• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.4
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• pp.470-477
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• 2009

Modular reconfigurable robots with physical docking capability easily adapt to a new environment and many studies are necessary for the modular robots. In this paper, we propose a vision-based fuzzy autonomous docking controller for the modular docking robots. A modular docking robot platform which performs real-time image processing is designed and color-based object recognition method is implemented on the embedded system. The docking robot can navigate to a subgoal near a target robot while avoiding obstacles. Both a fuzzy obstacle avoidance controller and a fuzzy navigation controller for subgoal tracking are designed. We propose an autonomous docking controller using the fuzzy obstacle avoidance and navigation controllers, absolute distance information and direction informations of robots from PSD sensors and a compass sensor. We verify the proposed docking control method by docking experiments of the developed modular robots in the various environments with different distances and directions between robots.

• Journal of the Korean Vacuum Society
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• v.14 no.3
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• pp.115-118
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• 2005

Structure analysis of model polymeric micelles, both for non-asosciative and associative cases is done by small angle neutron scattering method. Aggregation number of the hydrophobic cores and the lyotropic ordering transitions of aqueous solutions of poly(ethylene glycol)(PEG) (6 K or 10 K g/mol) end-capped with perfluoroalkyl groups $(-(CH_2)_2C_OnF_{2n+1}$ (n =6,8, or 10) are characterized. Aggregation number is mainly determined by the hydrophobe end group only, and is insensitive to polymer concentration or temperature. Also, there is no difference between non-associative micelles and associative micelles in terms of aggregation number. The model systems order into a BCC structure with increasing concentration.

• Journal of the korean academy of Pediatric Dentistry
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• v.36 no.4
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• pp.514-521
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• 2009

The aim of this study was to evaluate the bonding ability of two self etch systems to human primary and permanent enamel and the effect of additional acid etching time. Exfoliated, caries free human primary molar(n=65) and permanent molar extracted (n=65) were used. prepared enamel specimens were randomly divided into 2 test groups and a control group. The control group(n=10) were treated with 35% phosphoric acid gel and Scotchbond Multi-purpose adhesive. Experimental groups(self-etching systems) were subdivided into 6 groups(each n=10) according to additional etching time(0s, 5s, 10s, 15s, 20s, 30s). The result were as follows : 1) The shear bond strengths of the self-etching adhesives(Clearfil SE Bond, Adper Prompt L-pop) without additional etching were lower than control group(Scotch Bond Multipurpose). 2) Between the same self-etch adhesive groups, additional etched groups showed higher shear bond strength 3) There was no significant difference between primary and permanent enamel. In conclusion, bond strength of self-etch adhesives to enamel could be increased with additional etching.

• Economic and Environmental Geology
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• v.35 no.6
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• pp.567-573
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• 2002

Two-dimensional MT (Magneto-Telluric) modeling is performed to verify the validity of difference arrow for GDS(Geomagnetic Depth Sounding) survey. The electromagnetic mutual coupling between the sea and in-land conductor is used as a criterion that judges the validity of difference arrow. In this study, the mutual coupling between them is examined according to the spatial distance between them and the period of magnetic variations. The difference arrow is valid for conductors located at surface which are far from the sea or when the long period is used, but the mutual coupling is weak for buried conductor in all the periods. However, when a conductor extends vertically down to the deep part, the validity of difference arrow is in doubt, since the strong mutual coupling influences up to the long period. Therefore, to remove the known conductor effect such as sea effect from the observed induction arrow, the mutual coupling between them must be examined and the caution must be exercised in interpreting the resultant difference arrow if mutual coupling between them is strong.

• The Korean Society of Law and Medicine
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• v.20 no.3
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• pp.175-209
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• 2019

The bundled discounting which the dominant undertakings engage in is problematic in terms of competition restraint. Bundled discounts generally benefit not only buyers but also sellers. Specifically, bundled discounts usually costs a firm less to sell multiple products. In addition, Bundled discounts always provide some immediate consumer benefit in the form of lower prices. Therefore, competition authorities and courts should not be too quick to condemn bundled discounts and apply the neutral and objective standard in bundled discounting cases. Cascade Health v. Peacehealth decision starts ruling from this prerequisite. This decision pointed out that the dominant undertaking can exclude rivals through bundled discounting without pricing its products below its cost when rivals do not sell as great a number of product lines. So bundled discounting may have the anticompetitive impact by excluding less diversified but more efficient producers. This decision did not adopt Lepage case's standard which does not require the court to consider whether the competitor was at least as efficient of a producer as the bundled discounter. Instead of that, based on cost based approach, this decision said that the exclusionary element can not be satisfied unless the discounts result in prices that are below an appropriate measures of the defendant's costs. By adopting a discount attribution standard, this decision said that the full amount of the discounts should be allocated to the competitive products. As the seller can easily ascertain its own prices and costs of production and calculate whether its discounting practices exclude competitors, not the competitor's costs but the dominant undertaking's costs should be considered in applying discount attribution standard. This case deals with bundled discounting practice of multiple healthcare services by the dominant undertaking in healthcare market. Under the Korean healthcare system and public health insurance system, the price competition primarily exists in non-medical care benefits because public healthcare insurance in Korea is in combination with the compulsory medical care institution system. The cases that Monopoly Regulation and Fair Trade Law deals with, such as cartel and the abuse of monopoly power, also mainly exist in non-medical care benefits. The dominant undertaking's exclusionary bundled discounting in Korean healthcare markets may be practiced in the contracts between the dominant undertaking and private insurance companies with regards to non-medical care benefits.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.3
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• pp.311-317
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• 2010

In the paper, we propose an improved mobility method of modular robots by physical docking in the uneven environments. The modular robot system consists of autonomous docking device, 3 DOF robotic arm, motion controller, and main controller. Real-time location and direction of the robot are estimated using inner GPS and they are used to control direction and path of each robot for physical docking between modular robots. We design a navigation algorithm of modular robot using physical docking and cooperative navigation in the environment with broken road and low stair. The proposed method is verified by navigation experiments of three developed modular robots in the uneven environments.

