• 제목/요약/키워드: Cooperative motion

검색결과 72건 처리시간 0.032초

Segmental Motions and Associated Dynamic Mechanical Thermal Properties of a Series of Copolymers Based on Poly(hexamethylene terephthalate) and Poly(1,4-cyclohexylenedimethylene terephthalate)

  • Jeong Young-Gyu;Lee Sang-Cheol;Jo Won-Ho
    • Macromolecular Research
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    • 제14권4호
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    • pp.416-423
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    • 2006
  • The dynamic mechanical thermal properties of poly(hexamethylene terephthalate) (PHT), poly(1,4-cyclohexylenedimethylene terephthalate) (PCT) and their P(HT-co-CT) random copolymers in the amorphous state were examined as a function of temperature and frequency. All the samples exhibited two main relaxation processes in the plot of tan ${\delta}$ versus temperature: the primary ${\alpha}$-relaxation associated with the glass transition and the secondary ${\beta}$-relaxation attributed to the local segmental motions of mostly cyclohexylene rings for PCT and to cooperative motions of methylene, carboxyl, and phenylene groups for PHT. Both ${\alpha}$- and ${\beta}$-relaxation temperatures increased with increasing CT content. The activation energy of the ${\alpha}$-relaxation increased with increasing CT content, whereas that of the ${\beta}$-relaxation decreased. The sub-glassy secondary ${\beta}$-relaxation processes of PCT and PHT were investigated in terms of the cooperativity of main-chain segmental motions.

도서관(圖書館)의 작업량측정(作業量測定)에 관한 연구(硏究) (A Study on Work Measurement for Libraries)

  • 박인웅
    • 한국비블리아학회지
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    • 제4권1호
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    • pp.49-83
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    • 1980
  • Rapid expansion has taken place in development of cooperative arrangements among libraries, in computerization, mechanization, and centralization of library services; in sizes of collections; and in the variety of services offered by libraries. These increasing complexities of library organizational arrangements and expansions in activities and services make it all the more important for libraries to define their objectives clearly and to have methods for measuring the level of attainment of these objectives. Libraries, as all other institutions and organizations, are faced with the economic problem of allocating their limited resources in such a manner as to generate maximum benefits and calculating the costs of a library. Furthermore, they should be able to measure their performance or degree of achievement of objectives. In order to it, it is essential to set a standard and review the time and motion study. This study is an attempt to build a general standard applicable to Korean university libraries to provide a persuasive basis to university library administrators in their work management: The usefulness of this study are given below. (1) It helps to balance available resources with estimated workload. (2) It helps in managing a library more efficiency and more economically (3) It helps in objective evaluation of individual employee performance and in evaluation of the organization as a whole. (4) It helps the librarian plan for financial and personnel needs on the basis of sound production figures.

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VIRTUAL PASSIVITY-BASED DECENTRALIZED CONTROL OF MULTIPLE 3-WHEELED MOBILE ROBOTIC SYSTEMS VIA SYSTEM AUGMENTATION

  • SUH J. H.;LEE K. S.
    • International Journal of Automotive Technology
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    • 제6권5호
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    • pp.545-554
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    • 2005
  • Passive velocity field control (PVFC) was previously developed for fully mechanical systems, in which the motion task was specified by behaviors in terms of a velocity field and the closed-loop was passive with respect to the supply rate given by the environment input. However, the PVFC was only applied to a single manipulator. The proposed control law was derived geometrically and the geometric and robustness properties of the closed-loop system were also analyzed. In this paper, we propose a virtual passivity-based algorithm to apply decentralized control to multiple 3­wheeled mobile robotic systems whose subsystems are under nonholonomic constraints and convey a common rigid object in a horizontal plain. Moreover, it is shown that multiple robot systems ensure stability and the velocities of augmented systems converge to a scaled multiple of each desired velocity field for cooperative mobile robot systems. Finally, the application of proposed virtual passivity-based decentralized algorithm via system augmentation is applied to trace a circle and the simulation results is presented in order to show effectiveness for the decentralized control algorithm proposed in this research.

