• Transactions on Control, Automation and Systems Engineering
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• v.1 no.1
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• pp.8-15
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• 1999

One of the main reason advocating redundant manipulators' superiority in application is that they can afford to optimize a dexterity measure, for example the manipulability measure. However, to obtain the gradient of the manipulability is not an easy task in case of general manipulator with high degrees of redundancy. This article proposes a method to compute the gradient of the manipulability, based on recursive algorithm to compute the Jacobian and its derivative using Denavit-Hartenberg parameters only. To characterize the null motion of redundant manipulators, the null space matrix using square minors of the Jacobian is also proposed. With these capabilities, the inverse kinematics of a redundant manipulator system can be done automatically. The result is easily extended to dual manipulator system using the relative kinematics.

• Honam Mathematical Journal
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• v.34 no.2
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• pp.279-287
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• 2012

Let $k$ be a field containing the field $\mathbb{Q}$ of rational numbers and let $R=k[x_{ij}{\mid}1{\leq}i{\leq}m,\;1{\leq}j{\leq}n]$ be the polynomial ring over a field $k$ with indeterminates $x_{ij}$. Let $I_t(X)$ be the determinantal ideal generated by the $t$-minors of an $m{\times}n$ matrix $X=(x_{ij})$. Eagon and Hochster proved that $I_t(X)$ is a perfect ideal of grade $(m-t+1)(n-t+1)$. We give a structure theorem for a class of determinantal ideals of grade 3. This gives us a characterization that $I_t(X)$ has grade 3 if and only if $n=m+2$ and $I_t(X)$ has the minimal free resolution $\mathbb{F}$ such that the second dierential map of $\mathbb{F}$ is a matrix defined by complete matrices of grade $n+2$.

• Clinical and Experimental Pediatrics
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• v.52 no.1
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• pp.1-5
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• 2009

Children are not small adults and there is a need to carry out specific trials that cannot be performed in adults. In general, children (minors) are unable to consent but their assent should be obtained using age appropriate information. Institutional Review Board (IRB) need paediatric expertise to balance the benefits and risks of research in children. The lack of consent has implications on the design, analysis and the choice of comparators used in the trials, which should only be performed by trained investigators with paediatric experience. Pain, fear, distress and parental separation should be prevented and minimised when unavoidable. The children requires even more careful review. Children represent a vulnerable population with developmental, physiological and psychological differences from adults, which make age- and development- related research important for their benefit. Finally, criteria for the protection of children in clinical trials therefore need to be laid down. Specific protection should be defined for research performed in children, at all stages and ages.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.225-227
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• 2007

Multi-Rater Feedback valuation is a way that guarantees an impartial personnel administration which can cut normal valuation by superiors. The Multi-Rater Feedback committee which is made of seniors, colleagues and minors. In this study, we build the computerize system with Multi-Rater Feedback which is very important factor on valuation. With this system provide data continuity, objectivity and equity, further convenience to members of the participation and efficient work management.

• Journal of the Korean Chemical Society
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• v.33 no.3
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• pp.321-325
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• 1989

There has been a continuing interest in the sterols and sterodis of marine organisms. The most exciting results of recent studies have been the characterization of a host of novel sterols, many with unique alkylation patterns in the side chain, but some with modified ring structures. The isolation and characterization of three sterols from the Korean alga codium fragile are presented. The major sterol was (24S)-24-ethylcholesta-5,25-dien-3${\beta}$-ol (clerosterol) and two minors are codisterodl and cholesterol.

• Korean Journal of Microbiology
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• v.13 no.1
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• pp.1-23
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• 1975

This experiment was designed to elucidate the environmental factors in rhizosphers of bamboo forest that affect the distribution and the population size of Azotobacter, and also to estimate the annual productivities of nitrogen fixed by Azotobacter species. The results of this experiment can be summarized as follows ; The rhizosphere of bamboo forest contained high free sugars as of 3-8 times more than non-rhizosphere (Bacon, 1968), and the contents of organic matter and amino acids of that are reltively higher than this. Because of high content of potassium, average of soil pH is near at 7.0. As above-mentioned enviromental factors, the population sizes of Actinomycetes, general fungi, general bacteria and Azotobacters are larger than those of non-rhizosphere and the ofllowings are general fungi and general bacteria by turns. Azotobacter is dependent upon the antagonistic Actinomycetes. The main carbon source for Azotobacter in nitrogn flxation at the rhizosphere was glucose and minors were fructose, maltose and sucrose by turns. Annual gains of nitrogen by Azotobacters in soil of bamboo forest within 10cm from surface are estimated as of 88.94 kg/ha at site A, 60.4kg/ha at site B and 67.38kg/ha at site C, respectively.

