• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.2
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• pp.127-134
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• 2016

This paper presents a robust control of a reaction wheel inverted pendulum. To this end, a mathematical model is derived using physical laws, and then parameters in the model are identified as well. Based on the model, a robust position control is designed, which consists of two parts: swing-up control using passivity and robust stabilization control using LMI (Linear Matrix Inequality). When the pendulum starts to move, the swing-up control is applied. If the position of the pendulum is near the desired upright position, the control is switched to the robust stabilization control. This robust control is employed in order to deal with the uncertainties in the inertia of the pendulum dynamics. The performance of the proposed control scheme is validated not only simulation but also real experiment.

• KEPCO Journal on Electric Power and Energy
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• v.3 no.1
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• pp.29-34
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• 2017

Leaching kinetics for extracting yttrium from the coal fly ash was investigated in the presence of sulfuric acid during extraction. The leaching kinetics of yttrium were conducted at reactant densities of 5~1,000 g coal fly ash per L of $1.0{\sim}10.0N\;H_2SO_4$, agitation speed of 250 rpm and temperature ranging from 30 to $90^{\circ}C$. As a result, the leaching kinetic model was determined in a two-step model based on the shrinking core model with spherical particles. The first step was proceeded by chemical reaction at ash surface, and the second step was proceeded by ash layer diffusion because the leaching conversion of yttrium by the first chemical reaction increases with increased the time irrelevant to the temperature whereas it increases with increased the leaching temperature. The activation energy of the first chemical leaching step was determined to be $1.163kJmol^{-1}$. After the first chemical reaction, the activation energy of ash layer diffusion leaching was derived to be $41.540kJmol^{-1}$. The optimum conditions for leaching the yttrium metal of 60 % were found to be the slurry density of 250 g fly ash per L of $H_2SO_4$, solvent concentration of $2.0N\;H_2SO_4$, second step leaching of temperatures of $30^{\circ}C$ for 3 hours and then $90^{\circ}C$ for 3 hours at agitation rate of 250 rpm.

• Applied Chemistry for Engineering
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• v.5 no.3
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• pp.385-394
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• 1994

Numerical solutions were obtained to the model equations for various of the parameters characterizing the pore structure, effective internal diffusion, and the chemical reaction constant. The conversion was decreased with the cause of pore closure at the surface of reacting particles, reduction of porosity, surface area of reaction and effective diffusion coefficient in the solid with the progress of reaction. Total conversion was strongly dependent on the local conversion at surface. According to the decreasing of impregnated concentration of the copper oxide and the increase of the flue gases concentration, total conversion was increased. The conversion was affected by gas flow rate and pore size distribution in the reacting solid.

• Journal of Microbiology and Biotechnology
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• v.27 no.2
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• pp.297-305
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• 2017

The use of peroxidase in the nitration of phenols is gaining interest as compared with traditional chemical reactions. We investigated the kinetic characteristics of phenol nitration catalyzed by horseradish peroxidase (HRP) in an aqueous-organic biphasic system using n-butanol as the organic solvent and ${NO_2}^-$ and $H_2O_2$ as substrates. The reaction rate was mainly controlled by the reaction kinetics in the aqueous phase when appropriate agitation was used to enhance mass transfer in the biphasic system. The initial velocity of the reaction increased with increasing HRP concentration. Additionally, an increase in the substrate concentrations of phenol (0-2 mM in organic phase) or $H_2O_2$ (0-0.1 mM in aqueous phase) enhanced the nitration efficiency catalyzed by HRP. In contrast, high concentrations of organic solvent decreased the kinetic parameter $V_{max}/K_m$. No inhibition of enzyme activity was observed when the concentrations of phenol and $H_2O_2$ were at or below 10 mM and 0.1 mM, respectively. On the basis of the peroxidase catalytic mechanism, a double-substrate ping-pong kinetic model was established. The kinetic parameters were ${K_m}^{H_2O_2}=1.09mM$, ${K_m}^{PhOH}=9.45mM$, and $V_{max}=0.196mM/min$. The proposed model was well fit to the data obtained from additional independent experiments under the suggested optimal synthesis conditions. The kinetic model developed in this paper lays a foundation for further comprehensive study of enzymatic nitration kinetics.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.4
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• pp.54-62
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• 2011

Emotional reaction should be different from the purpose of the robot system. The method for emotional reaction is also different from the specification of the robot system. Therefore, emotional behavior decision model, which is applied to social robots regardless of specifications and purposes, is necessary. This paper introduces a universal emotional behavior decision model designed for applying to various social robots that have different specifications and purposes. Multiple emotions, a set of probability value of every emotion, are calculated independently and expressed according to the purpose of the robot system. Then, behavior, for emotional reaction according to the calculated multiple emotions, is decided regarding the specification of the robot system. The decided behavior is a combination of unit behaviors that indicates the smallest expressible behaviors in each expression parts. It is possible to express various undefined behaviors by generating unit behavior combinations according to multiple emotions. The universal emotional behavior decision model is applied to three kinds of social robot systems that have different specifications and purposes.

