• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.1
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• pp.100-108
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• 2008

This paper proposes a method of adaptively generating a gait pattern of biped robot. The gait synthesis is based on human's gait pattern analysis. The proposed method can easily be applied to generate the natural and stable gait pattern of any biped robot. To analyze the human's gait pattern, sequential images of the human's gait on the sagittal plane are acquired from which the gait control values are extracted. The gait pattern of biped robot on the sagittal plane is adaptively generated by a genetic algorithm using the human's gait control values. However, galt trajectories of the biped robot on the sagittal Plane are not enough to construct the complete gait pattern because the bided robot moves on 3-dimension space. Therefore, the gait pattern on the frontal plane, generated from Zero Moment Point (ZMP), is added to the gait one acquired on the sagittal plane. Consequently, the natural and stable walking pattern for the biped robot is obtained.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.9 no.2
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• pp.73-82
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• 1989

When the flood occurs in the alluvial rivers, the rivers adjust to the flood by means of the mechanism of the river bed variations and its morphological changes to pass that safely, the numerical model was developed to simulate the process of the alluvial river bed variation due to flood wave and carried out by the flood routing for flood wave and the sediment routing for river bed variation. The flood wave, river bed variation, and bed material size distribution may be analysed and predicted by this model. The ability of this model to predict the process of river bed response was proved by the application to the reach from Paldang dam to Indogyo site. In view of the flood analysis considering the sediment process, the effects of river bed variation for the flood routing may be negligible because the river bed variation is smaller than the unsteady flow variation during the same period. By the application of this model, it is shown that, in occurring of sequential flood events, the variation of the river bed and bed material size distribution due to flood wave is more dependent on the first flood event than the latter flood events, and that the river bed variation in this reach of the downstream Han river is dependent on the degradation and the coarsening of bed materials.

• Journal of Korea Water Resources Association
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• v.49 no.3
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• pp.241-252
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• 2016

In this study, the characteristics of flow and bed changes with variation of space and length of serial spur dikes were investigated with 2 dimensional numerical simulation. Upstream spur dike was affected by flow and made a role as a single spur dike. As time increased, local scouring was developed around outside of spur dike, and migrated upstream. The aggradation of the bed at the back of spur-dike was made at the initial stage of experiment and numerical modelling. However, the aggradation of the bed was increased in the downstream area. The scour whole around a spur dike upstream was not deep as the Dimensionless spur-dike interval (b) of the dike increased. The depth of scour hole was nearly constant at the dynamic equilibrium state. The dimensionless scour depth ($y_s/H$) increased with L/b. The spur dike downstream had the characteristics of single spur dike as the L/b was larger than 10. However, the spur dike downstream was affected by the dike upstream as the L/b was less than 4, and the bed of the upstream in the spur dike was aggradated and the effects of the serial spur dikes on the bed decreased.

• Journal of the Korean Geographical Society
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• v.42 no.6
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• pp.879-897
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• 2007

The Royal District in Gyeungju-city was placed in lower surface of alluvial fan that was formed during the Last Glacial Age. During the Holocene, Bukcheon-river was reached in the dynamic equilibrium status and the form of river channel was similar or same to the present. The cases of dying people and carrying houses away by flood for ancient history in Gyeongju were six times, in 131, 160, 350, 496, 657 and 703. Like this big flood was happened at interval of $150{\sim}200$years. A period of big flood appearance in Bukcheon-river was extremely long. Therefore the people who had lived in Gyeongju for ancient history perceived that most part of riverbed of Bukcheon-river was a safety place from flood damages. Not only private houses. In east part of Bunhwangsa temple, that is, west side of Bukcheon-river where the river energy is maximum, a pillow block was built to prevent a lateral erosion but any artificial riverbank was not. In spite of high flood possibility in Bukcheon-river, there was no facility to prevent floods in this section. Also, deposits of flood are not identified. This point is very suggestive that Bukcheon-river did not flood for ancient history.

