• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.4
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• pp.361-368
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• 2015

This paper reports an unscented Kalman filter approach for localization of a mobile robot in an indoor environment. The method proposes a new model of measurement uncertainty which adjusts the error covariance according to the measured distance. The method also uses non-zero off diagonal values in error covariance matrices of motion uncertainty and measurement uncertainty. The method is tested through experiments in an indoor environment of 100*40 m working space using a differential drive robot which uses Laser range finder as an exteroceptive sensor. The results compare the localization performance of the proposed method with the conventional method which doesn't use adaptive measurement uncertainty model. Also, the experiment verifies the improvement due to non-zero off diagonal elements in covariance matrices. This paper contributes to implementing and evaluating a practical UKF approach for mobile robot localization.

• Journal of the Korean Chemical Society
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• v.38 no.6
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• pp.427-434
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• 1994

The retention behaviors of poly(ethylene-co-vinyl acetate)s have been studied by thermal field-flow fractionation(ThFFF) with respect to effective separation and characterization of thermal diffusion coefficients($D_{\tau}$) as one of the physicochemical properties of polymers. The eight copolymers are different in vinyl acetate composition ranging from 25% to 70% and in molecular weight ranging from 110,000 to 285,000. The carrier solvents are THF, toluene and chlorobenzene which have different viscosities and thermal conductivities. It is shown that the retention of a copolymer is dependent on the type of the carrier, the molecular weight and chemical composition of the copolymer. The results show that the retention of a copolymer increases when either vinyl acetate composition or the molecular weight increase. $D_{\tau}$ values measured by experiments vary from 1.36∼5.97 $\cm^2/(s.K)$ depending on the copolymer composition and the type of the carrier solvent. These values increase $(r^2{\geq}0.928)$ with increase of weight % of vinyl acetate. THF is found to be the proper carrier solvent for separation of copolymers employed in this study due to the fact that a $D_{\tau}$ value greatly changes with variation of copolymer composition. From the above results, ThFFF can be used for separation of copolymers with similar molecular sizes but different compositions.

• Proceedings of the Korea Air Pollution Research Association Conference
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• 2005.11a
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• pp.334-335
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• 2005

• Proceedings of the Korean Aquaculture Society Conference
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• 2001.12a
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• pp.243-244
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• 2001

• Proceedings of the KSEEG Conference
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• 2003.04a
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• pp.69-71
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• 2003

토양 및 수질 유기물질과 금속 산화물사이의 상호 반응관계는 환경지구화학적으로 중요하게 다루어진다 (Sposito, 1984). 토양내 광물들의 표면은 토양 유기물질의 주요한 부분을 차지하는 휴믹물질, 즉 휴믹산과 펄빅산에 의해서 이온강도와 산도에 따라 피복하는 현상을 일으킨다. 특히, 휴믹산과 펄빅산은 토양 및 수질내 주요한 구성 유기물로 존재하며 다양한 유기화합물과 분자량을 갖으며, 중금속들의 유출에 의한 오염 환경에서 그 화학종과 이동도에 영향을 주게된다 (Thurman, 1985). (중략)

• The Korean Journal of Applied Statistics
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• v.28 no.2
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• pp.211-219
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• 2015

Generalized linear mixed models are used to analyze longitudinal categorical data. Random effects specify the serial dependence of repeated outcomes in these models; however, the estimation of a random effects covariance matrix is challenging because of many parameters in the matrix and the estimated covariance matrix should satisfy positive definiteness. Several approaches to model the random effects covariance matrix are proposed to overcome these restrictions: modified Cholesky decomposition, moving average Cholesky decomposition, and partial autocorrelation approaches. We review several approaches and present potential future work.

• KOREAN JOURNAL OF CROP SCIENCE
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• v.19
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• pp.78-82
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• 1975

The fatty acid composition of the oil in the rapeseed grown by spring and autumn planting were determined by gas liquid phase chromatography. Erucic acid content of the rapeseed oil grown by autumn planting was higher than that produced by spring planting, but the contents of oleic acid and linoleic acid were lower in autumn planting than those in spring planting. There was significant difference at 1% level between seasonal plantings. The reasons for the different fatty acid compositions were the low integrated temperature, the high amount of precipitation and the short hours of sunshine during the maturing period in autumn planting.

• TTA Journal
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• s.128
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• pp.55-60
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• 2010

• Analytical Science and Technology
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• v.12 no.3
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• pp.203-208
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• 1999

The ion-pair high performance liquid chromatographic elution behavior of salicylic acid and its derivatives was studied with measuring capacity factor, k', changing the concentration of ion-pairing reagent (tetrabutylammonium chloride, TBACl) in mobile phase. As a result, it was found that k' of the samples increase at pH 7.2 as the TBACl concentration increases. The derivatives of salicylic acid were separated each other at an optimum mobile phase condition which was found from the observation of the retention behavior. The optimum mobile phase condition was methanol solution($MeOH:H_2O_2$ 30:70) containing 20 mM TBACl for the determination of salicylic acid and methanol solution($MeOH:H_2O_2$ 20:80) containing 40 mM TBACl for p-aminosalicylic acid at pH 7.2. The method has been applied for the analysis of the contents of salicylic acid derivatives in an aspirin tablet and a tuberculosis curing agent.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.11
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• pp.971-978
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• 2016

Recent trends in miniaturization and lightness in portable electronics parts have driven developments in subminiature screws. This study aims to investigate the thread rolling process of a subminiature screw with an outer diameter and pitch of 1.0 and 0.25 mm, respectively. Finite element (FE) analyses were performed for the thread rolling process of symmetric and asymmetric screw threads. Through FE analyses, various process parameters, such as the horizontal and vertical die gap and the rolling stroke, were investigated in terms of the forming accuracy. The material flow characteristics in the thread rolling process of the symmetric and asymmetric screws were also discussed, and the relevant process parameters were determined accordingly. These simulation results were then reflected on real thread rolling processes, from which the symmetric and asymmetric screws could be formed successfully with allowable dimensional accuracy.