• International Journal of Precision Engineering and Manufacturing
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• v.5 no.3
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• pp.54-61
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• 2004

This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces $F_x$(x-direction force), $F_y$and $F_z$, and moments $M_x$ (x-direction moment), $M_y$ and $M_z$ simultaneously, for stable grasping of an unknown object. In order to safely grasp an unknown object using the robot's gripper, the force in the gripping direction and the force in the gravity direction should be measured, and the force control should be performed using the measured forces. Also, the moments $M_x$, $M_y$ and $M_z$ to accurately perceive the position of the object in the grippers should be detected. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces $F_x$, $F_y$ and $F_z$, and moments $M_x$ $M_y$ and $M_z$ simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces $F_x$, $F_y$ and $F_z$, and moments $M_x$ $M_y$ and $M_z$ simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of the fabricated sensor was performed, and the result shows that interference errors of the developed sensor are less than 3%. Also, Robot's gripper with the 6-axis robot's finger force/moment sensor for the characteristic test of force control was manufactured, and the characteristic test for grasping an unknown object using the sensors was performed using it. The fabricated gripper could grasp an unknown object stably. Thus, the developed 6-axis robot's finger force/moment sensor can be used for robot's gripper.

• Journal of Environmental Health Sciences
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• v.42 no.2
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• pp.112-117
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• 2016

Objectives: In this study, we investigated the biodegradation rates of 8 perfluorooctanesulfonate (PFOS) alternatives synthesized at the at Changwon National University in comparison to those of PFOS potassium salt and PFOS sodium salt. Methods: A biodegradability test was performed for 28 days with microorganisms cultured in the good laboratory practice laboratory at the Korea Environment Corporation following the OECD Guidelines for the testing of chemicals, Test No. 301 C Results: While $C_5H_8F_3SO_3K$, $C_8F_{17}SO_3K$ and $C_8F_{17}SO_3Na$ were not degraded after 28 days, the 3 alternatives were biodegraded at the rates of 31.4% for $C_8H_8F_9SO_3K$, 25.6% for $C_{10}H_8F_{13}SO_3K$, 23.6% for $C_{25}F_{17}H_{32}S_3O_{13}Na_3$, 20.9% for $C_{15}F_9H_{21}S_2O_8Na_2$, 15.5% for $C_{23}F_{18}H_{28}S_2O_8Na_2$, 8.5% for $C_{17}F_9H_{25}S_2O_8Na_2$ and 4.8% for $C_6H_8F_5SO_3K$. When the concentration was the same(500 mg/L), $C_{23}F_{18}H_{28}S_2O_8Na_2$ had the lowest tension with 20.94 mN/m, which was followed by $C_{15}F_9H_{21}S_2O_8Na_2$ (23.36 mN/m), $C_{17}F_9H_{25}S_2O_8Na_2$ (27.31 mN/m), $C_{25}F_{17}H_{32}S_3O_{13}Na_3$ (28.17 mN/m), $C_{10}H_8F_{13}SO_3K$ (29.77 mN/m) and $C_8H_8F_9SO_3K$ (33.89 mN/m). Having higher surface tension of 57.64 mN/m and 67.57 mN/m, respectively, than those of the two types of PFOS salts, $C_6H_8F_5SO_3K$ and $C_5H_8F_3SO_3K$ were found valueless as substitute for PFOS. Conclusion: The biodegradation test suggest that 6 compounds could be used as substitutes for PFOS. $C_{23}F_{18}H_{28}S_2O_8Na_2$ and $C_{15}F_9H_{21}S_2O_8Na_2$ were found to be the best substitutes based on biodegradation rate and surface tension, followed by $C_{25}F_{17}H_{32}S_3O_{13}Na_3$, $C_8H_8F_9SO_3K$ and $C_{10}H_8F_{13}SO_3K$. $C_{17}F_9H_{25}S_2O_8Na_2$ was found to have relatively low value as an alternative but it still had a potential to substitute the conventional PFOS.