• Journal of Nutrition and Health
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• v.54 no.6
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• pp.573-583
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• 2021

Energy requirement is defined as energy expenditure in an energy equilibrium state. The doubly labeled water (DLW) method is considered the gold standard for measuring total energy expenditure (TEE). In 2002, the Institute of Medicine (IOM) of the National Academies established dietary reference intakes (DRIs) for Americans and Canadians, and the equations for estimated energy requirement (EER) were developed by using pooled data from studies that had applied the DLW method. Since 2005, these equations have been used for establishing EER in the DRI for Koreans. These equations based on age group include the physical activity (PA) coefficient determined by the PA level (PAL; sedentary, low active, active and very active) as well as body weight and height. The PAL values of Koreans calculated using the DLW method and PA diaries were determined to fall in the low active category (1.40~1.59). Therefore, the PA coefficient corresponding to 'low active' was applied to the EER equations. In recent years, with increasing number of people regularly engaging in various physical activities in Korea, EER is now separately presented for people with 'active' and 'very active' PALs. In the future, like the United States and Japan, Korea needs to expand the DLW research for developing EER predictive equations for Koreans. In addition, standardized guidelines should be prepared to accurately evaluate the PAL using the physical activity diary and the new PA classification table for Koreans.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.10 no.3
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• pp.87-98
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• 1990

The present Study dealt with the earthquake-resistant design of cantilever retaining walls supporting cohesionless soils. With design examples of three different types of cantilever retaining walls, the factors of safety against sliding were computed at various values of horizontal acceleration coefficient and compared with each other. The horizontal inertia effect due to the weights of concrete wall itself and a portion of backfill was taken into account in the analyses, and also Mononobe-Okabe pseudo-static solution method was modified to deal with various states different from limiting equilibrium state. From the analyses of safety against sliding, it was found that a cantilever retaining wall with sloped base was the most efficient type in earthquake resistant design. It was also found that by sloping the base, the width of the base slab could be reduced, resulting in the least volume of concrete, excavation and backfill as compared to the other types of walls. In the case of a cantilever retaining wall with sloped feel, the efficiency similar to that of a wall with sloped base could be expected under static loading as well as at relatively low level of earthquake loading. However, this efficiency became vanished with the increase of horizontal acceleration coefficient, since the rate of reduction in developed earth pressures on the heel became smaller. In addition, the design charts with different soil friction angles as well as with different earthquake resistant design criteria of safety factor against sliding were presented for the design of cantilever retaining walls sith sloped base.

• Journal of Korean Tunnelling and Underground Space Association
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• v.8 no.4
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• pp.365-375
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• 2006

The structural analysis for the secondary lining of tunnels is generally performed by a frame analysis model. This model requires a ground loosening load estimated by some empirical methods, but the load is likely to be subjective and too large. The ground load acting on the secondary lining is due to the loss of the supporting function of the first support members such as shotcrete and rockbolts. Therefore, the equilibrium condition of the ground and the first support members should be considered to estimate the ground load acting on the secondary lining. Ground-lining interaction model, shortly GLI model, is developed on the basis of the concept that the secondary lining supports the ground deformation triggered by the loss of the support capacity of the first support members. Accordingly, the GLI model can take into account the ground load reflecting effectively not only the complex ground conditions but the installed conditions of the first support members. The load acting on the secondary lining besides the ground load includes the groundwater pressure and earthquake load. For the structural reinforcement of the secondary lining based on the ultimate strength design method, the factored load and various load combination should be considered. Since the GLI model has difficulty in dealing with the factored load, introduced in this study is the superposition principle in which the section moment and force of the secondary lining estimated for individual loads are multiplied by the load factors. Finally, the design method of the secondary lining using the GLI model is applied to the case of a shallow subway tunnel.

• Proceedings of the KOR-KST Conference
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• 1998.10b
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• pp.295-295
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• 1998

