• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.370-375
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• 1992

An algorithm for the notion planning of the robotic hand is proposed to generate finite displacements and changes in orientation of objects by considering sliding effects between the fingertips and the object at contact points. Specifically, an optimization problem is firstly solved to find minimum contact forces and minimum joint velocities to impart a desired motion to the object at each time step. Then the instantaneous relative velocity at the contact point is found by determining velocities of the fingertip and the velocity of the object at the contact point. Finally time derivatives of the surface variables and contact angle of the fingertip and the object at the present time step is computed using the Montana's contact equation to find the contact parameters of the fingertip and the object at the next time step. To show the validity of the proposed algorithm, a numerical example is illustrated by employing the robotic hand manipulating a sphere with three fingers each of which has four joints.

• 대한기계학회논문집B
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• 제22권12호
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• pp.1755-1762
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• 1998

In order to minimize emission of polychlorinated dibenzo dioxins and polychlorinated dibenzo furans (PCDD/PCDFs) from municipal solid waste incinerators, it is important to maintain optimized operating conditions along with the system modification/improvement. Operating conditions of MSW incinerator make very complicated influence on formation of PCDD/PCDFs in each unit apparatus. For revealing these influences, concentrations of PCDD/PCDFs are measured from the stack and from the fly ash, while monitoring the plant operating conditions. The effects are grouped into 3 main categories, combustion conditions, de Novo synthesis effects, and adsorption/destruction effects in the flue gas treatment system. Interpretation of the results showed that de Novo synthesis effect, reformation by metalic catalyst, especially Cu in fly ash in the temperature range of $250{\sim}500^{\circ}C$, is found to influence most dominantly on the concentration of PCDD/PCDFs. A plausible mathmatical model for predicting concentration of PCDD/PCDFs is proposed, and discussed.

• 한국항공우주학회지
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• 제41권5호
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• pp.404-414
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• 2013

전투기의 개념설계 과정에서는 기준형상 도출을 위해 비교분석연구가 반복된다. 반복적인 비교분석연구가 자동화되면 효율적으로 기준형상을 도출할 수 있다. 본 연구에서는 비교분석연구의 자동화를 위한 성능해석 프로그램을 개발했다. 프로그램은 형상생성모듈과 중량예측모듈, 임무성능 해석모듈로 구성된다. 형상생성모듈을 사용하여 3D CAD 모델 생성이 가능하며 중량예측모듈에서는 경험식을 사용하여 중량을 예측한다. 임의의 임무형상에 대한 임무성능 해석이 가능하며 최적화 기법을 사용하여 최적 임무성능 계산이 가능하다. 개발된 프로그램의 검증을 진행하여 개념설계 단계에 적용 가능함을 확인했다.

• 한국토양비료학회지
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• 제49권1호
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• pp.53-59
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• 2016

This study deals with the distribution of the clay minerals separated from clay fractions of ranch pastures in Korea and their chemical and mineralogical properties. Crystalline phases of the clay minerals were identified by powder X-ray diffraction (XRD) pattern and FT-IR spectra, and their relative chemical compositions were also analyzed by X-ray flourescence spectrometry (XRF). Primary minerals consisted mainly of quartz and mica and chlorite and kaolinite along with a trace of swelling micas were identified as secondary clay minerals. However, the relative content of these clay minerals was different with the locations, which led to significant effects on physical and chemical properties of soils like inorganic elemental composition. In particular, $SiO_2$ content was higher in Gochang ranch pasture than in other ranch pasture. Infrared (IR) spectra did not indicate any significant differences in organic functional groups among the locations. This study clearly showed that ranch pastures had different relative content of clay minerals and chemical properties depending on the location and consequently that those properties are worthy to be taken into account for soil amendment.

• 대한의용생체공학회:의공학회지
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• 제39권2호
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• pp.94-102
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• 2018

It is known that gamma-band activity (GBA) and phase synchrony (GBPS) are induced by emotional visual stimuli. However, the characteristics of GBA and GBPS according to different emotional states have not been identified. The purpose of this study is to investigate the changes in gamma-band neuronal synchronization induced by positive and negative emotional visual stimuli using electroencephalograms (EEGs). Thirteen healthy male subjects have participated in the experiment. The induced spectral power in gamma-band was the highest for negative stimuli, and the lowest for neutral stimuli in 300-2,000 ms after the stimulus onset. The inter-regional phase synchronization in gamma-band was increased in 500-2,000 ms, mainly between the bilateral frontal regions and the parieto-occipital regions. Larger number of significant connections were found by negative stimuli compared to positive ones. Judging from temporal and spatial characteristics of the gamma-band activity and phase synchrony increases, the results may imply that affective visual stimuli cause stronger memory encoding than non-emotional stimuli, and this effect is more significant for negative emotional stimuli than positive ones.

