• Journal of Electrical Engineering and Technology
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• 제10권2호
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• pp.676-687
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• 2015

Path planning algorithms are used to allow mobile robots to avoid obstacles and find ways from a start point to a target point. The general path planning algorithm focused on constructing of collision free path. However, a high continuous path can make smooth and efficiently movements. To improve the continuity of the path, the searched waypoints are connected by the proposed polynomial interpolation. The existing polynomial interpolation methods connect two points. In this paper, point groups are created with three points. The point groups have each polynomial. Polynomials are made by matching the differential values and simple matrix calculation. Membership functions are used to distribute the weight of each polynomial at overlapped sections. As a result, the path has $G^2$ continuity. In addition, the proposed method can analyze path numerically to obtain curvature and heading angle. Moreover, it does not require complex calculation and databases to save the created path.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.862-865
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• 1989

The authors, in this paper, investigate the degree of tracking (i.e. the weak points of Samson) to this discrete-time adaptive control system. A matter of course, the results of tracking is improved by using g given in 2.2, compared with the results of Samson. But it is a neck point that the calculation on g is very complex. So by giving the value of g suitably, it is shown that the result superior to one of Samson are taken.

• Bulletin of the Korean Chemical Society
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• 제35권3호
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• pp.721-724
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• 2014

We have explored the potential energy surface for the dissociation of the pyridazine molecular ion using G3 model calculations. The pathways have been obtained for the formation of five possible $C_4H_4^{+{\bullet}}$ isomers by the loss of $N_2$ and the consecutive $H^{\bullet}$ loss. It is predicted that the methylenecyclopropene radical cation is the predominant product in the loss of $N_2$, which is formed via the allenylcarbene radical cation, and $CH_2=C-C{\equiv}CH^+$ is the predominant product in the consecutive $H^{\bullet}$ loss.

• Bulletin of the Korean Chemical Society
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• 제25권1호
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• pp.90-96
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• 2004

The conformations of dicyclopropyl, isopropyl cyclopropyl, and diisopropylcarbenes were optimized using density functional theory (B3LYP/6-31G(d)). We showed that the optimized geometries of carbenes with cyclopropyl groups are fully in accord with those expected for bisected W-shaped conformations, in which the effective hyperconjugation of a cyclopropyl group with singlet carbene can occur. The stabilization energies were evaluated at the B3LYP/6-311+G(3df, 2p)//B3LYP/6-31G(d) + ZPE level using an isodesmic equation. The relative stability of carbenes is in the order $(c-Pr)_2$C: > (i-Pr)(c-Pr)C: > $(i-Pr)_2$C:, and a cyclopropyl group stabilizes carbene more than an isopropyl group by nearly 9 kcal/mol. Energies for the decomposition of diazo compounds to carbenes increase in the order $(c-Pr)_2$ < (i-Pr)(c-Pr) < $(i-Pr)_2$ by ~9 kcal/mol each. From a singlettriplet energy gap ($E_{ST}$) calculation, the singlet level is lower than the triplet level and the $E_{ST}$ shows a trend similar to the stabilization energy calculations. For comparison, the optimized geometries and stabilization energies for the corresponding carbocations were also studied at the same level of calculation. The greater changes in geometries and the higher stabilization energies for carbocations compared to carbenes can explain the greater hyperconjugation effect.

• 한국주거학회논문집
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• 제11권2호
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• pp.129-137
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• 2000

This study is about the difference of South and East facing Cooling load of Apartment s Houses using Dynamic Heat-flow Calculation. Therefore, the purpose of this study is come in to use Material for the Thermal Environments of Apartment Houses. The results of the analysis are below. (1) For the peak load of degree hour; The highest is "I" unit and the next high load is H, F, E, C, B, G, D and A unit for the south facing Apartment houses. The higher load is "H" unit and the next high load is I, E, F, B, C, G, D, A Unit for the east facing Apartment houses. (2) For the total load of degree day; The highest load is "I" unit and the next high load is H, G, F, E, C, B, D and A Unit for the south facing Apartment houses. The highest load is "H" unit and the next high load is I, G, E, F, B, C, D, A Unit for the east facing Apartment houses. (3) For the total load of degree day; The highest load is "H" Unit for the east facing Apartment houses and the Lowest load is "A" Unit for the south facing Apartment houses.is "A" Unit for the south facing Apartment houses.nt houses.