• Journal of Digital Convergence
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• v.19 no.6
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• pp.113-132
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• 2021

This study is a new evaluation using the Arrhenius equation, which is known as the chemical reaction rate estimation equation, to evaluate the intrinsic and extrinsic value elements of patents as a model. The performance of the evaluation model was superior to the SVM, Logistic reg. and ANN models that were used as patent evaluation models in prior studies. In addition, there was a strong correlation between the predicted lifespan of the patent and the actual lifespan of the patent. These evaluation models may be used for evaluation purposes only, or if an evaluation is required, including a commercialization entity or technical characteristics.

• Ecology and Resilient Infrastructure
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• v.10 no.4
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• pp.125-134
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• 2023

In order to develop a backtracking technique for turbidity measurement data without discriminatory characteristics, three turbidity backtracking techniques for predicting inflow turbidity of a stream were compared using real-time turbidity data measured at automatic water quality measurement points located upstream and downstream of the stream and the Py_STPS model. Three turbidity backtracking techniques were applied: 1) simple preservation method of turbidity load considering flow time, 2) a method of using the flow rate at the upstream boundary considering the flow time as the flow rate at the downstream boundary, 3) method of introducing internal reaction rate to reflect the behavior characteristics of turbidity-causing substances. As a result of applying the three backtracking models, it was confirmed that the backtracking technique that introduced the internal reaction rate had the best results.

• Food Science and Preservation
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• v.30 no.4
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• pp.573-588
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• 2023

The purpose of this study was to monitor changes in the quality of ginseng and predict its shelf-life. As the storage period of ginseng increased, some quality indicators, such as water-soluble pectin (WSP), CDTA-soluble pectin (CSP), cellulose, weight loss, and microbial growth increased, while others (Na₂CO₃-soluble pectin/NSP, hemicellulose, starch, and firmness) decreased. Principal component analysis (PCA) was performed using the quality attribute data and the principal component 1 (PC1) scores extracted from the PCA results were applied to the multivariate analysis. The reaction rate at different temperatures and the temperature dependence of the reaction rate were determined using kinetic and Arrhenius models, respectively. Among the kinetic models, zeroth-order models with cellulose and a PC1 score provided an adequate fit for reaction rate estimation. Hence, the prediction model was constructed by applying the cellulose and PC1 scores to the zeroth-order kinetic and Arrhenius models. The prediction model with PC1 score showed higher R² values (0.877-0.919) than those of cellulose (0.797-0.863), indicating that multivariate analysis using PC1 score is more accurate for the shelf-life prediction of ginseng. The predicted shelf-life using the multivariate accelerated shelf-life test at 5, 20, and 35℃ was 40, 16, and 7 days, respectively.

• Journal of Life Science
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• v.14 no.3
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• pp.478-483
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• 2004

In a model reaction using lysyl oxidase purified partilally from bovine aorta, effect of L-ascorbic acid AsA on the oxidative reaction of lysine in collagen was investigated. Addition of Ash to the reaction mixture under aerobic conditions resulted in the decrease of enzymatic activity. In order to examine the specificity of AsA in the oxidative reaction of lysine, other reductants including A derivatives instead of AsA were added to the reaction mixture. Thiol such as glutathione had no effect on the activities of lysyl oxidase. on the other hand, it was observed that erythorbic acid, which was a stereoisomer of AsA, had the same inhibitory effect on this oxidative reaction as AsA. Moreover, by the addition of 3,4-dihydroxybenzoate, which was structural analog of AsA, the activities decreased in a similar manner to that of AsA. These results indicate that the regulatory effect of AsA on lysyl oxidase is attributed to characteristics of the structure. From the determination of Ash remained in the reaction mixture, it is shown that AsA concentration remarkably decreased by lysyl oxidase of the reaction mixture. It is hypothesized that endiol groups reduces the enzyme-bound $Cu^{+2}$ required for further progress of the reaction, and suggests that AsA regulates specifically the reduction of $Cu^{+2}$ required to oxidize lysyl oxidase. This findings support that AsA has an important regulatory role on the oxidative reaction of lysine and on changes of collagen cross-links with aging.

• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.270-277
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• 2008

The development of a face robot basically targets very natural human-robot interaction (HRI), especially emotional interaction. So does a face robot introduced in this paper, named Buddy. Since Buddy was developed for a mobile service robot, it doesn't have a living-being like face such as human's or animal's, but a typically robot-like face with hard skin, which maybe suitable for mass production. Besides, its structure and mechanism should be simple and its production cost also should be low enough. This paper introduces the mechanisms and functions of mobile face robot named Buddy which can take on natural and precise facial expressions and make dynamic gestures driven by one laptop PC. Buddy also can perform lip-sync, eye-contact, face-tracking for lifelike interaction. By adopting a customized emotional reaction decision model, Buddy can create own personality, emotion and motive using various sensor data input. Based on this model, Buddy can interact probably with users and perform real-time learning using personality factors. The interaction performance of Buddy is successfully demonstrated by experiments and simulations.