• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1046-1051
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• 1991

For the conveyor tracking application of a robot manipulator, a new control scheme is presented. The presented scheme is divided into two stages : the upper one is the motion planning stage and the lower one is the motion control stage. In the upper stage, the nominal trajectory which tracks the part moving in a constant velocity, is planned considering the robot arm dynamics. On the other hand, in the lower level, the perturbed trajectory is generated to track the variation in the velocity of conveyor belt via sensory feedback and the perturbed arm dynamics. In both stages, the conveyor tracking problem is formulated as an optimal tracking problem, and the torque constraints of a robot manipulator are taken into account. Simulation results are then presented and discussed.

• 복식
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• 제6권
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• pp.161-171
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• 1982

The idea of King Hungdok's prohibition of clothing was to restrict the use of chinese-made cloth on the one hand and to compell his people to use Korean-made cloth for their apparel on the other. The prohibition of clothing sprang from King Hungdok's aspiration to restore his dynasty that had been falling due to the repeated drought disaster and luxurious living of the aristocracy. Safflower, Rubeaceae roots and Sapan wood are well known as some of the earliest natural red-dyes, exhibiting beautiful red-color in our anciet cultural tradition. The color yellow was considered from ancient time to the Chosun Dynasty as the central color. Thus, this color became the royal color for the costumes in the palace. Those plants used to make the color yellow are: Gardenia, phellodendron amurense, Turmeric, coptis, safflower, Arthraxon hispidus, Styphnolobium japonicum. Shikon, root of violet plant, is well known as one of the earliest natural days. By repeating the difficult process of making various dyes constantly during many centuries, the Korean people developed the marvelous technique of making natural color.

• 한국수학교육학회지시리즈A:수학교육
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• 제45권3호
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• pp.367-373
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• 2006

This study suggests that it is necessary to prove that the values of three areas of a triangle, which are obtained by the multiplication of the respective base and its corresponding height, are the same. It also seeks to deeply understand the meaning of Area formula of triangles by exploring some questions raised in the analysis of the proof. Area formula of triangles expresses the invariance of congruence and additivity on one hand, and the uniqueness of parallel line, one of the characteristics of Euclidean geometry, on the other. This discussion can be applied to introducing and developing exploratory learning on area in that it revisits the ordinary thinking on area.

• International Journal of Precision Engineering and Manufacturing
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• 제9권3호
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• pp.85-91
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• 2008

Robot technology is a remarkably interdisciplinary research area, one that can be employed in various industrial fields as well as higher value-added fields. The construction industry, on the other hand, has been known as one of the most difficult research fields to apply robotic schemes. Therefore, applying robot technologies in the construction industry is quite a challenging topic. This paper aims to introduce the progress of automated robotic systems in construction fields, namely with respect to construction robots. While construction robots have a very wide range of application depending on the huge market size of the construction industry, there still exist a lot of problems such as highly risky working environment and inefficiency due to the labor intensive characteristic. In order to solve these problems, a variety of construction robots have been developed and, in this paper, the current state of the robotic systems for construction works and the vision of future robot technology in the construction field are introduced.

• Membrane and Water Treatment
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• 제1권2호
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• pp.93-101
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• 2010

This study examined the effects of feed water chemistry and membrane fouling on the rejection of trace organics by a loose nanofiltration membrane. One ionisable and one non-ionisable trace organics were selected for investigation. Results reported here indicate that the solution pH and ionic strength can markedly influence the removal of the ionisable trace organic compound sulfamethoxazole. These observations were explained by electrostatic interactions between the solutes and the membrane surface and by the speciation of the ionisable compound. On the other hand, no appreciable effects of solution pH and ionic strength on the rejection of the neutral compound carbamazepine were observed in this study. In addition, membrane fouling has also been shown to exert some considerable impact on the rejection of trace organics. However, the underlying mechanisms remain somewhat unclear and are subject to on-going investigation.

• Archives of Pharmacal Research
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• 제9권1호
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• pp.5-9
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• 1986

Partialy purified ginseng proteins were either treated with sodium dodecyl sulfate (SDS) and .betha.-mercaptoethanol to denature the proteins or not, and subjected to Thin Layer Chromatography (TLC) and High Performance Liquid Chromatography (HPLC) to compare the components of each fraction. Standard proteins of known molecular weights (MW) were also either treated with SDS and .betha.-mercaptoethanol or not, and subjected to HPLC to obtain regression lines for MW determination. From the retention times obtained from samples in eiether case by HPLC, the MW were estimated as following in SDS treated condition, Gl fraction showed three peaks each with MW of above 100, 000, 51, 000 and 19, 000. Gll showed one original peak with MW of 21, 000 and Gll, two peaks each with MW of 19, 000 and 14, 000. On the other hand, in non-SDS treated condition, GI fraction showed two peaks each with MW of above 200, 000 NA 52, 000. Gll showed one original peak with MW of 41, 000 and Gill, three peaks each with MW of 28, 000, 19, 000 and 14, 000.