회전근개 파열 환자의 옷입고 벗기 향상을 위해 ICF Tool을 적용한 PNF 중재전략 : 증례보고 (A PNF Intervention Strategy with ICF Tool Applied for Improvement of Dressing in a Patient with Rotator Cuff Syndrome : A Case Report)

  • 김진철;이정아
    • 대한물리의학회지
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    • 제13권3호
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    • pp.49-60
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    • 2018
  • PURPOSE: This study was conducted to investigate the intervention effect obtained by applying an ICF tool to improve the dressing in a patient with rotator cuff syndrome to schematize the problems and approaching with PNF to solve the problems. METHODS: The subject of this study was a 44-year-old patient who underwent surgery after complete right rotator cuff tear. To treat his symptoms, the processes of clinical practice were implemented in the order of examination, assessment, diagnosis, prognosis, intervention, and outcome. During examination, patient information was collected using the ICF core set. In the assessment, the problems were schematized, and an ICF assessment sheet was used to identify the interaction of the problems. The diagnosis was made by clearly describing the causal relationship derived from the assessment in ICF terms. To solve the problems, the intervention was given in the order of indirect, direct, and task based on the philosophy of PNF. To evaluate the outcome, the differences before and after the intervention were compared. Additionally, the comparison for the ICF qualifier is presented with the ICF evaluation display. RESULTS: The results of the study showed clinical advantages in shoulder strength, eccentric control, range of motion, scapular stability, and shoulder pain. Overall, our patient with rotator cuff syndrome showed improvement in dressing and undressing activity in response to the PNF strategy. CONCLUSION: Application of the PNF intervention strategy after complete rotator cuff tear would have a positive effect on patient upper extremity function.

Microstructures and Thermal Properties of Polycaprolactone/Epoxy Resin/SiO2 Hybrids

  • He, Lihua;Liu, Pinggui;Ding, Heyan
    • 접착 및 계면
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    • 제7권4호
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    • pp.32-38
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    • 2006
  • A series of organic-inorganic hybrids, PCL/EP/$SiO_2$, involving epoxy resin and triethoxysilane-terminated polycaprolactone elastomer (PCL-TESi) were prepared via polymerization of diglycidyl ether of bisphenol A (DGEBA) with amine curing agent KB-2 and sol-gel process of PCL-TESi. The curing reactions were started from the initially homogeneous mixture of DGEBA, KB-2 and the PCL-TESi. The organicinorganic hybrids containing up to 4.95% (wt) of $SiO_2$ were obtained and characterized by FT-IR, transmission electron microscopy (TEM), differential scanning calorimetry (DSC) and thermogravimetry analysis (TGA). It was experimentally shown that the swelling property in toluene, morphologies and thermal properties of the resulting hybrids were quite dependent on the contents of $SiO_2$. The crosslink network density decreases with increasing of the PCL-TESi. And in TEM, the phase separated morphology of these hybrids was found, which resulted from the coagulation of Si-O-Si networks resulting from $-Si(OC_2H_5)_3$ of PCL-TESi self-curing by hydrolytic silanol condensation, with the advancement of the curing reaction in the modified epoxy resin systems. Meanwhile, the change of the $SiO_2$ content made the morphologies changed from aggregated particles of Si-O-Si in the hybrid to nanocluster of interconnected Si-O-Si particles, then to aggregated Si-O-Si dispersing in the continuous cured epoxy phase again, and last to co-continuous interpenetrating network. The glass transition behavior of the hybrid material was cooperative motion of large chain segments, which were hindered by the inorganic Si-O-Si network. And in TG analysis, the characteristic temperature at 5% of weight loss was evidently increased from $120.5^{\circ}C$ of pure cured epoxy to $277.6^{\circ}C$ of 3.84% (wt) of $SiO_2$ modified epoxy due to the existence of Si-O-Si when PCL-TESi was added in the hybrid.

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Iris Image Enhancement for the Recognition of Non-ideal Iris Images

  • Sajjad, Mazhar;Ahn, Chang-Won;Jung, Jin-Woo
    • KSII Transactions on Internet and Information Systems (TIIS)
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    • 제10권4호
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    • pp.1904-1926
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    • 2016
  • Iris recognition for biometric personnel identification has gained much interest owing to the increasing concern with security today. The image quality plays a major role in the performance of iris recognition systems. When capturing an iris image under uncontrolled conditions and dealing with non-cooperative people, the chance of getting non-ideal images is very high owing to poor focus, off-angle, noise, motion blur, occlusion of eyelashes and eyelids, and wearing glasses. In order to improve the accuracy of iris recognition while dealing with non-ideal iris images, we propose a novel algorithm that improves the quality of degraded iris images. First, the iris image is localized properly to obtain accurate iris boundary detection, and then the iris image is normalized to obtain a fixed size. Second, the valid region (iris region) is extracted from the segmented iris image to obtain only the iris region. Third, to get a well-distributed texture image, bilinear interpolation is used on the segmented valid iris gray image. Using contrast-limited adaptive histogram equalization (CLAHE) enhances the low contrast of the resulting interpolated image. The results of CLAHE are further improved by stretching the maximum and minimum values to 0-255 by using histogram-stretching technique. The gray texture information is extracted by 1D Gabor filters while the Hamming distance technique is chosen as a metric for recognition. The NICE-II training dataset taken from UBRIS.v2 was used for the experiment. Results of the proposed method outperformed other methods in terms of equal error rate (EER).

