• 로봇학회논문지
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• 제1권2호
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• pp.107-116
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• 2006

We propose a planning algorithm to automatically generate a robust behavior plan (RBP) with which mobile robots can achieve their task goal from any initial states under dynamically changing environments. For this, task description space (TDS) is formulated, where a redundant task configuration space and simulation model of physical space are employed. Successful task episodes are collected, where $A^*$ algorithm is employed. Interesting TDS state vectors are extracted, where occurrence frequency is used. Clusters of TDS state vectors are found by using state transition tuples and features of state transition tuples. From these operations, characteristics of successfully performed tasks by a simulator are abstracted and generalized. Then, a robust behavior plan is constructed as an ordered tree structure, where nodes of the tree are represented by attentive TDS state vector of each cluster. The validity of our method is tested by real robot's experimentation for a box-pushing-into-a-goal task.

• 한국정보디스플레이학회:학술대회논문집
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• 한국정보디스플레이학회 2009년도 9th International Meeting on Information Display
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• pp.657-660
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• 2009

Optically compensated bend (OCB) mode has intrinsic characteristics such as wide viewing angle and fast response time. However, in order to operate the OCB mode in bend state, this device needs quick transitions from the initial splay state to bend state. In this paper, we proposed OCB mode with initially bend state using reactive mesogen (RM) monomer for surface polymer stabilization. The device shows continuous reorientation of the LC with applied field and a very fast response time.

• 환경위생공학
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• 제13권1호
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• pp.185-194
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• 1998

Laboratory-scale investigation into initial anaerobic biofilm development was carried out by circulating mixed liquor from a steady-state anaerobic reactor through silicone tubing and then rerurning the mixed liquor to the reactor. The wall of the silicone tubing was the surface upon which anaerobic biofilm accumulation or development was monitored. Methanogenic bacteria accumulation was monitored by F$_{420}$ fluorescence (picomoles F$_{420}$/cm$^{2}$) of the extracted biofilm material. Biofilm accumulation was measured by the increase in COD of the extracted material ($\mu $g COD/cm$^{2}$). Experiments were conducted for 25 days, and biofilm analyses were performed at 5 days intervals. The results indicated that the initial rates of methangen and anaerobic biofilm accumulation increased with increasing organic loading rate and higher initial rates were observed for 15 days than 15 day liquid HRT or SRT. When the initial rates were plotted against the corresponding mixed liquor volatile suspended solids the difference between the results at the two HRT's became much less significant. Thus, the concentration of mixed liquor volatile suspended solids was found to be a very important parameter affecting initial anaerobic biofilm development. The ratio of methanogens to anaerobic biofilm was also investigated. The results showed that the ratio remained constant through the 25 days of each experiment and for high organic loading rates. Based on the results of this research, a reduction, a reduction of start-up period of anaerobic fixed film reactors might be achieved by maintaining a high organic loading and a large concentration of anaerobic microorganisms in the mixed liquor during the start-up period.

• 전자공학회논문지T
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• 제35T권3호
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• pp.128-133
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• 1998

본 논문은 클록 초기치 누적 방식의 직접 디지털 주파수 합성기를 이용한 변조기의 성능해석에 관하여 연구한 것이다. 기존에는 랜덤한 주파수 도약을 실현하기 위하여 PLL 방식이나 디지털 주파수 합성 방식이 사용되어 왔다. 븐 논문에서는 두 방식의 단점을 개선하기 위하여 클록 초기치 누적 방식의 DDFS를 이용한 변조기 시스템을 구성하여 순시적인 주파수 도약 상태와 위상제어의 가능성 등을 확인하였다. 실험 결과 합성된 출력 주파수는 주파수 Index에 따라 기준주파수에 정확히 정수배가 되며, 합성된 정현파형의 스펙트럼은 기본파와 여러 고조파의 크기가 50 [㏈] 이상의 차이가 남으로서 고조파 성분들이 상당히 감소되었고, PN 코드를 사용한 순시적인 주파수 도약 상태는 스위칭 시간이 빠르기 때문에 주파수 도약 특성이 뛰어남을 알 수 있었다. 또한, 누산기의 set/reset상태변화에 따라 위상이 변한다는 사실도 입증하였다.

