• Bulletin of the Korean Chemical Society
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• 제14권6호
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• pp.692-696
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• 1993

Prediction of retention times in transition metal-mandelate and transition metal-tartrate complex systems were studied on the cation exchanger. Plots of k' vs [mandelate] and k' vs [tartrate] were obtained under the condition of a constant competing cation concentration. The equation to predict the retention time of transition metal ion was derived from the ion exchange equilibria. Individual capacity factors (${k_1}',\;{k_2}'$) and stability constants ($K_1,\;K_2$) of the complexes were calculated from the non-linear least square method. Good resolution of the transition metals was predicted by the stepwise equation in the gradient method. The values of retention times from the calculation and the experiment agreed well each other.

• Structural Engineering and Mechanics
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• 제64권1호
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• pp.71-79
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• 2017

In this study, interaction of several interface cracks located between a functionally graded material (FGM) layer and an elastic layer under anti-plane deformation based on the distributed dislocation technique (DDT) is analyzed. The variation of the shear modulus of the functionally graded coating is modeled by an exponential and linear function along the thickness of the layer. The complex Fourier transform is applied to governing equation to derive a system of singular integral equations with Cauchy type kernel. These equations are solved by a numerical method to obtain the stress intensity factors (SIFs) at the crack tips. The effects of non-homogeneity parameters for exponentially and linearly form of shear modulus, the thickness of the layers and the length of crack on the SIFs for several interface cracks are investigated. The results reveal that the magnitude of SIFs decrease with increasing of FG parameter and thickness of FGM layer. The values of SIFs for FGM layer with exponential form is less than the linear form.

• 로봇학회논문지
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• 제8권1호
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• pp.20-28
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• 2013

Large workspace and strong grasping force are required when a robot manipulates big and/or heavy objects. In that situation, bimanual manipulation is more useful than unimanual manipulation. However, the control of both hands to manipulate an object requires a more complex model compared to unimanual manipulation. Learning by human demonstration is a useful technique for a robot to learn a model. In this paper, we propose an imitation learning method of bimanual object manipulation by human demonstrations. For robust imitation of bimanual object manipulation, movement trajectories of two hands are encoded as a movement trajectory of the object and a force trajectory to grasp the object. The movement trajectory of the object is modeled by using the framework of dynamic movement primitives, which represent demonstrated movements with a set of goal-directed dynamic equations. The force trajectory to grasp an object is also modeled as a dynamic equation with an adjustable force term. These equations have an adjustable force term, where locally weighted regression and multiple linear regression methods are employed, to imitate complex non-linear movements of human demonstrations. In order to show the effectiveness our proposed method, a movement skill of pick-and-place in simulation environment is shown.

• 유통과학연구
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• 제17권1호
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• pp.105-115
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• 2019

Purpose - Previous research has shown that a very high level and a very low level of job scope can both be more stressful than intermediate levels of job scope. This study investigates the potential positive and negative effects of the number of accounts handled by sales personnel. The primary objective of this paper is to examine how the number of accounts salespeople handle affects their stress and performance. Research design, data, and methodology - This research conducted the data collection using a survey of salespeople in the pharmaceutical industry. I sent the survey to 420 salespeople, and received 318 usable responses. To assess measurement reliability and validity, I ran an exploratory and confirmatory factor analysis. I also employed structural equation modeling (SEM) to test all hypothesized effects in AMOS and also measured the interaction variable using Ping's (1996) approach. Results - These results show that there are linear and non-linear effects of the number of accounts handled by the salesperson on both role ambiguity and role conflict. First, the number of accounts handled by a salesperson is positively related to role ambiguity and role conflict. Second, the effect of the number of accounts handled on role ambiguity and role conflict decreases as the number of accounts handled by the salesperson increases. Third, as accounts increase from a low level, role stress increases; when the number of accounts reaches an optimal level, role stress decreases; and when the number of accounts increases to a high level, it can be detrimental to the salesperson's role stress. Fourth, while product complexity is positively related to role ambiguity, brand strength is negatively related to both role ambiguity and role conflict. Fifth, the greater the brand strength, the weaker the relationship will be between the number of accounts handled and salesperson role ambiguity. Finally, role ambiguity is positively related to salesperson performance. Conclusion - Too much and too little accounts increase the role ambiguity and role conflict of salespersons. Managers should identify the complex effect of the number of accounts handled by salespeople. Also, when products are complex, managers should provide training to eliminate any complex processes and complex information. These results suggest ways to decrease salespersons' role stress by ensuring an optimal level of the number of accounts and brand strength.