고속도로에서 교통류의 특성에 파악하여 교통류의 특성을 파악하여 동적행태로 교통상황을 분석하고 효과적인 제어전략, 시뮬레이션, 그리고 기하구조 개선등의 효율적이고 실용적인 적용을 위해서는 교통류의 정확한 모사가 필요하다. 시공간으로 표현되는 상태방정식을 포함하는 거시적 시뮬레이션 모델에 사용되는 연속류 모델은 이러한 교통류 특성을 모사하는데 적절하다. Lighthill과 Whitham(1955), Richard(1956)에 의해 일계도함수의 형태를 가지는 단순모델이 제시된 이후 모델의 결점을 보완하기 위해 많은 고계도 모델이 제시되었지만 고계도 모델이 가진 이론적인 결점에 대해서는 여러 연구들이 제시되어 있다. 또한 고계도 모델은 운동량 방정식의 유도, 정산, 구현의 어려움으로 널리 사용되기 힘들다는 단점을 가지고 있다. 만일 적절히 구현할 수 있다면 적용이 간단한 단순모델로도 보다 정확한 교통류 상황 모사가 가능하다. Ansorge는 혼잡교통류상황을 보다 정확하게 모사하기 위해 단순모델에 엔트로피 조건을 결합시킨 모델을 제시했다. Bui는 이 제안된 모델이 적절한 시뮬레이션 결과를 나타낸다는 것을 밝혔다. 그러나 이 모델은 차량의 재가속이 이루어지는 교통상황-stop-start wave의 경우 비현실적인 값을 가진다. 엔트로피조건에 의해 구해진 해는 실제보다 과다한 교통량을 추정하게 되는데 이런 결과는 위와 같은 교통상황에서 중요한 요소로 작용하는 가속효과가 무시되고 있기 때문이다. 따라서 본 연구에서는 stop-start wave 조건에서 가속도에 경계치를 부여하여 교통류율을 상한경계조건을 제시함으로써 교통상황에 맞는 교통류율을 산정하는 방법에 대해 제안하고자 한다.환승이라는 특정대안변수(Specific alternative variable)를 첨가하여 그것이 수단선택에 미치는 영향을 분석한다. 또한, 대중교통의 속성을 가지고 있는 지하철과 버스를 하나의 대안으로 묶어서 효용함수를 구한 다음 다시 승용차, 택시, 대중교통을 독립된 대안으로 두고 모형을 정립하는 NESTED LOGIT모형으로 파라메타를 추정하여 대중교통의 효용에 관해 분석·비교하였다. 본 논문에 이용된 자료는 공항을 이용하는 이용객들을 대상으로 직접 설문·면접조사한 자료이며 대상 교통수단은 승용차, 택시, 지하철, 버스로 설정하였다. 결과 적응형 알고리즘이 개개인의 최단시간 경로를 제공하는 사용자 평형 경로안내전략에 비해 교통혼잡도와 정체시간의 체류정도에 따라 3%에서 10%까지 전체통행시간을 절약할 수 있다는 결론을 얻었다.출발참, 구성대외개방선면축심, 실현국제항선적함접화국내항반적전항, 형성다축심복사식항선망; 가강기장건설, 개피포동제이국제기장건설, 괄응포동개발경제발전적수요. 부화개시일은 각 5월 26일과 5월 22일이었다. 11. 6월 중순에 애벌레를 대상으로 처리한 Phenthoate EC가 96.38%의 방제가로 약효가 가장 우수하였고 3월중순 및 4월중순 월동후 암컷을 대상으로 처리한 Machine oil, Phenthoate EC 및 Trichlorfon WP는 비교적 약효가 낮았다.>$^{\circ}$E/$\leq$30$^{\circ}$NW 단열군이 연구지역 내에서 지하수 유동성이 가장 높은 단열군으로 추정된다. 이러한 사실은 3개 시추공을 대상으로 실시한 시추공 내 물리검층과 정압주입시험에서도 확인된다.. It was result

• Proceedings of the Korea Water Resources Association Conference
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• 2007.05a
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• pp.1716-1720
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• 2007

