• 대한기계학회논문집A
• /
• 제28권7호
• /
• pp.1038-1046
• /
• 2004

In order to acquire high-speed and high-precision performances in servomechanisms, an integrated design method have been proposed. Based on strict mathematical modeling and analysis of system performance according to design and operating parameters, a nonlinear constrained optimization problem including the relevant subsystem parameters of the servomechanism is formulated. Optimum design results of mechanical and electrical parameters are obtained according to the design parameters specified by designers through the integrated design processes. Motors are optimally selected from the servo motor database. Both the geometric errors referring to Abbe offset and the contour errors are minimized while required constraints such as stability conditions and saturated conditions are satisfied. This design methodology both offers the improved possibility to evaluate and optimize the dynamic motion performance of the servomechanism and improves the quality of the design process to achieve the required performance for high-speed/precision servomechanisms.

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 2002년도 추계학술대회 논문집
• /
• pp.219-224
• /
• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot finger which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed. Finally, it is shown that even in the simplest case of dual single D.O.F manipulators there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that the object is of rectangular shape and motion is confined to a horizontal plane.

• 한국안전학회지
• /
• 제35권4호
• /
• pp.32-39
• /
• 2020

The fire compartments with fire-resistant construction are installed in the principal structural parts of a building in order to reduce damage in the event of a building fire. As a fire may spread through a crack in the fire compartment, the firestop with secured performance is used according to the procedure, methods, and standards specified in the detailed operation guideline. According to the current detailed operation guideline, vertical members (wall penetration) and horizontal members (floor penetration) are classified into different categories respective to each other for the classification of the firestop. Therefore, an accreditation applicant must apply for the performance test for each structure even if the wall and the floor have the same structure. Also, Grade T is used for the firestop that penetrates the fire compartment. However, in the case of foreign countries, the use of Grade F for the firestop is allowed even if it penetrates the fire compartment. The result of the precedent studies also showed that there was a significantly low possibility of fire to spread even if Grade F was applied for a metallic duct that penetrated the fire compartment. In this study, the improved scheme for the classification and performance standard of firestops was presented by analyzing the results of precedent studies regarding the firestop and domestic and overseas firestop qualification systems.

• 천문학회지
• /
• 제39권2호
• /
• pp.41-50
• /
• 2006

We present the results of new multi-color CCD photometry for the contact binary XZ Leo, together with reasonable explanations for the period and light variations. Six new times of minimum light have been determined. A period study with all available timings confirms Qian's (2001) finding that the O-C residuals have varied secularly according to $dP/dt\;=\;+8.20{\times}10^{-8}\;d\;yr^{-l}$. This trend could be interpreted as a conservative mass transfer from the less massive cool secondary to the more massive hot primary in the system with a mass flow rate of about $5.37{\times}10^{-8}\;M_{\odot}\;yr^{-l}$. By simultaneous analysis of our light curves and the previously published radial-velocity data, a consistent set of light and velocity parameters for XZ Leo is obtained. The small differences between the observed and theoretical light curves are modelled by a blue third light and by a hot spot near the neck of the primary component. Our period study does not support the tertiary light but the hot region which may be formed by gas streams from the cool secondary. The solution indicates that XZ Leo is a deep contact binary with the values of q=0.343, $i=78^{\circ}.8$, ${\Delta}(T_1-T_2)=126\;K$, and f=33.6 %, differing much from those of Niarchos et al. (1994). Absolute parameters of XZ Leo are determined as follows: $M_1=1.84\;M_{\odot},\;M_2=0.63\;M_{\odot},\;R_1=1.75\;R_{\odot},\;R_2=1.10\;R_{\odot},\;L_1=7.19\;L_{\odot},\;and\;L_2=2.66\;L_{\odot}$.