• 약학회지
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• 제37권5호
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• pp.504-510
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• 1993

Human insulin gene is consisted of the polymorphic region with the repeating units, the regulatory sequence, the structural gene including the intervening sequence, and 3'-flanking region. The polymerase chain reaction, which amplifies the target DNA between two specific primers, has been performed for the amplification of human insulin gene and simple one-step cloning of it into Escherichia coli. Out of 1727 nuceotides compared, only 4 sites were variable: 5'-regulatory region(G2101$\rightarrow$AGG); IVS I(T2401$\rightarrow$A); Exon II(C2411 deletion); IVS II(A2740 dejection). The variations at the G2101 and T2401 were the same as those found in one American allele. The other two variations were observed only in the specific Korean allele. And, the enzyme digestion patterns among normal, insulin dependent diabetes mellitus, and non-insulin dependent diabetes mellitus were the same. On the other hand, PCR method showed the possibility of the quickaccess for the polymorphic region in terms of the restriction fragment length of polymorphism.

• 한국원자력학회:학술대회논문집
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• 한국원자력학회 1996년도 추계학술발표회논문집(1)
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• pp.15-20
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• 1996

We present the result of physical studies for three integral-type burnable absorbers of gadolinia, erbia and IFBA, in the hexagonal fuel assembly. The analysis of nuclear characteristics for gadolinia and IFBA cases shows that the spectrum hardening of hexagonal fuel assembly compared to rectangular one leads to smaller reactivity hold-down worth(RHW) and less change of MTC in the negative direction per insertion of one burnable absorber rod. Erbia case, on the other hand, exhibits reversed trend in RHW and MTC due to the enhanced absorption of large resonance of Erbium at 0.5 eV It turns out to be that Erbia performs best in terms of minimizing the peak pin power and maintaining as more negative MTC as practically attainable during the entire operational phase, and IFBA provides the least residual reactivity penalty at EOC. Therefore, we take Erbium as the suitable burnable absorber and provide optimal designs of 60, 120, 180, 240 and 300 erbia-shimmed hexagonal fuel assemblies with regard to minimizing the peak pin power.

• Nuclear Engineering and Technology
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• 제44권2호
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• pp.113-150
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• 2012

The point we made in this paper is that, although detailed and precise three-dimensional (3D) whole-core transport calculations may be obtained in the future with massively parallel computers, they would have an application to only some of the problems of the nuclear industry, more precisely those regarding multiphysics or for methodology validation or nuclear safety calculations. On the other hand, typical design reactor cycle calculations comprising many one-point core calculations can have very strict constraints in computing time and will not directly benefit from the advances in computations in large scale computers. Consequently, in this paper we review some of the deterministic 3D transport methods which in the very near future may have potential for industrial applications and, even with low-order approximations such as a low resolution in energy, might represent an advantage as compared with present industrial methodology, for which one of the main approximations is due to power reconstruction. These methods comprise the response-matrix method and methods based on the two-dimensional (2D) method of characteristics, such as the fusion method.

• 한국광학회:학술대회논문집
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• 한국광학회 2000년도 제11회 정기총회 및 00년 동계학술발표회 논문집
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• pp.126-127
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• 2000

Resonance fluorescence is the manifestation of the interaction between the physical system under consideration and the vacuum-field fluctuation. The fluorescence spectrum provides such physical informations as the energy-level structure of the system, instabilities and relative populations of the energy levels, etc.. One of the typical fluorescence spectra is the Mollow triplet appearing when two-level atoms are driven by a strong coherent field in free space$^{(1)}$ . In the weak field limit, the singlet instead of the triplet is obtained with a reduced linewidth due to the squeezing of one quadrature phase of the induced atomic dipole$^{(2)}$ . On the other hand, when the atoms are put inside a cavity rather than in free space, a doublet spectrum due to the vacuum Rabi-splitting is achieved, showing clearly the coupling of atoms and the cavity in the single-quantum limit$^{(3)}$ . (omitted)