• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.339-346
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• 2022

To operate in real environment, humanoid robots should be able to react to unknown disturbances. To deal with disturbances, various robust control algorithms have been developed for decades. But for collaborative works such as teleoperation system, a compliance control can be the better solution for disturbance reactions. In this paper, a center of mass (CoM) compliance control algorithm for humanoid robots is proposed. The proposed algorithm is based on the state observer and positive feedback of disturbance. With the state observer based on humanoid CoM control performance model, disturbance in each direction can be observed. The positive feedback of disturbances to the reference CoM trajectory enables compliant motion. The main contributions of this algorithm are achieving compliance independently in each axis and maintaining balance against external force. Through dynamic simulations, the performance of the proposed method was demonstrated. Under two types of disturbance conditions, humanoid robot DYROS-JET reacted with compliant motion via the proposed algorithm.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.27 no.4B
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• pp.372-378
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• 2002

In this paper, a narrow-band waveguide channel fitter has been designed and realized for Ku band satellite transponder. Group-delay and amplitude variations of the channel filter have been minimized using a 2-pole reflection type equalizer. The channel filter has been designed to have the 8-pole elliptic response for high frequency selectivity. Dual-mode technique has been adopted for reducing mass and volume of the channel filter and equalizer. The channel filter and equalizer have shown good performance for satellite transponder.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2009.10a
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• pp.391-394
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• 2009

Asymmetrical and unbalanced features such as rotor blade of helicopter, actuator of hard-disk in personal computer are usually manufactured with composite materials. In this case, mass distributions and center of gravity of the parts are important because of their static balancing. Therefore in the manufacturing processes, it is needed to check out the exact data of weight and gravity center. In this study, it has been studied experimentally the balancing of laminated rotor blade by using multiple-point weighing method and lab-view system.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.10
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• pp.142-146
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• 2004

Spaceborne earth observation or astronomical payloads often use Cassegrain-type telescopes due to limits in mass and volume. Precision optical alignment of such a telescope is vital to the success of the mission. This paper describes the alignment simulation and experiment of computer-aided alignment method during the assembly of MAC (Medium-sized Aperture Camera) telescope for spaceborne earth observation.

• Journal of Biosystems Engineering
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• v.23 no.1
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• pp.13-20
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• 1998

Carbonized rice husk(char from rice husk) can be used to improve soils for planting, seedlings, horiculture, pomiculture and truck gardening. Although it is not a fertilizer in nature, it stimulates the growth of plants. Carbonized rice husk is highly recommended for raising soil/water temperature, keeping moisture and aerating roots of plants. The objective of this study was to develop the effective production method of carbonized rice husks by a non-slagging vertical cyclone combustor. A cyclone combustor w vortex collecor Pocket in addition to central collector pocket was selected and tested. Isothermal tests and mixed firing with LPG and rice husk were performed in order to characterize the system. hut rice husk was used during the isothermal test to find the mass collected of rice husk. It was impossible to ignite rice husk itself over the experimental conditions considered in this experiment. The composition of original and carbonized rice husks was analyzed by the ultimate analysis. With the air flow rate of 20 ㎥/h, LPG flow rate of 0.45 1/min, the required carbonized rice husk could be obtained.

• Journal of Korean Ophthalmic Optics Society
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• v.4 no.1
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• pp.89-91
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• 1999

Fresnel-Kirchhoff's Integration enables us to achieve the diffraction pattern for the triangle stop. We have arranged the integral variables on the generalized coordinates and unlike the rectangularity or circle, the center of mass of the triangle does not have the symmetric position on the origin of the coordinates. Hence the solution for the system shows a difficulty for the expression in the simple formula which we see in the case of the rectangularity or circle.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.2
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• pp.178-182
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• 2011

A FSK receiver RF block has been developed for Dubaisat-1 Low Earth Orbit satellite. The receiver has Doppler tracking function which compensate frequency shift on uplink channel for commanding the satellite. It consist of LNA, downconverter and IF module. The IF module has Doppler tracking circuitry which sweep and lock on to input signal. It satisfies the requirement of the Dubaisat-1 in mass, power consumption, tracking speed and BER performance.