• 한국항행학회논문지
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• 제18권5호
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• pp.501-507
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• 2014

음이 아닌 입력에 대하여 음이 아닌 초기상태에서 출발한 모든 상태변수 값들이 시간에 대하여 항상 음이 아닌 값을 유지하는 시스템은 양의 시스템으로 정의된다. 본 논문에서는 상태변수에 시변 지연시간이 있는 양의 시변 선형 이산 구간 시스템의 안정조건을 새롭게 제안한다. 시변 지연시간은 최소와 최대 지연시간 범위에서 변하는 것으로 고려된다. 제안된 안정조건은 리아프노프 방정식의 상한 해 한계를 이용하여 유도되며, 매우 간단한 부등식의 형태로 표현된다. 수치예제를 통하여 새로운 안정조건들이 안정성 판단에 간단하고 효과적으로 적용될 수 있음을 확인한다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1998년도 춘계학술대회논문집; 용평리조트 타워콘도, 21-22 May 1998
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• pp.602-607
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• 1998

Rubber materials are extensively used in various machine design application, mainly for vibration/shock/noise control devices. Over the years an enormous effort has been put into developing procedures to provide properties of rubber material for design function. However, there are still a lot of difficulties in the understanding of dynamic characteristics of the rubber components in compression. In this paper, the dynamic characteristics of rubber materials for anti-vibration under compression were investigated. Dynamic and static tests for rubber material with 3 different hardness were performed. In dynamic tests, non-resonance method, impedance method, was used to obtain the complex modulus (storage modulus and loss factor) and the effects of static pre-strain on the dynamic characteristics were investigated. Also, a relation equation between linear dynamic and nonlinear static behavior of rubber material was discussed and its usefulness to predict their combined effects was investigated.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1-4
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• 1996

It is difficult that a non-translational motion in a block is estimated by the block matching algorithm (BMA). In this paper, a nodal-displacement-based deformation model is used for this reason. This model assumes that a selected number of control nodes move freely in a block and that displacement of any interior point can be interpolated from nodal displacements. As a special case with a single node this model is equivalent to a translational model. And this model can represent more complex deformation using more nodes. We used an iterative gradient based search algorithm to estimate nodal displacement. Each iteration involves the solution of a simple linear equation. This method is called the deformable block matching algorithm (DBMA).

• 소음진동
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• 제8권5호
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• pp.900-907
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• 1998

Rubber materials are extensively used in various machine design application, mainly for vibration/shock/noise control devices. Over the years an enormous effort has been put into developing procedures to provide properties of rubber material for design function. However, there are still a lot of difficulties in the understanding of dynamic characteristics of the rubber components in compression. In this paper, the dynamic characteristics of rubber materials for anti-vibration under compression were investigated. Dynamic and static tests for rubber material with 3 different hardness were performed. In dynamic tests, non-resonance method, impedance method, was used to obtain the complex modulus(storage modulus and loss factor) and the effects of static pre-strain on the dynamic characteristics were investigated. Also, a relation equation between linear dynamic and nonlinear static behavior of rubber material was discussed and its usefulness to predict their combined effects was investigated.

• 한국정밀공학회지
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• 제14권5호
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• pp.134-142
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• 1997

In this study, we proposed the wire parallel mechanism that can be used to measure a full pose of a robot. It is composed of six parallel links using wire. The position and orientation of the end effectorf of a robot are calculated using the length of wires which is measured by the encoder. The complex non- linear equations of the forward kinematics are solved by using a numerical method, and the unique solution is obtained from the geometric configuration of the device. The length error of the wire which occurs in static condition is compensated by the relational equation that considered longitudinal extension and defoection of the wire. Through this work, we known that the proposed device has a good accuracy( .+-. 0.01mm) in a large measuring region, so it can be used effectively in a callibration of a robot which required a low cost.

• Advances in Computational Design
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• 제7권1호
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• pp.1-17
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• 2022

In this study, a new strategy is presented to transmit the fundamental elastic beam problem into the modern optimization platform and solve it by using artificial intelligence (AI) tools. As a practical example, deflection of Euler-Bernoulli beam is mathematically formulated by 2nd-order ordinary differential equations (ODEs) in accordance to the classical beam theory. This fundamental engineer problem is then transmitted from classic formulation to its artificial-intelligence presentation where the behavior of the beam is simulated by using neural networks (NNs). The supervised training strategy is employed in the developed NNs implemented in the heuristic optimization algorithms as the fitness function. Different evolutionary optimization tools such as genetic algorithm (GA) and particle swarm optimization (PSO) are used to solve this non-linear optimization problem. The step-by-step procedure of the proposed method is presented in the form of a practical flowchart. The results indicate that the proposed method of using AI toolsin solving beam ODEs can efficiently lead to accurate solutions with low computational costs, and should prove useful to solve more complex practical applications.