• Journal of Microbiology and Biotechnology
• /
• 제22권6호
• /
• pp.742-753
• /
• 2012

Copper-containing compounds are introduced into the environment through agricultural chemicals, mining, and metal industries and cause severe detrimental effects on ecosystems. Certain microorganisms exposed to these stressors exhibit molecular mechanisms to maintain intracellular copper homeostasis and avoid toxicity. We have previously reported that the soil bacterial isolate Achromobacter sp. AO22 is multi-heavy metal tolerant and exhibits a mer operon associated with a Tn21 type transposon. The present study reports that AO22 also hosts a unique cop locus encoding copper homeostasis determinants. The putative cop genes were amplified from the strain AO22 using degenerate primers based on reported cop and pco sequences, and a constructed 10,552 base pair contig (GenBank Accession No. GU929214). BLAST analyses of the sequence revealed a unique cop locus of 10 complete open reading frames, designated copSRABGOFCDK, with unusual separation of copCD from copAB. The promoter areas exhibit two putative cop boxes, and copRS appear to be transcribed divergently from other genes. The putative protein CopA may be a copper oxidase involved in export to the periplasm, CopB is likely extracytoplasmic, CopC may be periplasmic, CopD is cytoplasmic/inner membrane, CopF is a P-type ATPase, and CopG, CopO, and CopK are likely copper chaperones. CopA, B, C, and D exhibit several potential copper ligands and CopS and CopR exhibit features of two-component regulatory systems. Sequences flanking indicate the AO22 cop locus may be present within a genomic island. Achromobacter sp. strain AO22 is thus an ideal candidate for understanding copper homeostasis mechanisms and exploiting them for copper biosensor or biosorption systems.

• Journal of Ginseng Research
• /
• 제43권2호
• /
• pp.186-195
• /
• 2019

Background: Notoginseng stem-leaf (NGL) ginsenosides have not been well used. To improve their utilization, the biotransformation of NGL ginsenosides was studied using ginsenosidase type-I from Aspergillus niger g.848. Methods: NGL ginsenosides were reacted with a crude enzyme in the RAT-5D bioreactor, and the dynamic changes of multi-ginsenosides of NGL were recognized by HPLC. The reaction products were separated using a silica gel column and identified by HPLC and NMR. Results: All the NGL ginsenosides are protopanaxadiol-type ginsenosides; the main ginsenoside contents are 27.1% Rb3, 15.7% C-Mx1, 13.8% Rc, 11.1% Fc, 7.10% Fa, 6.44% C-Mc, 5.08% Rb2, and 4.31% Rb1. In the reaction of NGL ginsenosides with crude enzyme, the main reaction of Rb3 and C-Mx1 occurred through Rb3${\rightarrow}$C-Mx1${\rightarrow}$C-Mx; when reacted for 1 h, Rb3 decreased from 27.1% to 9.82 %, C-Mx1 increased from 15.5% to 32.3%, C-Mx was produced to 6.46%, finally into C-Mx and a small amount of C-K. When reacted for 1.5 h, all the Rb1, Rd, and Gyp17 were completely reacted, and the reaction intermediate F2 was produced to 8.25%, finally into C-K. The main reaction of Rc (13.8%) occurred through Rc${\rightarrow}$C-Mc1${\rightarrow}$C-Mc${\rightarrow}$C-K. The enzyme barely hydrolyzed the terminal xyloside on 3-O- or 20-O-sugar-moiety of the substrate; therefore, 9.43 g C-Mx, 6.85 g C-K, 4.50 g R7, and 4.71 g Fc (hardly separating from the substrate) were obtained from 50 g NGL ginsenosides by the crude enzyme reaction. Conclusion: Four monomer ginsenosides were successfully produced and separated from NGL ginsenosides by the enzyme reaction.

• 한국농림기상학회지
• /
• 제1권1호
• /
• pp.29-35
• /
• 1999

본 연구는 경기도 광주지역의 낙엽송 임분에 인공 강우기를 설치하여 수리특성과 관련한 공간 변이와 상관관계를 구명하기 위하여 수행되었다. 수분유속과 보유능은 원래 토성, 구조와 유기물을 근거로 지표면에서 인공가우기로 수분을 일정속도로 가하면서 측정하였다. 이 방법은 간단히 유기물을 제거하거나 기존의 상태에서 수평한 지표면에 3가지의 강우 강도에서 실시하였으며 한편 경계면은 안정하며 포화상태의 습윤 토양에서 투수계수와 매트릭 유속기능을 조사하였다. 투수계수는 $_1$( $Z_{c}$) = $_2$( $Z_{c}$) = $_{c}$ 이라는 지속적 유속 조건하에서 $K_{i+}$$_1$ $_{c}$= $K_{i}$( $_{c}$) [1-d /dz]의 공식을 적용하였다. 본 연구 결과 토양내에서 유속에 영향을 미치는 공극 특성과 유기물 함량이 광범위하게 수분 보유능과 포화투수계수의 공간 변이에 영향을 미치는 것으로 조사되었다.것으로 조사되었다.되었다.