• The Korean Journal of Ecology
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• v.23 no.1
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• pp.33-37
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• 2000

Mass loss and changes of mineral nutrients during decomposition of Lepista nuda for 7 weeks from October 7 to December 28 in 1998 were investigated in an oak stand in Kongju, Korea. Content of nitrogen, phosphorus, potassium, calcium and magnesium of the fresh L. nuda was 67.8, 4.1, 47.3, 0.4 and 1.5 ㎎/g, respectively. Content of nitrogen, phosphorus and potassium in L. nuda were much higher than those in leaf litter. After 7 weeks, remaining mass was 35%. Nitrogen, phos- phorus and potassium increased till 5 weeks and then decreased rapidly, however, calcium and magnesium steadily increased during the experimental period. Nitrogen and phosphorus showed a short period of immobilization, and calcium showed no immobilization period during decomposition. After 7 weeks, remaining N, P, K, Ca and Mg was 26.6, 37.5, 28.5, 35.0 and 91.0% of the initial content, respectively. Nutrients could be relocated spatially during the formation and decomposition of fruiting body of Basidiomycetes.

• Journal of Korean Academy of Nursing
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• v.32 no.5
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• pp.727-734
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• 2002

This study was to determine the effect of DHEA administration before, during, and after dexamethasone treatment on body weight and TypeI,II muscle weight of rat receiving dexamethasone treatment. Method: Wistar rats were divided into 6 groups: control(C), dexamethasone(D), DHEA administration for 3days after dexamethasone treatment for 7days(7D+3DH), dexamethasone treatment for 7days after DHEA administration for 3days(3DH+7D), DHEA administration during dexamethasone treatment for 4days after dexamethasone treatment for 3days(3D+4DDH), DHEA administration during dexamethasone treatment for 7days(7DDH). Dexamethasone was injected by subcutaneously daily at a dose of 5mg/kg. DHEA was orally administered daily at a dose of 5mg/kg for 7 days. Soleus(TypeI) muscle, and both plantaris and gastro- cnemius(TypeII) muscles were dissected on the 7th day of experiment. Result: Body weight of both 3DH+7D group and 3D+4DDH group increased significantly compared with that of 7D group. Body weight of 7D+3DH group decreased significantly compared with that of 7D group, 7DDH group, 3DH+7D group and 3D+4DDH group. Muscle weight of both plantaris and gastro- cnemius tended to decrease compared with that of 7D group. Muscle weight of 7DDH group, 3D+4DDH group and 3DH+7D group increased significantly compared with that of 7D+3DH group. Muscle weight of gastrocnemius of both 3DH+7D group and 3D+4DDH group increased significantly compared with that of 7D group. Conclusion: Based on these results, it can be suggested that DHEA administration before and during dexamethasone treatment can increase both body weight and mass of atrophied TypeII muscle induced by dexa- methasone treatment.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.6
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• pp.479-487
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• 2020

A new double-pulse laser system that combines Raman and laser induced plasma spectroscopy (LIPS) in a single unit is proposed. The study attempts to enhance the laser induced plasma signals while simultaneously extracting the desired molecular signals from Raman spectroscopy. In low pressure conditions such as the lunar atmosphere, the measuring of plasma emission is hard because of the low electron density and short persistence time causing a rapid plasma expansion. Furthermore, in the integration of the detecting system aimed at space exploration, the minimization of laser system is important in terms of the payload mass. Simultaneous molecular and atomic detection that gave highly resolved spectral data at pressure below 0.07 torr is demonstrated amongst eight rock samples test. The plasma stacking produced from the double-pulse laser enhanced the signal intensity of calcium and oxygen lines in calcite matrix by twofold, compared to a conventional LIPS.