연안 해역에서의 표사는 하천에서의 유사가 주요한 공급원이므로 산지-하천-해안을 통합한 유사 및 표사에 관한 관리가 필요하며, 해안수리 및 환경적인 측면에서 강성 연안구조물의 건설을 통하지 않고 연안에서의 침식을 억제해야하는 방지대책의 수립 요구가 증대하고 있는 실정이다. 즉 연안에서의 침식, 퇴적관계는 토사공급원의 장기적인 확보여부가 중요하며 하천에서 해안역으로 공급되는 유사량을 예측하고 또한 이들이 어떻게 효과적으로 연안 해역으로 이송되어 가는가를 파악하는 것은 연안표사문제를 이해하는데 매우 중요한 요소이다. 이를 위해서는 무엇보다도 하천에서 연안 해역으로의 유사량을 파악하는 것이 중요하며 그리고 하천 유사량이 하구에 사주를 형성하고 어떤 형태를 거쳐 연안표사로 이동하는가 하는 특성을 파악할 필요가 있다. 울산광역시 울주군 온산읍에 위치한 회야강의 하구폐색은 1990년대 중반부터 연구의 관심이 되어오고 있으며, 1986년 회야강 상류 회야댐 건설 이후 하구폐색이 가속화됨에 따라 매년 회야강 하구에서의 준설이 필요한 실정이다. 특히 회야강 하구부에서는 파랑류, 취송류와 하천류 뿐만 아니라 해류나 조류 등에 의한 흐름과 지형특성등 복합적으로 발생하는 하구현상에 의해 하구에서의 사주 발달이 상대적으로 강하여 하구폐색이 강하게 나타나고 있다. 이의 대책으로 최근 회야강 하구부에 도류제가 건설되었으며 이에 따른 장기적인 하구부 하상변동특성과 토사이동의 특성 파악이 요구되고 있는 실정이다. 본 연구에서는 이 같은 관점에서 회야강 하구부의 도류제 설치에 따른 하구에서의 지형변동과 유송토사량의 특성을 파악하기 위해 하천 상류부에서는 동적 평형상태의 유사량을 가정하고 하상재료 및 유사는 혼합입경으로 하여 하상고 및 하상교환층 중의 입도조성의 시간변화를 구하여 1차원적인 하상변동과 토사이동 특성을 해석하였다.했을 때, 대표입경을 통해 얻은 조도계수가 보정 조도계수보다 다소 작은 것으로 해석되었다.하고자 한다.해결책을 얻어내는 상호보완적인 결과를 추구한다. 그가 디자인하는 작품은 전형적인 이미지를 내포하지 않는다. 즉 그의 작품은 기존의 가치와 이념적인 것은 배제하고, 창의적인 개념을 도출하였다.형모서리는 건물 특화 성격이 강하므로 불가피할 경우 소형 액센트 광고 위치를 미리 벽면으로 할애하는 것이 경관 및 입면계획에 유리한 것으로 분석되었다. 불확실도 해석모형 등의 새로운 기능을 추가하여 제시하였다. 모든 입출력자료는 프로젝트 단위별로 운영되어 data의 관리가 손쉽도록 하였으며 결과를 DB에 저장하여 다른 모형에서도 적용할 수 있도록 하였다. 그리고 HyGIS-HMS 및 HyGIS-RAS 모형에서 강우-유출-하도 수리해석-범람해석 등이 일괄되게 하나의 시스템 내에서 구현될 수 있도록 하였다. 따라서 HyGIS와 통합된 수리, 수문모형은 국내 하천 및 유역에 적합한 시스템으로서 향후 HydroInformatics 구현을 염두에 둔 특화된 국내 수자원 분야 소프트웨어의 개발에 기본 토대를 제공할 것으로 판단된다.았다. 또한 저자들의 임상병리학적 연구결과가 다른 문헌에서 보고된 소아 신증후군의 연구결과와 큰 차이를 보이지 않음을 알 수 있었다. 자극에 차이가 있지 않나 추측되며 이에 관한 추후 연구가 요망된다. 총대장통과시간의 단축은 결장 분절 모두에서 줄어들어 나타났으나 좌측결장 통과시간의 감소 및 이로 인한 이 부위의 통과시간 비율의 저하가 가장 주요하였다. 이러한 결과는 차가운 생수 섭취가 주로 결장 근위부를 자극하는 효과를 발휘하는 것이 아닌가 해석된다. 이와 같은 연구결과를 통해 생다시마를 주원료로 개발된 생다시마차와 생다시마 음료가 만성 기능성 변비 증세를 개선하는 효능이 잠재적으로 있음을 확인하였다.

• Korean Journal of Environmental Agriculture
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• v.36 no.1
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• pp.22-28
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• 2017

BACKGROUND: There is very limited knowledge of the effects of biochar derived from exhausted coffee residue on metal adsorption processes. Furthermore, only limited information is available on the adsorption mechanism of copper. The aim of this study was to evaluate the absorption behaviors of copper by biochar derived from exhausted coffee residue. METHODS AND RESULTS: Biochars produced by pyrolysis of exhausted coffee residue at $300^{\circ}C$(CB300) and $600^{\circ}C$(CB600) were characterized and investigated as adsorbents for the removal of copper from aqueous solution. The results indicated that the adsorption equilibrium was achieved around 2 h and the pseudo-second-order kinetic model fit the data better than the pseudo-first-order kinetic model. The maximum Cu adsorption capacities of CB600 by Freundlich and Langmuir isotherms were higher than those of CB300. The adsorption data were well described by a Langmuir isotherm compare to Freundlich isotherm. CONCLUSION: Our results suggest that exhausted coffee residue can be used as feedstock materials to produce high quality biochar, which could be used as adsorbents to removal copper.