• 환경영향평가
• /
• 제21권6호
• /
• pp.841-857
• /
• 2012

Preliminary ecological environmental assessments including physico-chemical constituents, water quality, fish fauna analysis, physical habitat health, and ecological health assessment were conducted as a primary step for Jeungchon micro-habitat ecosystem restoration in 2012. Water chemistry analysis of conductivity, dissolved oxygen, chlorophyll-a and etc. indicated that there were no significant differences(p < 0.05) among 6 sites between the headwaters and downstream. Multi-metric model analysis of Qualitative Habitat Evaluation Index(QHEI) showed that brooklets were at "good condition" as a mean QHEI of 158.7(n = 6) and the longitudinal differences of the model values between the sites were minor(QHEI range: 153 - 165). Total fish species and the number of individuals were 12 and 481, respectively, and dominant species were Zacco platypus(49.5%) and Zacco koreanus(36.8%). Tolerance guild analysis showed that the proportion of sensitive species($S_S$) had a negative linear function[$S_S=86.35-0.31(D_H)$; $R^2$ = 0.892, p < 0.01] with a distance from the headwaters, while the proportion of tolerant species($T_S$) had a positive linear function($R^2$ = 0.950, F = 90.28, p < 0.001) with the distance. Trophic feeding guild analysis showed that the proportion of insectivore species($I_n$) had a negative linear function($R^2$ = 0.934, p < 0.01) with a distance from the headwaters, while the proportion of omnivore species($O_m$) had a positive linear function($R^2$ = 0.958, p < 0.001) with the distance. Index of Biological Integrity(IBI) model, based on fish assemblages, showed a "fair condition" as a mean IBI of 23(n = 6), and there was a distinct differences of ecological health between the headwaters(S1 = 30; "good condition") and the downstreams(S6 = 14; "poor condition"). Overall, the preliminary environmental impact assessments suggest that water quality, physical habitat conditions(QHEI model), and ecological health(IBI model) were maintained well, even if the state was not an excellent conditions.

• 재활치료과학
• /
• 제9권3호
• /
• pp.35-51
• /
• 2020

목적 : 본 연구의 목적은 식당의 접근성과 활동 평가 정보 도구(RATE-IT)의 예비 타당도를 확보하고 개발하고자 하였다. 장애를 가진 사람들을 위한 식당의 접근성을 평가하기 위해 전자 설문지가 사용되었다. 연구방법 : RATE-IT의 타당성을 확인하고 개발하기 위해 다양한 방법이 사용되었다. 연구 1단계에서는 관련 문항을 분류하였고, 2단계에서는 내용타당도를 검증하였다. 3단계에서는 구성 타당도를 측정하였다. 결과 : 연구결과에 따르면 적절한 문항들이 본 검사 도구에 포함됨을 알 수 있었다(relevance=0.99 and language level=0.99). 또한 이러한 결과는 RATE-IT이 식당 접근성의 구성 문항을 적절하게 평가할 수 있음을 시사한다(F=0.72, p=.40). 건물과 시설에 관한 문항을 검증하기 위해 Americans with Disabilities Act Accessibility Guidelines(ADAAG)의 체크리스트와 비교하였을 때 RATE-IT은 접근성 수준에 따라 식당을 분류 할 수 있는 잠재성을 보여주었으며(p=.10), 사용하기 쉽고(p<.00), 이해하기 쉽고 효과적인(p<.00) 것으로 나타났다. 결론 : 연구결과 RATE-IT은 사용자 관점에서 사용하기 쉽고 편리한 효용성을 가진 도구로 보여진다.