대잠 헬기와의 협동 작전을 고려한 수상함의 최적 대잠탐색 패턴 산출을 위한 시뮬레이션 (Construction of Optimal Anti-submarine Search Patterns for the Anti-submarine Ships Cooperating with Helicopters based on Simulation Method)

  • 유찬우;박성운
    • 한국시뮬레이션학회논문지
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    • 제23권1호
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    • pp.33-42
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    • 2014
  • 본 연구에서는 수상함과 대잠헬기가 협동작전을 수행하는 환경에서의 수상함의 최적 탐색 패턴을 도출하기 위한 시뮬레이션을 수행하였다. 이를 위해 대잠 탐색 작전을 수행하는 수상함과 대잠헬기의 기동 및 탐색 임무를 모델링하였으며, 탐색의 대상이 되는 잠수함의 회피 기동을 확률적 방법으로 모델링 하였다. 또한 수상함과 대잠 헬기가 수행하는 대잠 탐색 임무의 효과도를 정량적으로 측정하기 위한 지표들을 정의하였다. 대잠 탐색 작전의 주요 변수 중 하나인 수상함과 잠수함 예상위치간 초기 거리의 변화에 따른 시나리오들을 생성하였다. 각 시나리오에 대해, 수상함이 단독으로 최적 탐색 패턴에 따라 임무를 수행하는 경우와, 수상함과 대잠헬기가 협동 작전을 수행하는 경우에 대해 시뮬레이션을 수행하였다. 이를 통해 최근까지의 주요 연구 대상이 되어온 수상함들의 단독 작전을 가정한 최적 탐색 패턴으로는, 대잠헬기와의 협동 작전 환경에서 최대의 탐지 효과도를 얻을 수 없음을 밝히고, 협동 작전 환경에서 잠수함 탐지 확률을 최대화 하기위한 수상함의 기동 패턴 재구성 방안을 제안하였다.

풍(風)의 본질(本質)과 의학(醫學)에서의 운용(運用)에 관(關)한 고찰(考察) (Study on true nature of the Fung(風) and that of application to the medicine)

  • 백상룡;박찬국
    • 대한한의학원전학회지
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    • 제7권
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    • pp.198-231
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    • 1994
  • Up to now, after I had examined the relation between the origin of Fung(風) and Gi(氣) and the mean of Fung in medical science, I obtained the conclusion being as follows. The first, Fung(風) means a flux of Gi(氣) and Gi shows the process by virtue of the form of Fung, namely, Fung means motion of Gi. In other words, it is flow of power. Accordingly, the process of all power can give a name Fung. The second, Samul(事物) ceaselessly interchange with the external world to sustain the existence and life of themselves. And they make a adequate confrontation against the pressure of the outside. This the motive power of life action(生命活動) is Gi and shows its the process on the strength of Fung. The third, Samul(事物) incessantly releases power which it has to the outside. Power released to the outside forms the territory of the established power in the environment of them and keep up their substance(實體) in the space time(時空). It can be name Fung because the field(場) of this power incessantly flows. The fourth, man operates life on the ground of the creation of his own vigor(生氣) for himself as the life body(生命體) of the independence and self-support. The occurence of this vigor and the adjustment process(調節作用) is supervised by Gan(肝). That is to say, Gan plays a role to regulate and manage the process of Fung or the action of vigor with Fung-Zang(風臟). The fifth, because the Gi-Gi adjustment process(氣機調節作用) of Gan is the same as the process of Fung, Fung that operates the cause of a disease is attributed to the disharmony of the process of the human body Gi-Gi. Therefore, the generating pathological change is attributed to the extraordinary of the function by the incongruity of Gi-Gi(氣機) or the disorder of the direct motion of Gi-Hyul(氣血). Because the incongruity of this Gi-Gi of the human body gives rise to the abnormal of Zung-Gi(正氣) in the human body properly cannot cope with the invasion of 'Oi-Sa(外邪). Furthermore, Fung serves as the mediation body of the invasion of other Sa-Gi(邪氣) because of its dynamics, By virtue of this reason, Fung is named the head of all disease. And because the incongruity of the Gi-Gi has each other form according to Zang-Bu(臟腑), Kyung-Lak(經絡), and a region, the symptoms of a disease appear differently in line with them as well. The sixth, Fung-byung(風病) is approximately separated Zung-Fung(中風) and Fung-byung(猍義의 風病). Zung-fung and Fung-byung is to be attributed to the major invasion of each Jung-gi and Fung-sa(正氣와 風邪). But these two kinds stir up the problem to the direct motion of Gi-hyul(氣血) and the harmony of Gi-Gi in the human body. When one cures it, therefore, Zung-fung has to rectify Gi-Gi and the circulation of Gi-hyul on the basis of the supplement of Jung-gi(正氣) and Fung-byung must make the harmony of Gi-Gi with the Gu-fung(驅風). -Go-gi(調氣), Sun-Gi(順氣). Hang-Gi(行氣) - All existing living things as well as man maintain life on the ground of the pertinent harmony between the soul(精神) and the body(肉體). As soon as the harmony falls down, simultaneously life disappears as well. And Fung which means the outside process between Gi(氣) and Gi(氣) makes the action of their life cooperative and unified, Accordingy, the understanding of Fung, first, has to start wi th the whole thought that not only all Samul(事物) but also the soul and the body are one.

