• Proceedings of the Korean Operations and Management Science Society Conference
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• 1995.04a
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• pp.629-634
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• 1995

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for an articulated robot. First, the configuration of the robot is formed by a set of robot joint angles derived fromm robot inverse kinematics. The joint space that is made of the joint angle set, forms a Configuration space (Cspace). Obstacles in the robot workcell are also transformed and mapped into the Cspace, which makes Cobstacles in the Cspace. (The Cobstacles represented in the Cspace is actually the configurations of the robot causing collision.) Secondly, a connected graph, a kind of roadmap, is constructed from the free configurations in the 3 dimensional Cspace, where the configurations are randomly sampled form the free Cspace. Thirdly, robot paths are optimally in order to minimize of the sum of joint angle movements. A path searching algorithm based on A is employed in determining the paths. Finally, the whole procedures for the CFPP method are illustrated with a 3 axis articulated robot. The main characteristics of the method are; 1) it deals with CFPP for an articulated robot in a 3-dimensional workcell, 2) it guarantees finding a collision free path, if such a path exists, 3) it provides distance optimization in terms of joint angle movements. The whole procedures are implemented by C on an IBM compatible 486 PC. GL (Graphic Library) on an IRIS CAD workstation is utilized to produce fine graphic outputs.

• Journal of the Korean Society of Clothing and Textiles
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• v.3 no.2
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• pp.29-36
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• 1979

In order to control free formaldehyde release from fabric finished with urea-formaldehyde precondensate, the resin finished fabric was padded in urea or acylamide solution, dried and cured at $140^{\circ}C$. The effect of aftertreatment with urea or acrylamide on free formaldehyde release and on characteristics of resin finished fabric were examined. It was shown that aftertreatment with urea was effective to control free formaldehyde release, the free formaldelyde content in aftertreated fabric could be reduced from 900 ppm to 200 ppm and formaldehyde release under accelerated storage condition was also reduced from 8000 ppm to 1000 ppm. Polyacrylamide formed in the fiber during aftertreatment appeared to be a formaldehyde capture. Especially by washing the aftertreated fabric, the ability to control formaldehyde release under accelerated condition was not dimimished in contrast with aftertreated with unea. It suggests that polyacrylamide can be used as a formaldehyde capture which withstand diminution from washing.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.26 no.12
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• pp.1699-1706
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• 2002

In this paper, the investigation about the elevation control and the formation of the free surface of magnetic fluids is carried out theoretically and experimentally on the basis of magnetic fluids is carried out theoretically and experimentally on the basis of Rosensweig' Ferrohydrodynamic Bernoulli Equation. Governing equations of magnetic fields are solved using the concept of vector potential. While applied magnetic fields are induced by 4$\times$4 electromagnet located under the magnetic fluid, the fee surface of the magnetic fluid is formed the balance of surface force, gravity, pressure difference, magnetic normal pressure and magnetic body force. The results of numerical simulation and experiment show the formation of the free surface of the magnetic fluid. Using PID control, an experiment for the elevation control of the free surface of magnetic fluids is performed.

• Journal of Ginseng Research
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• v.32 no.2
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• pp.150-154
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• 2008

Twenty five albino rats were divided into five groups for conducting this experiment. The first group was for positive control (Vitamin C, ascorbic acid), the second group was of Panax ginseng (10 mg/kg body weight) treated group after bio-activity assay, the third group was of mercuric chloride treated group (0.033 mg/kg body weight) based on calculating $LD_{50}$ 9.26 mg/kg body weight by probit analysis, the fourth group was of mercuric chloride (0.033 mg/kg body weight) followed by Panax ginseng (10 mg/kg body weight) and the fifth group was Panax ginseng (10 mg/kg body weight) followed by mercuric chloride (0.033 mg/kg body weight) treated group. The interval between intake of Panax ginseng and mercuric chloride was of 2 hours in groups, fourth and fifth respectively. Comparative free radical scavenging property of Panax ginseng was studied under three in vitro models (role model for calculating scavenging activity) viz. DPPH method (hydroxyl free radicals), Nitric oxide method (nitrile free radicals) and Lipid peroxidation (mercury free radicals).

