• Journal of the Korea Institute of Information and Communication Engineering
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• v.12 no.4
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• pp.781-790
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• 2008

In order to improve on the divergence by noise convariance in the Kalman filter position estimation, we propose a method of position estimating through compensating the autonomous mobile robot's noise. Proposed method is the modified Kalman filter using neural network. It is prevented the divergence by the estimation of measurement noise covariance and system noise covariance. In order to verify the effectiveness of the proposed method, we performed simulations and experiments for position estimation. The results show that convergence and position error is reduced than the Kalman filter method.

• Journal of The Korean Radiological Technologist Association
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• v.25 no.1
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• pp.139-140
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• 1999

• Proceedings of the Korea Air Pollution Research Association Conference
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• 2005.11a
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• pp.191-192
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• 2005

• Proceedings of the Korean Nuclear Society Conference
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• 2001.05a
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• pp.392.2-392
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• 2001

• Proceedings of the Korean Society of Soil Zoology Conference
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• 2002.06a
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• pp.11-12
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• 2002

• Proceedings of the Zoological Society Korea Conference
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• 2000.10a
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• pp.155.4-156
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• 2000

• Journal of Industrial Technology
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• v.19
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• pp.409-413
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• 1999

Chemical oxidation of humic acid by ozonation process was investigated in the batch reactor. Aldehydes and ketone were identified as PFBOA derivatives in ozonated humic acid solutions using gas chromatography with PDECD. The formaldehyde was as a main by-product of ozonation. The characteristics of the formaldehyde production were discussed with respect to concentration at different experimental conditions.

• Proceedings of the Korea Air Pollution Research Association Conference
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• 2000.04a
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• pp.325-327
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• 2000

본 연구에서는 한반도의 청정지역인 제주도 고산과 한라산 1100 고지에서의 입자상 물질을 분석하였다. 입자상 물질을 분석하는 방법 중에 EPMA(Electron Probe X-ray Microanalysis)를 이용한 단일 입자 분석법(Single Particle Analysis)은 개개 입자의 형상과 크기 그리고 화학 조성에 대한 정보를 동시에 제공하기 때문에 개개 입자의 생성, 이동, 반응성, 소멸 그리고 환경에의 영향에 대한 자세한 정보를 얻을 수 있다. (중략)

• Journal of Industrial Technology
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• v.29 no.A
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• pp.89-94
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• 2009

The efficiency of heterogeneous catalysts has been investigated in ozonation process for organic removal. Heterogeneous catalytic ozonation was conducted for the degradation of humic acid in the presence of Granular Activated Carbon or Zeolite as a solid catalyst. And the results were compared to those of ozonation alone and adsorption alone without ozonation. The degradation characteristics of humic acid in each process were examined with the values of pH, TOC, $UV_{254}$ and $COD_{Cr}$.

• Journal of Industrial Technology
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• v.18
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• pp.417-423
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• 1998

Experiments were performed to evaluate UV/VIS absorbance and TOC of humic acid solutions which were ozonated at different pH values. The optimum conditions for ozonation of humic acid from this study are pH 9 (buffered) and 0.84 ($H_2O_2/HA$, w/w) for $H_2O_2$ dosage.