• Journal of Gastric Cancer
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• 제17권4호
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• pp.306-318
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• 2017

Purpose: Guidelines in Western countries recommend retrieving ${\geq}15$ lymph nodes (LNs) during gastric cancer resection. This study sought to determine whether the number of examined lymph nodes (eLNs), a proxy for lymphadenectomy, effects survival in node-negative disease. Materials and Methods: The US National Cancer Database (2003-2011) was reviewed for node-negative gastric adenocarcinoma. Treatment was categorized by neoadjuvant therapy (NAT) vs. initial resection, and further stratified by eLN. Kaplan-Meier and Weibull models were used to analyze overall survival. Results: Of the 1,036 patients who received NAT, 40.5% had ${\leq}10eLN$, and most underwent proximal gastrectomy (67.8%). In multivariate analysis, greater eLN was associated with improved survival (eLN 16-20: HR, 0.71; P=0.039, eLN 21-30: HR, 0.55; P=0.001). Of the 2,795 patients who underwent initial surgery, 42.5% had ${\leq}10eLN$, and the majority underwent proximal gastrectomy (57.2%). In multivariate analysis, greater eLN was associated with improved survival (eLN 11-15: HR, 0.81; P=0.021, eLN 16-20: HR, 0.73; P=0.004, eLN 21-30: HR, 0.62; P<0.001, and eLN >30: HR, 0.58; P<0.001). Conclusions: In the United States, the majority of node-negative gastrectomies include suboptimal eLN. In node-negative gastric cancer, greater LN retrieval appears to have therapeutic and prognostic value, irrespective of initial treatment, suggesting a survival benefit to meticulous lymphadenectomy.

• 대한전기학회논문지:전기물성ㆍ응용부문C
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• 제53권2호
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• pp.53-61
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• 2004

Characteristics of half cells of graphite/lithium and LiCoO$_2$/lithium, and full cells of graphite/LiCoO$_2$/ were analyzed by the use of GISOC(the gradual increasing of the state of charge). GISOC analyses generated IIE(the initial intercalation efficiency), which represents lithium intercalation property of the electrode material, and IIC$_{s}$(the initial irreversible capacity by the surface), which represents irreversible reaction between the electrode surface and electrolyte. Linear-fit range of graphite and LiCo/O$_2$electrodes were respectively 370 and 150 mAh/g based on material weight. IIE of graphite and LiCo/O$_2$electrodes were respectively 93∼94 % and 94∼95 %, and IICs of graphite and LiCo/O$_2$electrodes were 15∼17 mAH/g and 0.3∼1.7 mAh/g, respectively. IIE of graphite/LiCo/O$_2$full cell for GX25 and DJG311 as graphite showed 89∼90 %, which IIE value was lower than IIE of half cell of the cathode and the anode. Parameters of IIE and IIC$_{s}$ can also be used to represent not only half cell but also full cell. The characteristics of the full cell can be simulated through the correlative interpretation of potential profile, IIE, and IIC$_{s}$ of half cells.cells.

• ALGAE
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• 제28권2호
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• pp.193-202
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• 2013

Nitrogen availability and cell density each affects growth and cellular astaxanthin content of Haematococcus pluvialis, but possible combined effects of these two factors on the content and productivity of astaxanthin, especially under outdoor culture conditions, is less understood. In this study, the effects of the initial biomass densities IBDs of 0.1, 0.5, 0.8, 1.5, 2.7, 3.5, and 5.0 g $L^{-1}$ DW and initial nitrogen concentrations of 0, 4.4, 8.8, and 17.6 mM nitrate on growth and cellular astaxanthin content of H. pluvialis Flotow K-0084 were investigated in outdoor glass column photobioreactors in a batch culture mode. A low IBD of 0.1 g $L^{-1}$ DW led to photo-bleaching of the culture within 1-2 days. When the IBD was 0.5 g $L^{-1}$ and above, the rate at which the increase in biomass density and the astaxanthin content on a per cell basis was higher at lower IBD. When the IBD was optimal (i.e., 0.8 g $L^{-1}$), the maximum astaxanthin content of 3.8% of DW was obtained in the absence of nitrogen, whereas the maximum astaxanthin productivity of 16.0 mg $L^{-1}\;d^{-1}$ was obtained in the same IBD culture containing 4.4 mM nitrogen. The strategies for achieving maximum Haematococcus biomass productivity and for maximum cellular astaxanthin content are discussed.