• Kyungpook Mathematical Journal
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• v.45 no.2
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• pp.293-299
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• 2005

Let ${\cal{L}}$ be a commutative subspace lattice on a Hilbert space ${\cal{H}}$ and X and Y be operators on ${\cal{H}}$. Let $${\cal{M}}_X=\{{\sum}{\limits_{i=1}^n}E_{i}Xf_{i}:n{\in}{\mathbb{N}},f_{i}{\in}{\cal{H}}\;and\;E_{i}{\in}{\cal{L}}\}$$ and $${\cal{M}}_Y=\{{\sum}{\limits_{i=1}^n}E_{i}Yf_{i}:n{\in}{\mathbb{N}},f_{i}{\in}{\cal{H}}\;and\;E_{i}{\in}{\cal{L}}\}.$$ Then the following are equivalent. (i) There is an operator A in $Alg{\cal{L}}$ such that AX = Y, Ag = 0 for all g in ${\overline{{\cal{M}}_X}}^{\bot},A^*A=AA^*$ and every E in ${\cal{L}}$ reduces A. (ii) ${\sup}\;\{K(E, f)\;:\;n\;{\in}\;{\mathbb{N}},f_i\;{\in}\;{\cal{H}}\;and\;E_i\;{\in}\;{\cal{L}}\}\;<\;\infty,\;{\overline{{\cal{M}}_Y}}\;{\subset}\;{\overline{{\cal{M}}_X}}$and there is an operator T acting on ${\cal{H}}$ such that ${\langle}EX\;f,Tg{\rangle}={\langle}EY\;f,Xg{\rangle}$ and ${\langle}ET\;f,Tg{\rangle}={\langle}EY\;f,Yg{\rangle}$ for all f, g in ${\cal{H}}$ and E in ${\cal{L}}$, where $K(E,\;f)\;=\;{\parallel}{\sum{\array}{n\\i=1}}\;E_{i}Y\;f_{i}{\parallel}/{\parallel}{\sum{\array}{n\\i=1}}\;E_{i}Xf_{i}{\parallel}$.

• The Bulletin of The Korean Astronomical Society
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• v.39 no.2
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• pp.88.1-88.1
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• 2014

Helium mass in the envelope is one of the most important properties in progenitors of type Ib/c supernovae (SNe Ib/c), since SN Ib/c progenitors are distinguished by the presence of He I lines. However, previous progenitor models do not reproduce the required He mass limit($M_{He}$ < $0.14M_{\odot}$) suggested by a spectroscopic analysis of SN Ib/c. In this work, we investigated the effect of overshooting on the evolution of pure helium stars, focusing on the final He mass in the envelope, $M_{He,f}$. We used the MESA code to calculate single helium star models with the initial masses of $M_{init}=5{\sim}30M_{\odot}$, Z=0.02, 0.04 and overshooting parameters of $f_{ov}=0{\sim}0.4$. The final He mass $M_{He,f}$ decreases as $f_{ov}$ increases, due to larger burning core compared to weak overshooting models. Dependence of the final mass $M_{He,f}$ on overshooting is strongest for models with $M_{init}=7{\sim}10M_{\odot}$, and this effect originates from accelerated mass loss during transition between WNE and WC/O phase. However, $M_{He,f}$ exceeds $0.27M_{\odot}$ for all models, which still doesn't meet the criteria of $M_{He}$ < $0.14M_{\odot}$. This implies that mass loss during the post helium burning phase must be enhanced dramatically compared to what the standard models predict.

• Journal of the Chungcheong Mathematical Society
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• v.19 no.4
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• pp.325-334
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• 2006

For $f{\in}L^2(B,d{\nu})$, ${\parallel}f{\parallel}_{BMO}=\widetilde{{\mid}f{\mid}^2}(z)-{\mid}{\tilde{f}}(z){\mid}^2$. For f continuous on B, ${\parallel}f{\parallel}_{BO}=sup\{w(f)(z):z{\in}B\}$ where $w(f)(z)=sup\{{\mid}f(z)-f(w){\mid}:{\beta}(z,w){\leq}1\}$. In this paper, we will show that if $f{\in}BMO$, then ${\parallel}f{\parallel}_{BO}{\leq}M{\parallel}f{\parallel}_{BMO}$. We will also show that if $f{\in}BO$, then ${\parallel}f{\parallel}_{BMO}{\leq}M{\parallel}f{\parallel}_{BO}^2$. A homomorphic function $f:B{\rightarrow}{\mathbb{C}}$ is called a Bloch function ($f{\in}{\mathcal{B}}$) if ${\parallel}f{\parallel}_{\mathcal{B}}=sup_{z{\in}B}\;Qf(z)$<${\infty}$. In this paper, we will show that if $f{\in}{\mathcal{B}}$, then ${\parallel}f{\parallel}_{BO}{\leq}{\parallel}f{\parallel}_{\mathcal{B}}$. We will also show that if $f{\in}BMO$ and f is holomorphic, then ${\parallel}f{\parallel}_{\mathcal{B}}^2{\leq}M{\parallel}f{\parallel}_{BMO}$.