• 한국토양비료학회지
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• 제49권6호
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• pp.813-818
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• 2016

Distribution of clay minerals separated from clay fraction of corn fields in Korea has been investigated along with their characterization. Crystalline phases of the clay minerals were identified by powder X-ray diffraction (XRD) pattern, and their relative chemical compositions were analyzed by X-ray fluorescence spectrometry (XRF). The soils were found to have pH 6.4, organic matter $37.2g\;kg^{-1}$, available $P_2O_5$ $599mg\;kg^{-1}$, respectively, and exchangeable K, Ca and Mg were 1.2, 7.3 and $1.8cmol_c\;kg^{-1}$, respectively. Major primary minerals consisted mainly of quartz and mica, and kaolinite and chlorite were identified as major secondary clay minerals. For most of soils, mica phase was identified to be muscovite rather than biotite. The average contents of $SiO_2$, $Al_2O_3$ and $Fe_2O_3$ were 43.7, 23.6 and 8.8%, respectively, although they were different with the locations.

• 대한기계학회논문집B
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• 제23권2호
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• pp.159-165
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• 1999

Experimental studies have been performed to observe the basic phenomena of waste bed combustion in MSW incinerator. A reduced scale apparatus was utilized to simulate the combustion behavior in real plant with 1-dimensional transient behavior at the experimental setup, which uses wet cubic wood with ash content as simulated waste. LHV (lower heating value) of solid fuel, fuel particle size and flow rate of combustion air were taken as important parameters of the bed combustion. For the quantitative analysis, FPR (flame propagation rate), TBT (total burn-out time) and PBT (particle burn-out time) was defined. LHV represent the capability of heat release of the fuel, so that a higher LHV results in faster reaction rate of the fuel bed, which is shown by higher FPR. Fuel particle size is related with surface area per unit mass as well as heat and mass transfer coefficient. As the particle size increases the FPR decreases owing to decreasing specific surface area. Air injection supplies oxygen to the reaction zone. However oversupply of combustion air increases convection cooling of the bed and possibly extinguishes the flame.

• 로봇학회논문지
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• 제14권1호
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• pp.58-64
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• 2019

The paper proposes a stiffness measurement device composed of a measurement part including six indenters and a fixing part including four fixtures. The device is able to make simultaneously measurements of the stiffness of human arm. The six indenters make use of both position and force control schemes sequentially whenever needed. In addition, the loadcells and the digital encoders are attached to the indenters and electric motors, respectively, so that the data can be provided in real time. On the end of the indenter, two-axis potentiometer is attached in order to measure the angle difference between the applied force axis and the axis normal to the skin of human arm, and to convert the force measured on the loadcell into the actual applied force to skin. For this purpose, the mapping between the voltage output and the angle of potentiometer was obtained by fitting it for each axis. Ultimately, the measurement device was able to measure the stiffnesses of six regions of human arm.

• 대한기계학회논문집B
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• 제40권8호
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• pp.503-510
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• 2016

일반적으로 연소로는 연료의 연소과정에서 NOx, CO등의 공해물질을 배출한다. 본 연구는 소각연소로를 대상으로 2차 공기를 연소가스 흐름의 역방향으로 주입시키는 방법의 NOx 및 CO 배출특성에 대한 연구를 수행하였다. 연구의 주요변수는 1, 2차 공기의 유량비와 2차 공기의 투입 방향으로 설정하였다. 변수에 따른 NOx 및 CO 배출특성을 묘사하기 위해서 축소모형실험 연구를 수행하였다. 실험결과 1차 공기유량이 감소하고 2차 공기유량이 증가할수록 NOx가 감소되다가 일정 유량비 이상에서 다시 NOx가 다소 증가하는 형태가 나타났다. 역방향으로 빠른 유속의 2차 공기가 투입될 때 연소로 내부에 유동 재순환이 발생하여 혼합이 증가하고 이로 인해서 온도 영역이 고르게 분포되는 것으로 나타났으며 그 결과로서 thermal NOx의 저감 효과를 확인할 수 있었다. CO는 2차 공기가 역방향에서 높은 비율로 투입되는 조건이외에서는 측정되지 않았다. 측정된 경우도 CO의 농도는 2 ppm 이내로 안정적인 연소 조건으로 나타났다.

• 제어로봇시스템학회논문지
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• 제19권8호
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• pp.667-675
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• 2013

This paper presents vision-based techniques for underwater landmark detection, map-based localization, and SLAM (Simultaneous Localization and Mapping) in structured underwater environments. A variety of underwater tasks require an underwater robot to be able to successfully perform autonomous navigation, but the available sensors for accurate localization are limited. A vision sensor among the available sensors is very useful for performing short range tasks, in spite of harsh underwater conditions including low visibility, noise, and large areas of featureless topography. To overcome these problems and to a utilize vision sensor for underwater localization, we propose a novel vision-based object detection technique to be applied to MCL (Monte Carlo Localization) and EKF (Extended Kalman Filter)-based SLAM algorithms. In the image processing step, a weighted correlation coefficient-based template matching and color-based image segmentation method are proposed to improve the conventional approach. In the localization step, in order to apply the landmark detection results to MCL and EKF-SLAM, dead-reckoning information and landmark detection results are used for prediction and update phases, respectively. The performance of the proposed technique is evaluated by experiments with an underwater robot platform in an indoor water tank and the results are discussed.