$. The activity of Amberlyst 15 was higher than that of Amberlyst XN-1010. The reaction rate data obtained under differential reactor condition were tested by a linear regression method to determine the reaction mechanism and kinetic parameters. The ETBE synthesis reaction seems to be proceeded via the LHHW(Langmuir-Hinshelwood-Hougen-Watson) machanism. The activation energy of the surface reaction was estimated by the reaction rate constants as well as the adsorption equilibrium constants. Apparent activation energies are 18.64 and 24.19kcal/mol for Amberlyst-15 and Amberlyst XN-1010, respectively.

• The Journal of the Korean bone and joint tumor society
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• v.12 no.1
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• pp.57-62
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• 2006

Giant cell tumors are potentially malignant tumors in vertebrae, affecting frequently difficult to diagnose and are often inoperable. So it will be treated using radiation because of their high recurrence rate and the mechanical compression of spinal cord, but many surgeons described tumors of the vertebra, and the affected vertebral body can be treated using radical or near to total excision, with anteroposterior vertebral fusion or instrumentation of the spine. we report a case of giant cell tumor affecting the third cervical vertebra which caused neck pain and destroyed the vertebra body had treated using radical excison with fusion of posterior arch using instrumentation of the spine together with a literature review.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.1
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• pp.8-14
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• 2015

Plastics have brought a significant progress in reducing the weight of automotive parts and improving gas emissions by replacing steel parts. The front end module (FEM) carrier, which was made from long glass fiber reinforced polypropylene (PP-LFT), is one of the most successful examples. On the other hand, more research on the fatigue behavior and vibration durability of automotive plastic parts will be needed to improve the long-term reliability. This paper analyzed the durability of the PP-LFT, which is fundamental to fatigue design and analysis of FEM carrier. Various fatigue tests were conducted at different stress ratios to evaluate the relationship between the fatigue life and stress amplitude or mean stress level. In the case of a fixed stress amplitude, the change in fatigue life with the stress ratio was 2~6% larger than the case of fixed maximum stress. Furthermore, this study observed the mechanism of initiation and propagation of the fatigue cracks in PP-LFT by scanning electron microscopy.

• 한국방재학회:학술대회논문집
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• 2011.02a
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• pp.199-199
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• 2011

유량을 측정하는 수로 중 가장 많이 사용되고 있는 유량 계측 수공구조물은 위어와 파샬플륨이다. 하지만 위어는 직상류부분에 유사가 퇴적되는 단점을 가진 반면, 파샬플륨의 경우 부유사의 침전이 일어나지 않는 장점이 있다. 또한 파샬플륨의 손실수두는 위어의 약 25%에 불과하므로 파샬플륨이 계측수로로써 위어보다 상대적으로 유리하다. 현재 파샬플륨 내 흐름 특성에 관한 연구는 많이 이루어져 있으나 구조물 하류구간에서 발생하는 세굴에 관한 연구는 다소 부족한 실정이다. 따라서 본 연구는 유랑을 측정하는 계측 수공구조물인 파샬플륨의 하류구간 세굴을 수치모의를 통해 검토한 후 이를 바탕으로 물받이 길이를 산정하였다. 수치모의의 적정성 평가를 위해 국제표준화기구(ISO)에서 제시한 ISO No.1에 대해 세굴에 관한 수리모형실험을 실시한 후 수치모의와 비교한 결과 세굴 경향성이 유사하게 나타났다. 파샬플륨 규모별로 하류구간 세굴을 수치모의 한 결과 세굴 경향은 흐름에 따라 크게 4단계로 나뉘었다. 각 단계별로 도수의 위치가 다르며, 이로인하여 세굴 경향이 바뀌는 것으로 나타났다. 특히 도수의 발생 위치가 파샬플륨 내부에서 하류로 이동하면서 세굴심과 세굴 거리가 점차 증가하는 경향을 보였다. 따라서 도수의 발생 위치가 옮겨지기 전 최대 세굴심과 세굴 거리를 이용하여 물받이 길이를 결정하였으며, 도수의 발생 위치를 물받이 위치에 고정시키기 위하여 물받이 형상을 정수지형 물받이로 결정하였다. 산정된 물받이 길이 및 형상의 적정성을 검증하기 위하여 물받이를 ISO No.1에 적용한 후 수치모의를 수행하였다. 수치모의 결과 최대 세굴심은 설치전에 비하여 27.3% 감소하였으며 이에 따라 제시된 물받이는 적정하다고 판단된다. 추후 세굴에 관한 수리모형실험과 수치모의의 결과 비교시 최대세굴심 구간을 제외한 부분의 차이발생의 원인과 다른 형상의 물받이에 관하여 연구를 수행한다면 파샬플륨을 설계시 참고자료로 활용될 수 있을 것이며, 세굴로 인한 파샬플륨의 손상을 방지하는데 기여할 것이라고 기대된다.

• Journal of Navigation and Port Research
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• v.31 no.6
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• pp.497-502
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• 2007

The important purposes of research in ship operation are to ensure safe navigation, high efficiency of transportation, high accuracy, and security. IMO, develops a broad strategy for incorporating the use of new technologies in a structured way to ensure that their use is compliant with the various electronic navigational and communication technologies and services that are already available. As a base research for E-Navigation, therefore, this paper proposes a maritime information network based on Mesh Network that is one of the maritime broadband solutions. Firstly, this paper analyzes an international port network system and the requirements of port network for E-Navigation. Finally, it designs the maritime information network system based on Mesh Network and shows its validity for E-Navigation.

• Journal of the Korea Concrete Institute
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• v.28 no.1
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• pp.13-21
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• 2016

A hybrid precast concrete beam system with a simple rigid connection was proposed to compensate the limitations and shortcomings of the conventional bolt connection associated with the H-beams embedded into concrete beams. Three beam specimens with fixed both ends were tested under one-point top cyclic loading to explore the effectiveness of the developed hybrid beam system in transferring externally applied flexure to a column. The main parameter considered was the length ($L_s$) of H-beam, which was selected to be $0.25L_I$, $0.5L_I$, and $1.0L_I$, where $L_I$ is the distance from the support to the point of inflection. All beam specimens showed a better displacement ductility ratio than the reinforced concrete beams with the same longitudinal reinforcement index, indicating that the cyclic load-deflection curve and ductility were insignificantly affected by $L_s$. The continuous strain distribution along the beam length and the prediction of the ultimate load based on the collapse mechanism ascertained the structural adequacy of the developed rigid connection.

• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.6
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• pp.7-14
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• 1989

A trajectory control method being capable of singularity avoidance is proposed for a robot and positoner (R-P) system. In the proposed method, the damping factor of the Damped Least Square (DLS) method is adjusted by gradients of trajectory following errors so that the singularity avoidance can be achieved while mimimizing the errors. Two numerical examples are given by employing a Rhino robot with five degrees-of-freedom (d.o.f.) and two d.o.f's, where the method of maximizing the manipulagility the DLS method with a fixd damping factor and the proposed method are compared in terms of trajectory following errors, manipulabilities and joint velocities.