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폴리(비닐 알코올) 수용액의 준희박농도 영역에서 사슬 거동에 대한 수소결합의 효과 (Hydrogen Bond Effect on Chain Behavior at the Semidilute Regime of Poly(vinyl alcohol) Aqueous Solution)

  • 박일현;유영철;박기상;이동일;류원석
    • 폴리머
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    • 제30권3호
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    • pp.271-278
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    • 2006
  • 어랙틱 폴리(비닐 알코올)(PVA) 수용액 시스템의 준희박농도에서의 고분자 사슬의 구조 및 거동을 살펴보기 위하여, 온도 $25^{\circ}C$에서 광산란 실험을 실시하였다. 산란 벡터 q에서 얻은 산란광의 세기 I(q)는 Onstein-Zernike 식으로 해석이 불가능하여 단순히 $I(q){\sim}q^{-m}$을 이용하여 fractal 차원 m을 얻었다. 그 결과 농도 3 wt% 이상에서는 $m=2.6{\pm}0.3$으로 일정하게 유지되었다. 동적 광산란으로 얻은 시간상관함수에는 항상 빠른 거동과 느린 거동의 두 종류가 공존하였으며, 빠른 거동의 협동확산계수는 reptation 이론의 농도의존지수 값(=3/4)과 달리 농도 의존성이 거의 나타나지 않았다. 또한 느린 거동은 거대한 크기의 불균일 영역대의 운동으로 해석되며, 이 거동의 농도지수는 -3.0으로써 매우 강한 농도 의존성을 보여 주었다. 이 불균일 영역대의 형성에는 어택틱 PVA의 -OH기 4개의 메소(meso)가 입체 규칙적으로 배향한 부분이 매우 중요한 역할을 하는 것으로 생각되어진다.

지자체간 협조를 통한 하천수질관리 비용절감 방안: 영산강을 대상으로 (Cost Reduction Measure for River Water Quality Management by Cooperation between Local Governments:a Case of the Youngsan River)

  • 여규동;조은희;정영훈;이충성
    • 대한토목학회논문집
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    • 제32권5B호
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    • pp.273-285
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    • 2012
  • 현행 수질오염총량관리제는 원인자부담원칙를 기본으로 설정된 단위유역별 지자체별 할당부하량을 해당 지자체가 개별적으로 대처하도록 하고 있다. 그러나 하천으로 유입되는 수질오염물은 공기오염물과 달리 상류에서 하류로 일방적으로 흐르고, 하나의 하천에 다수의 지자체가 연관이 되어 있으며, 일반적인 하수처리시설은 '규모의 경제'를 따르는 시설물임을 감안한다면 지자체간 협조를 통해 수질관리비용을 절감할 수 있다. 본 연구는 유역 전체의 관점에서 비용효과를 가질 수 있도록 삭감량을 재배분함으로써 수질관리비용을 절감하는 방법을 제시하였다. 이를 위해 영산강 유역을 대상으로 현재 단위유역별 지자체별로 할당된 계획삭감량을 총량의 증감없이 오염원이 집중된 지역으로 재배분하여 발생하는 수질개선 효과와 비용절감 효과를 분석하였다. 분석결과, 기존 계획에 의한 영산강 유역 전체의 비용은 787,575.0 백만원이며, 시나리오-1과 2는 각각 123,671.8 백만원, 171,433.5 백만원의 비용이 절감되었다. 본 연구는 오염총량관리제를 준수하기 위한 지자체의 수질관리 비용을 절감하는 방안으로서 사례가 될 것으로 기대된다.