• Asian-Australasian Journal of Animal Sciences
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• 제25권1호
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• pp.104-113
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• 2012

Two experiments were conducted to determine the digestibility of crude protein (CP), amino acids and energy in three Chinese corn distillers dried grains with solubles (DDGS), one rice DDGS, one American corn DDGS and one American high protein distillers dried grains (HP-DDG). In Exp. 1, the apparent ileal digestibility (AID) and standardized ileal digestibility (SID) of CP and amino acids in the six samples were determined using cannulated barrows (initial BW: $43.3{\pm}1.7$ kg). In Exp. 2, the digestible energy (DE) and metabolizable energy (ME) content of these six samples were determined using crossbred barrows (initial BW: $46.0{\pm}2.5$ kg). The results of the two experiments indicated that Chinese corn DDGS is generally similar to American DDGS in chemical composition, digestibility of amino acids, DE and ME. However, Chinese DDGS had a lower Lys concentration (0.50% vs. 0.74%) and SID Lys (52.3% vs. 57.0%, p<0.01). The DE and ME values in Chinese corn DDGS were 3,427 and 3,306 kcal/kg, respectively. Rice DDGS had a similar DE and ME (3,363 and 3,228 kcal/kg) but higher Lys concentration (0.64% vs. 0.50%) to corn DDGS, while the SID of Lys was quite low (61.8%, p<0.01). HP-DDG had high value of SID of Lys, DE and ME (79.8%, 3,899 and 3,746 kcal/kg). In conclusion, except for a lower Lys concentrations and availability, the chemical composition, digestibility of amino acids, DE and ME values in Chinese corn DDGS are similar to American corn DDGS. Additionally, the rice DDGS had lower Lys content and digestible Lys values than that in corn DDGS. Thirdly, HP-DDG has higher levels of digestible amino acids and energy than DDGS.

• Structural Engineering and Mechanics
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• 제66권1호
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• pp.15-25
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• 2018

Post-construction subgrade settlement especially differential settlement, has become a key issue in construction and operation of non-ballasted track on high-speed railway soil subgrade, which may also affect the dynamic performance of passing trains. To estimate the effect of differential subgrade settlement on the mechanical behaviors of the vehicle-slab track system, a detailed model considering nonlinear subgrade support and initial track state due to track self-weight is developed. Accordingly, analysis aiming at a typical high-speed vehicle coupled with a deteriorated slab track owing to differential subgrade settlement is carried out, in terms of two aspects: (i) determination of an initial mapping relationship between subgrade settlement and track deflections as well as contact state between track and subgrade based on a semi-analytical method; (ii) simulation of dynamic performance of the coupled system by employing a time integration approach. The investigation indicates that subgrade settlement results in additional track irregularity, and locally, the contact between the concrete track and the soil subgrade is prone to failure. Moreover, wheel-rail interaction is significantly exacerbated by the track degradation and abnormal responses occur as a result of the unsupported areas. Distributions of interlaminar contact forces in track system vary dramatically due to the combined effect of track deterioration and dynamic load. These may not only intensify the dynamic responses of the coupled system, but also have impacts on the long-term behavior of the track components.

• 한국컴퓨터정보학회논문지
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• 제18권6호
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• pp.9-19
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• 2013

본 논문에서는 상태 및 출력변수에 시간지연을 가지는 이산 비선형 마코비안 점프시스템의 퍼지 $H_{\infty}$ 필터 설계 방법을 다룬다. 리아프노프(Lyapunov) 함수를 이용하여 상태추정 오차시스템이 확률적 안정하며 외부외란 및 초기값 불확실성에 대하여 $H_{\infty}$ 성능을 만족하는 조건식을 유도하고 필터 존재 조건을 선형행렬부등식으로 나타낸다. 완화된 필터 존재 조건식을 유도하기 위하여 리아프노프 함수 선택 시에 시스템 모드에 종속적일뿐만 아니라 퍼지 멤버십 함수를 포함하는 확률-퍼지 리아프노프 함수를 선택한다. 또한 $H_{\infty}$ 성능 조건식 유도 시에 외부외란 뿐만 아니라 최기값 불확실성을 고려한다. 수치적 예제 및 컴퓨터 시뮬레이션을 통하여 제안된 방법의 타당성을 보인다.