• 전기학회논문지
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• 제60권8호
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• pp.1577-1585
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• 2011

This paper proposes a posture stabilization control algorithm for a wheeled mobile robot using hybrid visual servo control method with a position based and an image based visual servoing (PBVS and IBVS). To overcome chattering phenomena which were shown in the previous researches using a simple switching function based on a threshold, the proposed hybrid visual servo control law introduces the fusion function based on a blending function. Then, the chattering problem and rapid motion of the mobile robot can be eliminated. Also, we consider the nonlinearity of the wheeled mobile robot unlike the previous visual servo control laws using linear control methods to improve the performances of the visual servo control law. The proposed posture stabilization control law using hybrid visual servoing is verified by a theoretical analysis and simulation and experimental results.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2000년도 추계학술대회논문집
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• pp.65-68
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• 2000

Polyethylene, has long history and is widely used, was researched due to good electrical properties by many authors. But PE under stress has the critical defects of space charge accumulation and tree growth, so various methods such as catalyst, additives and blend to improve these problems have been execute, of which we selected blending method. As in our previous papers we investigated electrical conduction, dielectric and AC dielectric breakdown characteristics, we did DC dielectric breakdown characteristics in this paper. We selected pure LLDPE, pure EVA and LLDPE films mixed with EVA as specimens, which were mixed with the weight percentages of 50, 60, 70 and 80[wt%] to be thin film. DC applying voltage speed was 500[V/sec]. The relation between dielectric breakdown characteristics and the variations of super structure due to mixing was investigated, and especially trap level at amorphous region, threshold energy increment of conductive electron at free volume were considered.

• 한국응용과학기술학회지
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• 제20권3호
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• pp.204-211
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• 2003

Poly(oxypropylene-oxyethylene glycol) block copolymer(PBC) oil dispersant, which has low toxicity, high biodegradability, and an excellent dispersion efficiency to crude oils and weathered W/O emulsion was prepared by blending PBC, poly(oxyethylene) oleate, and sorbitan monooleate. The dispersing efficiency was measured by swirling flask method. The PBC oil dispersant had an excellent dispersing efficiency to weathered oil products formed as stable W/O emulsion, and the low toxicity, such as 4000 ppm to Oryzias Latipes(24 hr, TLM), Brine Shrimp Artemia(24 hr, TLM).

• ETRI Journal
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• 제35권6호
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• pp.1029-1037
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• 2013

This paper introduces a novel and fast synthesizing method for 3D motions of quadrupedal animals that uses only a small set of motion capture data. Unlike human motions, animal motions are relatively difficult to capture. Also, it is a challenge to synthesize continuously changing animal motions in real time because animals have various gait types according to their speed. The algorithm proposed herein, however, is able to synthesize continuously varying motions with proper limb configuration by using only one single cyclic animal motion per gait type based on the biologically driven Froude number. During the synthesis process, each gait type is automatically determined by its speed parameter, and the transition motions, which have not been entered as input, are synthesized accordingly by the optimized asynchronous motion blending technique. At the start time, given the user's control input, the motion path and spinal joints for turning are adjusted first and then the motion is stitched at any speed with proper transition motions to synthesize a long stream of motions.

• 한국환경과학회지
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• 제10권1호
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• pp.73-77
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• 2001

This study examined blends of styrene butadiene rubber(SBR) and chloroprene rubber(CR) prepared from an open 2-roll mill following the conventional polymer blend method for a wide range of the blend composition. Rubber vulcanizates were manufactured by hot press and then mechanical properties, heat and ozone resistance of the specimens were examined. Due to the post cure during the aging test, hardness of vulcanizates was increased. It was found that the undesirable characteristics of heat and ozone resistance of pure SBR was significantly improved through the blending of SBR with CR.

