• Journal of the Korean Mathematical Society
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• v.28 no.1
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• pp.87-97
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• 1991

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.137-146
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• 2021

When controlling manipulator, degree of freedom is lost in singularity so specific joint velocity does not propagate to the end effector. In addition, control problem occurs because jacobian inverse matrix can not be calculated. To avoid singularity, we apply Deep Deterministic Policy Gradient(DDPG), algorithm of reinforcement learning that rewards behavior according to actions then determines high-reward actions in simulation. DDPG uses off-policy that uses 𝝐-greedy policy for selecting action of current time step and greed policy for the next step. In the simulation, learning is given by negative reward when moving near singulairty, and positive reward when moving away from the singularity and moving to target point. The reward equation consists of distance to target point and singularity, manipulability, and arrival flag. Dual arm manipulators hold long rod at the same time and conduct experiments to avoid singularity by simulated path. In the learning process, if object to be avoided is set as a space rather than point, it is expected that avoidance of obstacles will be possible in future research.

• Journal of National Security and Military Science
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• s.3
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• pp.197-242
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• 2005

Active catalog is a kind of digital content that enables consumers to test the functions and features of products from their PCs as if they were using it in real life, by simulating the actions and responses of the product. This new type of interactive digital content can be used extensively to make sales personnel training manuals, sales tools, user manuals and user trouble shooting documents. With active catalogs, companies will be able to compare different designs, show actions according to different functions, and evaluate user reaction to new products without having to produce a single physical prototype or mock-up. At the same time, consumers will be able to understand and 'operate' the product and make well-informed purchase decisions. In this paper, we present a visual event-driven modeling tool, PlayMo, for creating active catalogs, analyze the advantages of using PlayMo, describe the event-driven method used by PlayMo and also introduce two enhanced characteristics of the Event Flow Chart with which the events in PlayMo are structured. Interactive digital content by using the PlayMo3D makes easy, simple and effective design for e-learning, e-catalogue, e-marketing/sales, e-prototyping, customer support, etc. Through its application-ready 3D function visualization solution, engineers and designers can rapidly turn a CAD design model into a 3D interactive virtual product, and the effective function prototyping job can be also completed within a minute.

• Research in Community and Public Health Nursing
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• v.23 no.4
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• pp.451-459
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• 2012

Purpose: The purpose of this study was to identify the relationship between anger expression and self-esteem in nursing college students. Methods: A total of 297 subjects aged between 18 and 28 were selected through convenience sampling. Data were collected from March 2 to 25, 2011 using a self-reporting questionnaire. Collected data were analyzed with SPSS/WIN 15.0. Results: Differences in anger expression according to general characteristics were as follows. There were significant differences in violent attitude depending on gender (t=3.003, p<.01). Violent actions differed significantly depending on year in school (F=3.279, p<.05) and whether there is a dual income families (t=-2.23, p<.05). There were significant differences in self-esteem depending on year in school (F=4.553, p<.01), school record (F=15.18, p<.001) and the economic status of the parents (F=4.878, p<.01). There were positive correlations between violent attitude and violent actions, except between violent actions and self-esteem. 10.3% of the variance in violent actions was explained by violent attitude, self-esteem and school in year and perceived acceptance. Conclusion: The findings of this study may be useful in understanding the anger expression of nursing college students and developing more specific programs to improve personality and self-control of the mind.

• Journal of Environmental Health Sciences
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• v.30 no.5 s.81
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• pp.374-377
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• 2004

Dual actions are the most recently used delivery system in drug study. Dual-action agents are unique chemical entities comprised of two different type of antibacterial compounds covalently linked together in a single molecule in such a way that both components are able to exert their bactericidal properties. Crosslinked sulfadiazine-sulfanilamide such as antibiotics is synthesized by synthetic handle with glutaraldehyde. As a result, New synthetic antibacterial agent exhibited the broad antibacterial activities against Gram(+) and Gram(-) of 4 strains and a long durability supposing that the stomach and blood.

• Journal of the Korean Applied Science and Technology
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• v.17 no.4
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• pp.267-272
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• 2000

Dual-actions are the most recently used delivery system in drug study. Dual-action agents are unique chemical entities comprised of two different type of antibacterial compounds covalently linked together in a single molecule in such a way that both components are able to exert their bactericidal properties. Crosslinked sulfadiazine-sulfanilamide such as antibiotics is synthesized by synthetic handle with glutaraldehyde. As a result, New synthetic antibacterial agent exhibited the broad antibacterial activities against gram(+) and gram(-) of 4 strains and a long durability supposing that the stomach and blood.

• YAKHAK HOEJI
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• v.43 no.4
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• pp.411-418
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• 1999

Intracerebroventricular (ICV) infusion of morphine (MOR) produces strong analgesia in man and animals. The analgesic effect is thought to be mediated by the centrifugal inhibitory control. But neural mechanisms of the analgesic effect of ICV morphine are not well understood. In the present study, we found that ICV MOR had dual actions on the activity of dorsal horn heurons: it produced both inhibition and excitation of dorsal horn neurons. Since MOR exerts its action via three different types of opioid receptors, we further sought to investigate if there are differential effects of opioid receptor agonists on dorsal horn neurons when administered intracerebroventricularly. Effects of ICV MOR were tested in 28 dorsal horn neurons of the spinal cord in the cat. ICV MOR inhibited, excited and did not affect the heat responses of dorsal horn neurons. ICV DAMGO and DADLE, $\mu$- and $\delta$-opioid agonist, respectively, exhibited the excitation of dorsal horn neurons. In contract, U-50488, a k-opioid agonist, exhibited both the inhibition and excitation of dorsal horn neurons. These results suggest that opioid receptors have different actions on activity of dorsal horn neuron and that the inhibitory action of k-opioid agonist may subserve the analgesia often produced by ICV MOR.