• Journal of Communications and Networks
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• v.15 no.3
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• pp.321-328
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• 2013

In this paper, we present a technique for obtaining conflict-free schedules for real-time automation protocol for industrial Ethernet (RAPIEnet) switches. Mathematical model of the switch is obtained using graph theory. Initially network traffic entry and exit parts in a single RAPIEnet switch are identified, so that a bipartite conflict graph can be constructed. The obtained conflict graph is transformed to three kinds of matrices to be used as inputs for our simulation model, and selection of any of the matrix forms is application-specific. A greedy edge-coloring algorithm is used to schedule the network traffic and to solve the minimum coloring problem. After scheduling, empty slots are identified for forwarding the non real-time traffic of asynchronous devices. Finally, an algorithm for synchronizing the schedules of adjacent switches is proposed using edge-contraction and minors. All simulations were carried out using Matlab.

• Communications of the Korean Mathematical Society
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• v.20 no.2
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• pp.275-290
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• 2005

Let $S\;=\;R[\chi_{ij}\mid1\;{\le}\;i\;{\le}\;m,\;1\;{\le}\;j\;{\le}\;n]$ be the polynomial ring over a noetherian commutative ring R and $I_p$ be the determinantal ideal generated by the $p\;\times\;p$ minors of the generic matrix $(\chi_{ij})(1{\le}P{\le}min(m,n))$. We describe a minimal free resolution of $S/I_{p}$, in the case m = n = p + 2 over $\mathbb{Z}$.

• Clinical and Experimental Pediatrics
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• v.48 no.4
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• pp.363-368
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• 2005

Purpose : The aim of this study is to identify where and how adolescents acquire cigarettes and how many were asked for identification while purchasing cigarettes. Methods : This study was conducted in 2003; participants were 2,200 students in middle and high schools, aged from 13 to 18 years old(males 1,098; females 1,102) in Ansan, Korea. The questionnaire assured them of anonymity, and self-administered in school. The data was analyzed with chisquare test for trends. Results : The prevalence of smoking was about 20 percent among respondents, was higher in males than in females, and in older students than in younger students(P<0.001). The most frequent source of cigarettes was purchased from a store(36.3 percent). About 29.2 percent of the students borrowed from friends or family members. By sex, the main sources of cigarettes were purchase from a store and borrowing. Younger students were borrowed more cigarettes; older students purchased more cigarettes from stores. Only 48.8 percent were asked for proof of age during their purchase. Of those asked for proof of age, about 73.3 percent answered that this made it difficult to buy cigarettes(P<0.001), and they thought that it was more difficult when asked for a photo ID than simply being asked their age(P=0.019). Conclusion : So far, there has been no systemic prevention of adolescents' smoking. It is difficult for minors to purchase cigarettes if asked for proof of age, but most minors go to stores to purchase cigarettes. Therefore, prevention efforts should include educating retailers not to sell cigarettes to minors and enforcing existing laws requiring youth to provide proof of age when attempting to buy cigarettes.

• Journal of the korean academy of Pediatric Dentistry
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• v.42 no.1
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• pp.10-21
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• 2015

The purpose of this study was to determine the usefulness of a detection method for Streptococcus mutans in saliva with monoclonal antibodies developed targeting Ag I/II and glucosyltransferases (gtf B, gtf C and gtf D) in Streptococcus mutans. In the three groups tested (adults, minors, and minors under orthodontic treatment), the results of the DMFT scores, the colony density (CFU/mL) in their saliva was measured using $Dentocult^{(R)}$-SM strip mutans, polymerase chain reaction was performed to test whether Streptococcus mutans and Streptococcus sobrinus were present, and Streptococcus mutans detecting tests performed in their saliva using four types of monoclonal antibody were collected. In conclusion, it was demonstrated that the Streptococcus mutants plays more important role in forming dental caries compared to Streptococcus sobrinus, and that the monoclonal antibodies against glucosyltransferases (gtf B, gtf C, gtf D) and Ag I/II of Streptococcus mutans are superior in detecting Streptococcus mutans to $Dentocult^{(R)}$-SM strip mutans or polymerase chain reaction.