• 천문학논총
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• 제14권1호
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• pp.9-22
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• 1999

Current searches for gravitational microlensing events are being carried out only by a photometric method. In this review paper, we demonstrate that the nature of Galactic lenses can be significantly better constrained with the additional astrometric observations of microlensng events. First, by astromerically observing lensing events, one can resolve the lens parameter degeneracy, and thus the lens mass can be determined with improved precision. Second, by being free from the blending problem, astrometric observations of lensing events will allow one to improve the uncertainties in the determined Einstein time scales. Third, the lens brightness, which could not be measured photometrically, can be measured from the astrometric observations of lensing events, and thus the nature of lens matter can be better constrained. Finally, with the help of astrometric followup observations of a binary-lens event, one can uniquely determine the solution of lens parameters, allowing one to obtain important astronomical information about the source star and the lens itself.

• 대한의생명과학회지
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• 제19권1호
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• pp.25-31
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• 2013

Electrospun nanofibers are being widely used as a substratum for mammalian cell culture owing to their structural similarity to collagen fibers found in extracellular matrices of mammalian cells and tissues. Especially, development of diverse synthetic polymers has expanded use of electrospun nanofibers for constructing cell culture substrata. Synthetic polymers have several benefits comparing to natural polymer for their structural consistency, low cost, and capability for blending with other polymers or small molecules to enhance their structural integrity or add biological functions. PMGI (polymethylglutarimide) is one of the synthetic polymers that produced a rigid nanofiber that enables incorporation of small molecules, peptides, and gold nanoparticles through co-electrospinning process, during which the materials are fixed without any chemical modifications in the PMGI nanofibers by maintaining their activities. Using the phenomenon of PMGI nanofiber, here I introduce a construction method of a nanofiber substratum having cell-affinity function towards a pluripotent stem cell by incorporating a small molecule in the PMGI nanofiber.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 춘계학술대회논문집
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• pp.212-217
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• 2004

In general, the braking system of high speed train has an important role for the safety of the train. To stop safely train at its pre-decided position, it is necessary to combine properly the various brakes. The prototype of Korean high speed train (KHST) has been designed, fabricated and tested by the domestic researchers. It has adopted a combined electrical brakes, such as rheostatic brake, regenerative brake and eddy current brake, and mechanical brakes composed of disc brake, wheel disc brake and tread brake. In this paper, the performances and control algorithms of braking system have been reviewed by the experimental method.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2015년도 하계학술대회
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• pp.544-545
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• 2015

본 논문은 실내 공간을 촬영한 다수의 텍스쳐 영상이 존재 할 때, 영상혼합을 통해 실내 공간 표현의 품질을 향상시키는 기법을 제안한다. 우선 실내 공간을 메쉬로 표현하기 위해 건물 구조에 대응하는 평면을 포인트 클라우드로부터 추출하여 대응하는 메쉬를 생성한다. 메쉬의 각 면에 대해 좌표계 변환을 통하여 사영 가능한 텍스쳐 영상들을 판별한다. 판별된 텍스쳐 영상들에 대해 거리와 방향요소를 고려하여 영상혼합 가중치를 결정한 뒤, 가중치에 따라 영상을 혼합하여 최종적인 텍스쳐로 이용한다. 실험 결과는 제안하는 방법이 더 좋은 화질로 실내공간을 표현함을 보여준다.

• 한국품질경영학회:학술대회논문집
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• 한국품질경영학회 2009년도 추계학술대회
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• pp.3-10
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• 2009

When the measurement method for a performance variable is destructive or expensive, it is profitable to replace the performance variable with a highly correlated surrogate variable. In this paper we propose screening procedures using a surrogate variable with specified producer's and consumer's risks. Blending the basic concepts of acceptance sampling plans and screening procedures, the proposed model can be used effectively by quality professionals. Two models are considered: the normal model with dichotomous performance and continuous surrogate variables, and the bivariate normal model with continuous performance and surrogate variables. It is assumed the surrogate variable given the performance variable is normally distributed in the normal model, and performance and surrogate variables are jointly normally distributed in the bivariate normal model. For the two models, Producer's and consumer's risks are derived, and methods of finding the optimal screening procedures are presented. Numerical examples are also given.