• 대한기계학회논문집B
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• 제31권10호
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• pp.868-875
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• 2007

In this paper, performance characteristics of a domestic kim-chi refrigerator are predicted by using the theoretical calculation and experimental method. The objective of this study is to find out the best design points of the refrigeration system and to calculate an adiabatic characteristic with variation to outdoor temperatures. The best design points such as refrigerant charge amount and capillary length were experimentally investigated. And the theoretical calculation is conducted as a function of calculation parameters and outdoor temperatures. According to this study results, the best design points of a refrigeration system with 2 rooms are 95 g of a refrigerant charge amount and 3500 / 3500 mm of capillary lengths and the best design points of a refrigeration system with 3 rooms are 100 g of a refrigerant charge amount and 3000/3000/6000mm of capillary lengths. And the power consumptions of both systems are 13.57 and 18.2 kWh/month. The worst part of heat loss is a front side of a domestic kim-chi refrigerator body.

• 의료ㆍ복지 건축 : 한국의료복지건축학회 논문집
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• 제7권1호
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• pp.33-44
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• 2001

This study is about the Spatial Composition and Area Calculation in Plastic Surgical Clinics. 1. The space of the plastic surgical clinics are divided into 4 sections; exam, exam support, the staffs, and waiting and reception area. 2. The average G/N ratio of width was 1.46. The Plastic surgical clinics which had great deviation in the ratio showed these characteristics; first, when they were planned at first, the operation rooms were not assigned enough space; second. space for supporting exam and the activities of staffs was given too little consideration in their first drafts. 3. The average size of operation rooms was $21.76m^2$. The most desirable size was found to be $26.4m^2$ when we put the number of staffs, the movement area of stretcher, and the movement lines of operation room into consideration.

• Nuclear Engineering and Technology
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• 제51권6호
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• pp.1479-1486
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• 2019

The purpose of the present study is to develop the 3D static and noise simulator based on Galerkin Finite Element Method (GFEM) using the unstructured hexahedral elements. The 3D, 2G neutron diffusion and noise equations are discretized using the unstructured hexahedral by considering the linear approximation of the shape function in each element. The validation of the static calculation is performed via comparison between calculated results and reported data for the VVER-1000 benchmark problem. A sensitivity analysis of the calculation to the element type (unstructured hexahedral or tetrahedron elements) is done. Finally, the neutron noise calculation is performed for the neutron noise source of type of variable strength using the Green function technique. It is shown that the error reduction in the static calculation is considerable when the unstructured tetrahedron elements are replaced with the hexahedral ones. Since the neutron flux distribution and neutron multiplication factor are appeared in the neutron noise equation, the more accurate calculation of these parameters leads to obtaining the neutron noise distribution with high accuracy. The investigation of the changes of the neutron noise distribution in axial direction of the reactor core shows that the 3D neutron noise analysis is required instead of 2D.

• 한국환경과학회지
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• 제13권1호
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• pp.37-40
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• 2004

In this study, the decomposition of gas-phase TCE, Benzene and Toluene, in air streams by direct UV Photolysis and UV/TiO$_2$ process was studied. For direct UV Photolysis, by regressing with computer calculation to the experimental results the value of reaction rate constant k of TCE, Toluene and Benzene in this work were determined to be 0.00392s$\^$-l/, 0.00230s$\^$-1/ and 0.00126s$\^$-1/, respectively. And the adsorption constant K of TCE, Toluene and Benzene in this work were determined to be 0.0519 mol$\^$-l/ ,0.0313mo1$\^$-1/ and 0.0084mo1$\^$-1/, respectively. For UV/TiO$_2$ system by regressing with computer calculation to the experimental results the value of reaction rate constant k of TCE, Toluene, and Benzene in this work were determined to be 5.74g/$\ell$$.$min, 3.85g/$\ell$$.$min, and 1.18g/$\ell$$.$min, respectively. And the catalyst adsorption constant K of TCE, Toluene, and Benzene in this work were determined to be 0.0005㎥/mg, 0.0043㎥/mg and 0.0048㎥/mg, respectively.

• 기술사
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• 제12권2호
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• pp.8-12
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• 1979