• 한국지반공학회지:지반
• /
• 제13권3호
• /
• pp.101-122
• /
• 1997

Spiting reinforcement system은 매회의 터널굴진작업 이전에 막장면 주위를 따라 방사방향 및 굴진방향으로 선지반보강을 목적으로 천공을 실시하고, spite을 설치한 후 시멘트 그라우팅을 시행하여, 원지반 자체의 전단강도 증대를 통한 무지보 자립시간의 향상과 터널 주변지반의 변위 억제 및 지속적인 아칭작용 등을 유도하여 터널자체의 장기적인 안정화 및 지표면 침하억제 등을 도모하는 공법이다. 이와같은 선지반보강 개념의 spiting reinforcement system은 미국등지에서 주로 약한 암반 터널의 장기적인 안정화를 위해 사용되어져 왔으나, 최근의 연구에서는 연약한 토사지반 터널로까지 그 적용성이 점차 확대되는 경향을 보이고 있다. 본 연구의 주된 목적은, spiting reinforcement system을 적용한 약한암반 및 토사지반 터널에 대한 3차원 안정해석체계의 정립이다. 이를 위해 본 논문에서는 일차적으로, 예상파괴면의 형상이 지표면까지 확장되는 얕은 spire-reinforced터널의 경우에 한해, 터널굴착에 따른 막장주변의 3차원적 파괴거동등을 3n FEM 해석을 통해 분석하여 종.횡방향 파괴면등 예상 파괴흙쐐기의 형상을 가정한 다음, 한계평형이론에 근거한 3차원 안경해석체계를 정립하여 터널 막장면에 대란 전체 예상안전율 평가방법을 제시하였고, 이 결과를 기존의 2차원적 해석결과와 서로 비교.분석하였다. 또한 얕은 spilefeinforced 터널과 깊은 spile-reinforced 터널을 구분하기 위한 규준 의 제시가 본 연구를 통해 아울러 이루어졌으며, 본 연구에서 제시한 이와같은 규준에 대한 적합성 확인을 위해 3D FEM 해석결과와 서로 비교가 이루어 졌다. 이외에도 제시된 규준 및 3차원 안정 해석법을 토대로, 설계에 관련된 여러 변수들이 본 spiting reinforcement system이 적용 된 얕은 터널에 미치는 영향등에 대해서도 분석이 이루어졌다. 얻어졌다. 또한 3wt%의 0.76B $i_{2}$ $O_{3}$-0.24NiO가 첨가된 경우 소결온도는 20$0^{\circ}C$ 저하되었고, 비유전율 ($\varepsilon$$_{r}$)과 공진주파수의 온도계수 ($\tau$$_{f}$)는 변하기 않았으나, Qㆍ $f_{0}$값이 38,000에서 25,000으로 저하되었다. 25,000으로 저하되었다.되었다.되었다.되었다.권자와 귀화 시민권자의 구분없이 하나의 집단으로 간주하고 분석해 왔던 것을 볼 때, 앞으로의 연구는 이론적으로나 방법론적으로 시민권의 유무가 주거형태에 끼치는 영향도 함께 고려해야 할 것이다.에 나타난 인도의 영향은 여성복식과 남성복식에 있어서 서로 유사점과 차이점이 보이는데, 인도의 영향이 여성복식에 있어서 그 빈도가 더 높고, 종류가 더 다양함을 볼 수 있다. 여성복식에 있어서는 12가지의 다양한 인도복식스타일이 나타났으며, 그중 가장 많이 보이는 스타일은 Indian Shirt/Blouse/Smock/ Dress이며, 그 뒤를 이어 Madras, Indian lowery등을 볼 수 있다. 남성복식애 나타난 7가지의 스타일 중에는 Madras가 가장 빈도가 높으며 그외의 스타일들은 그 빈도가 매우 낮음을 볼 수 있다. 인도의 영향의 정도 (Attribution Categories) 있어서는 여성과 남성복식 모두에 있어서 인도에서 직접 수입된(originated) item이 각각 전체의 90%와 81%를 차지하여, 인도복식의 영향은 받았으나 미국내에서 제작된(attributed and connotated) item 보다 휠씬 더 많은 수를 보였다. 인도복식스타일이 가장 많이 보여지는 시기(Peak period)는 여성과 남성복식에 있어 모두 1968년에서 1971년 사이로 공통점을 보였다.