• Journal of the East Asian Society of Dietary Life
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• v.11 no.1
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• pp.1-10
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• 2001

Since the Industrial Revolution, people have enjoyed an abundant life, owing to the technological innovations of science. However, because of changes in the environment or polution to the environment, it has brought on many chronic diseases. Especially, even though it may be a small amount, if cadmium gets into a human body, because its biological half life is long, it fatally causes a kidney disease and damage to human organisms. It was reported that Metallothioneins(MT), a substance that is closely related with a free radical that comes from environmental pollution and the course of which cadmium, which causes chronic addition in the body, is formed, along with harmful metals, make the toxicity reduce. MT compound led into the body by cadmium indirectly functions as an antioxidation, supplied adequate amount of vitamin E, and suppresses the accumulation of cadmium in heart, liver and blood. Cadmium content found in Korean soil according to the test conducted from 1992 to 1996 was 0.02~0.03mg/kg in cereals, pulses, and potatoes. Free radical scavenger, finding solution for metal substance that comes from environmental pollution from food and natural substances implicates a better future for the study of food science.

• Progress in Superconductivity and Cryogenics
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• v.7 no.3
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• pp.5-8
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• 2005

Superconducting YBCO films were successfully fabricated by MOD process using F-free Cu precursor solution. In this study. a chemically modified precursor solution for MOD Processing was synthesized using metal-organic salts and F-free Cu precursor. It was shown that crack-free and uniform precursor films were formed after calcination in humidified oxygen atmosphere. Less than 3 hours are required to finish the calcination process. XRD measurement shows that $BaF_2,\;CuO,\;Y_2O_3$ are major constituent of precursor films. Furthermore. YBCO films without any secondary phases were successfully fabricated after annealing in wet $Ar/O_2$ prepared on a $LaA1O_3$ single crystal substrate $(10mm{\times}10mm)$ gives transport Ic of 10A at 77K. This chemical modification approach is a possible candidate for improving MOD-processing of YBCO coated conductor.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.28 no.6A
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• pp.827-833
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• 2008

This paper deals with the free vibrations of elastica shaped arches. The elastica shaped arches are formed by the post-buckled column whose arc length is always constant. The equations governing free, planar vibration of general arch in open literature are modified for applying the free vibrations of elastica shaped arch and solved numerically to obtain frequencies and mode shapes for hinged-hinged, clamped-hinged and clamped-clamped end constraints. The effects of rotatory inertia, rise ratio and slenderness ratio on natural frequencies are presented. The frequencies of elastica shaped arches are greater than those of parabolic shaped ones. Also, typical mode shapes are presented in figures.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.3 s.168
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• pp.29-37
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• 2005

In this study, the control of the free surface deformation of a magnetic fluid for the change in electromagnetic force is discussed. The free surface of magnetic fluid is formed by the balance of surface force, gravity, pressure difference, magnetic normal pressure and magnetic body force. Magnetic fluid in characteristics of fluid adjusted to the opposite direction of the gravity direction. Thus, the device of a magnetic fluid proposed the complete zero-leakage sealing, oscillator for surface control, boundary layer control, MHD, flow control, flow using magnetic levitation system and surface actuator. This study show the deformation of surface rise due to the intensity of the magnetic field and possibility of two-dimensional control of magnetic fluid through the feedback data of hall sensor.

• Journal of Welding and Joining
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• v.20 no.2
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• pp.77-81
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• 2002

Many kinds of Pb-free solder have been investigated because of the environmental concerns. Sn-Ag-Cu system is well blown as most competitive Pb-free solder. However, since Sn-Ag-Cu system has relatively high melting point compared to Sn-Pb eutectic, it may a limitation, the some application. In this study, Bi and In contained solder of $Sn_3Ag_8Bi_5In$ which has relatively lower melting point, $188~204^{\circ}C$, was investigated. $Sn_3Ag_8Bi_5In$ solder ball of $500\mu\textrm{m}$ diameter was set on the Ni/Cu/Cr-UBM and reflow soldered in the range of $220~240^{\circ}C$ for 5~15s. The maximum shear strength of the solder ball was around 170mN by reflowing at $240^{\circ}C$ for 10s. Intermetallic compound formed on the UBM of Si-wafer was analysed by SEM(scanning electron microscope) and XRD(X-ray diffractometer).

• Journal of the Korean Institute of Telematics and Electronics B
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• v.32B no.7
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• pp.952-965
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• 1995

In the hypercube multiprocessor system. repeated allocations and deallocations of subcubes generate a fragmented hypercube from which. even if sufficient free processors are available, a subcube that is large enough to accomodate a new task cannot be formed. To eliminate the fragmentation, we need a processor relocation to move a task-occupied subcube to a free subcube, and gather dispersed small subcubes. In this paper, we propose a routing algorithm for task migration in circuit- switched hypercube to relocate processors. In the circuit-switched hypercube, we have to find a set of dedicated link-disjoint routing paths for each node to move a task from a busy subcube to a free subcube in fragmentation. The proposed algorithm is based on the PGC(packed Gray code) which detects all kinds of subcubes.