• Proceedings of the Korean Fiber Society Conference
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• 2002.04a
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• pp.355-358
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• 2002

고분자가 절연재료로서 사용되는 이유는 전기를 통하지 않는 절연특성을 지니고 있기 때문이며 이러한 성질은 고분자가 금속재료와 구별되는 가장 큰 특징이다. 그러나 1964년 W. A. Little 이 발표한 공액 이중결합구조를 가진 화합물은 전도성 고분자가 될 수 있다는 가설을 바탕으로 전도성 고분자에 관한 많은 연구가 진행 중에 있다. 전도성 고분자는 절연체로서의 응용에만 한정되어왔던 기존 고분자물질들과 달리 가볍고 저렴하며 단일결합과 이중결합을 교대로 하고 있는 공액 고분자 구조를 가지고 있어 다양한 화학적 합성방법에 의해 전기전도도, 유전상수, 결정 등의 물리적 성질을 조절할 수 있으며, 금속의 전기적, 자기적, 광학적 특성과 고분자의 기계적 성질을 동시에 가지므로 배터리, 축전기, 트랜지스터, 광전소자, 전자파 차폐제 등 플라스틱 전자소재의 실용적으로 인해 산업체에서도 높은 관심의 대상이다. (중략)

• 한국신재생에너지학회:학술대회논문집
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• 2006.06a
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• pp.174-174
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• 2006

• Korean Journal of Materials Research
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• v.6 no.2
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• pp.158-165
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• 1996

열증착기(thermal evaporator)로 증착시킨 Cu를 상온에서 3.5M CuCl2+0.5M HCI+0.5MKCI 용액을 사용하여 습식각하고 2일간 대기중 노출시킨 후 X-선 광전자 분광기를 이용하여 표면의 결합상태를 관찰하였다. 그 결과 습식식각된 Cu 표면에서는 C, O, Ci 및 Cu가 존재함을 알 수 있었다. 표면원소에 대한 오제이 전자 스펙트라(Auger electron spectra)와 광전자 스펙트라(photoelectron spectra)의 정량적인 비교를 통하여 표면의 모든 결합상태를 확인할 수 있었고 그 상대적인 양까지도 얻어낼 수 있었다. 식각된 Cu의 표면에는 Cu-Cu, 2Cu-O, Cu-Ci, Cu-2(OH), 및 Cu-2Cl의 결합상태가 존재함을 알 수 있었고, CuLMMAuger line spectrum의 관찰을 통하여 계산된 각 결합의 정량적인 비교를 검증할 수 있었다. 따라서 chemical shift가 거의 관찰되지 않아 결합상태 분리가 불가능한 식각된 구리표면의 정량적 결합상태는 각 결합상태의 상대적 비교를 통하여 얻어질 수 있음을 알 수 있었다.

• Proceedings of the Korea Association of Crystal Growth Conference
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• 1996.06b
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• pp.223-237
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• 1996

플라스틱재료의 강도, 인성, 경직성, 탄성 등과 같은 기계적 특성을 개선시켜 주기 위해 kaoline, talc, sand, quartz 등과 같은 규산염을 첨가하여 복합재료를 만들고자 하는 연구가 상당히 활발하다. 이와 같이 다양한 규산염이 복합재료의 강화재 또는 첨가제로 사용되는 반면에, 규산염가운데 공업적으로 이용도가 가장 높은 montmorillonite는 아직도 복합재료의 강화재로 폭 넓게 이용되고 있지 못한 실정이다. 이론적으로 볼 때, 높은 분자량을 지니는 무기고분자 (예; inorganic montmorillonite)와 유기고분자 (organic polymer)를 gkadbk는 실질적인 무기-유기 결합물질의 생성이 가능할 수 있으며, 이에 대한 연구 또한 시도되고 있다. 이렇게 해서 얻게 되는 무기-유기 복합체, 즉 montmorillonite로 강화된 플라스틱 복합재료 bumper를 사용함으로써 접촉 또는 충돌시 충격완화의 효과를 가져 올 수 있어 안정성이 좋아지고, 내파괴성이 높기 때문에 비강화 플라스틱재료보다 더 오래 사용할 수 있으므로 경제성이 좋을 뿐만 아니라, 폐품의 감소로 인해 환경보호에도 일익을 담당할 수 있다. 따라서, 본 연구에서는 이러한 montmorillonite강화 플라스틱 복합체를 얻기 위해 우선 무기-유기 고분자물질의 형성이 가능한가를 조사분석하였다. 이를 위해 먼저 amontmorillonite의 층사이에서 화학반응이 수행될 수 있는 충분한 공간을 얻고자 Na-Montmorillonite 층사이의 Na+-이온을 긴 알킬사슬을 취하는 유기 양이온으로 치환시켜 주었다; 이렇게 해서 얻은 유기양이온-몬트모릴로나이트 층간화합물 (Organic cation-Montmorillonite Intercalations-complex)내에 유기 단분자 (organic monomer)를 추가적으로 삽입시킨 후, montmorilonite의 층내에서 증합반응시켜 고분자화해 줌으로써 무기고분자와 유기고분자가 서로 결합된 무기-유기고분자 결합물질을 형성하고자 하였다. X-선 및 IR-분석결과 층내에서의 유기단분자의 고분자화 반응이 성공적으로 이루어 졌음이 입증되었다.