• The Korean Journal of Physiology and Pharmacology
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• v.9 no.1
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• pp.45-53
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• 2005

The present study was designed to examine the effect of d-amphetamine on CA release from the isolated perfused model of the rat adrenal gland, and to establish its mechanism of action. Damphetamine $(10{\sim}100{\mu}M$), when perfused into an adrenal vein of the rat adrenal gland for 60 min, enhanced the CA secretory responses evoked by ACh ($5.32{\times}10^{-3}$ M), excess $K^+$ ($5.6{\times}10^{-2}$ M, a membrane depolarizer), DMPP ($10^{-4}$ M, a selective neuronal nicotinic $N_n-receptor$ agonist) and McN-A-343 ($10^{-4}$ M, a selective $M_1-muscarinic$ agonist) only for the first period (4 min), although it alone has weak effect on CA secretion. Moreover, d-amphetamine ($30{\mu}M$) in to an adrenal vein for 60 min also augmented the CA release evoked by BAY-K-8644, an activator of the dihydropyridine L-type $Ca^{2+}$ channels, and cyclopiazonic acid, an inhibitor of cytoplasmic $Ca^{2+}$ ATPase only for the first period (4 min). However, in the presence of high concentration ($500{\mu}M$), d-amphetamine rather inhibited the CA secretory responses evoked by the above all of secretagogues. Collectively, these experimental results suggest that d-amphetamine at low concentrations enhances the CA secretion from the rat adrenal medulla evoked by cholinergic stimulation (both nicotininc and muscarinic receptors) as well as by membrane depolarization, but at high concentration it rather inhibits them. It seems that d-amphetamine has dual effects as both agonist and antagonist at nicotinic receptors of the isolated perfused rat adrenal medulla, which might be dependent on the concentration. It is also thought that these actions of d-amphetamine are probably relevant to the $Ca^{2+}$ mobilization through the dihydropyridine L-type $Ca^{2+}$ cha$N_n$els located on the rat adrenomedullary chromaffin cell membrane and the release of $Ca^{2+}$ from the cytoplasmic store.

• Journal of Families and Better Life
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• v.20 no.2
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• pp.43-56
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• 2002

While there is universal agreement that the ecosystems approach to family resource management is the must influential currently, questions have arisen about the broad applicability of the Deacon & Firebaugh (1988) ecosystems framework. Engberg (1996) has characterized the dominant approach in family resource management as technical and argued that a technical approach substantially restricts feasible actions in much of the world and should not be used in ethical practice. The purpose of the present paper is to compare the family resource management patterns by dual role manager of business owning families in Korea and The United States. Such a comparison is an essential step in the assessment of the usefulness of the Deacon & Firebaugh framework, in particular, and the ecosystems framework, more generally. Korean respondents are 105 family and business managers interviewed in 2000 as part of a survey of owners of small to medium size family business enterprises in Seoul. U.S. respondents are 259 dual role managers in the National Family Business Survey (NFBS 1997). Chi squared statistics indicated country differences on each of the ten(goal setting, standard setting, demand clarification, resource assessment, action sequencing, actuating, checking, adjusting, demand responses, resource change)management practices. Mean responses on eight of the practices(goal setting, standard setting, action sequencing, actuating, checking, adjusting, demand responses, resource changes) were significantly different between two countries. U.S. total score means of family resource management were higher than Korea. Factor analysis of the management scale items yielded different patterns for Korea, and the United States. Korean dual role manager of family business were categorized into three different patterns as classic oriented manager, goal oriented manager, action oriented manager and U.S. were categorized into Process oriented manager and Production oriented manager. Both the number of managerial strategies and the types of strategies used varied in the two countries.

• Earthquakes and Structures
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• v.8 no.5
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• pp.1215-1240
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• 2015

In this paper, the Theory of Plastic Mechanism Control (TPMC) is applied to the seismic design of dual systems composed by moment-resisting frames and Chevron braced frames. The application of TPMC is aimed at the design of dual systems able to guarantee, under seismic horizontal forces, the development of a collapse mechanism of global type. This design goal is of primary importance in seismic design of structures, because partial failure modes and soft-storey mechanisms have to be absolutely prevented due to the worsening of the energy dissipation capacity of structures and the resulting increase of the probability of failure during severe ground motions. With reference to the examined structural typology, diagonal and beam sections are assumed to be known quantities, because they are, respectively, designed to withstand the whole seismic actions and to withstand vertical loads and the net downward force resulting from the unbalanced axial forces acting in the diagonals. Conversely column sections are designed to assure the yielding of all the beam ends of moment-frames and the yielding and the buckling of tensile and compressed diagonals of the V-Braced part, respectively. In this work, a detailed designed example dealing with the application of TPMC to moment frame-chevron brace dual systems is provided with reference to an eight storey scheme and the design procedure is validated by means of non-linear static analyses aimed to check the actual pattern of yielding. The results of push-over analyses are compared with those obtained for the dual system designed according to Eurocode 8 provisions.