• Journal of Applied Reliability
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• v.18 no.2
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• pp.143-152
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• 2018

Purpose: In this paper, we propose calculation methods of Maintenance Float (M/F). Results of each method are compared and verified by using commercial tool (OPUS Suite). As modern weapon systems become more expensive, we need to find the most economical and efficient method to achieve the target operational availability (Ao). Methods: Three kinds of methods (Considering the number of CSP, Applying the Poisson distribution, and Applying M&S Tool) are used to find the number of M/F. Three methods (Considering the number of CSP, Applying the Poisson distribution, and Applying M&S Tool) were used to estimate the required number of M/F. The analysis results were verified by SIMLOX. The cost of equipment calculated by each analysis method was compared and the cause of the difference was analyzed. Conclusion: Ao and cost must be considered to find the optimal number of M/F. In general, it costs more to increase availability. But the cost is not necessarily proportional to Ao. Therefore, it is better to compare the calculation method and determine the final MF quantity.

• Bulletin of the Korean Mathematical Society
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• v.48 no.1
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• pp.67-77
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• 2011

Let M be a compact orientable closed 3-manifold, and F a non-separating incompressible closed surface in M. Let M' = M - ${\eta}(F)$, where ${\eta}(F)$ is an open regular neighborhood of F in M. In the paper, we give a lower bound of genus of self-amalgamation of minimal Heegaard splitting $V'\;{\cup}_{S'}\;W'$ of M' under some conditions on the distance of the Heegaard splitting.

• Journal of the Korean Mathematical Society
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• v.55 no.2
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• pp.425-445
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• 2018

A set {$a_1,\;a_2,{\ldots},\;a_m$} of positive integers is called a Diophantine m-tuple if $a_ia_j+1$ is a perfect square for all $1{\leq}i$ < $j{\leq}m$. In this paper, we show that the form of third element in Diophantine pairs and develop some results which are needed to prove the extendibility of the Diophantine pair {a, b} with some conditions. By using this result, we prove the extendibility of Diophantine pairs {$F_{k-2}F_{k+1},\;F_{k-1}F_{k+2}$} and {$F_{k-2}F_{k-1},\;F_{k+1}F_{k+2}$}, where $F_n$ is the n-th Fibonacci number.

• Bulletin of the Korean Mathematical Society
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• v.47 no.1
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• pp.113-119
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• 2010

If f is M-harmonic and integrable with respect to a weighted radial measure $\upsilon_{\alpha}$ over the unit ball $B_n$ of $\mathbb{C}^n$, then $\int_{B_n}(f\circ\psi)d\upsilon_{\alpha}=f(\psi(0))$ for every $\psi{\in}Aut(B_n)$. Equivalently f is fixed by the weighted Berezin transform; $T_{\alpha}f = f$. In this paper, we show that if a function f defined on $B_n$ satisfies $R(f\circ\phi){\in}L^{\infty}(B_n)$ for every $\phi{\in}Aut(B_n)$ and Sf = rf for some |r|=1, where S is any convex combination of the iterations of $T_{\alpha}$'s, then f is M-harmonic.

• Bulletin of the Korean Mathematical Society
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• v.44 no.4
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• pp.623-629
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• 2007

In this paper, we study the uniqueness of entire functions and prove the following result: Let f and g be two nonconstant entire functions, n, m be positive integers. If $f^n(f^m-1)f#\;and\;g^n(g^m-1)g#$ share 1 IM and n>4m+11, then $f{\equiv}g$. The result improves the result of Fang-Fang.