• Journal of Mechanical Science and Technology
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• 제19권8호
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• pp.1554-1567
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• 2005

When multiple robotics systems with several sub-chains grasp a common object, the inherent force redundancy provides a chance of utilizing internal loading. Analysis of grasping space based internal loading is proposed in this work since this method facilitates understanding the physical meaning of internal loadings in some applications, as compared to usual operational space based approach. Investigation of the internal loading for a triple manipulator has been few as ,compared to a dual manipulator. In this paper, types of the internal loading for dual and triple manipulator systems are investigated by using the reduced row echelon method to analyze the null space of those systems. No internal loading condition is derived and several load distribution schemes are compared through simulation. Furthermore, it is shown that the proposed scheme based on grasping space is applicable to analysis of special cases such as three-fingered and three-legged robots having a point contact with the grasped object or ground.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2008년 영문 학술대회
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• pp.182-186
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• 2008

Fundamental experiments with single row heat exchanger were conducted for the purpose of validating new defrosting method using jet impingement. The coolant temperature were varied from 83 to 250 K. We used the jet periodically, once in 50 second and the duration of the jet is 0.1 second. The effect of the coolant temperature in the effectiveness of the jet defrosting was investigated.

• 한국농촌건축학회논문집
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• 제20권2호
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• pp.49-56
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• 2018

The vernacular houses with 田-shaped floor plan at Gangreung have been played important roles in tracing the vernacular living cultures including housing life. But due to the adoption of convenient facilities in vernacular housing lives caused by modernization and urbanization, many changes and transformations have happened at residential space of vernacular houses. This thesis targets to extract basic data to prepare and prevent various problems in process of renovation, extension and function change as installing housing life facilities, and to identify the changes and transformations of them to prepare the proper balances between their original form preservation and residents' convenience living. The results are as follows. The inner wall removal of rooms, the fuel change of cooking and heating, the leveling change of kitchen floor made possible the sedentary lifestyles. And its residential rooms were transformed from two row to one row by inner wall removal, the fuel heating change, the heating method change and the heat insulating materials. The residential extension materials were changed from the traditional materials such as soil, wood, etc to the modern materials such as cement block or brick, sandwich panel, etc. And the modern materials were used and attached to widen residential spaces to the vernacular house because of the easiness of execution. So, it is necessary for 田-shaped floor plan vernacular house owners to distribute printed execution guide book to prevent and minimize the various problems to be shown by extension, renovation and function change.

• 대한가정학회지
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• 제30권4호
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• pp.137-152
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• 1992

The purpose of this research is to obtain an empirically-based understanding of the attitudes of those children and mothers living in three different housing types : detached houses. row houses / villa and apartments. The subjects are 547 elementary school children in the fourth, fifth and sixth grades and their mothers in four different residential areas, Seoul. Followings are the result of this research. 1) Mothers put the first priority on the convenience of the dwelling space from the educational point of view, and they make complaints about their present dwelling space, in particular, children's play and storage space and the size of children's room. 2) They care a lot about the size of housing and, if the size of the housing is held constant, the mothers living in the apartments have more complain about. 3) The difference in the way children and mothers regard their dwelling space is great. The mothers would like to draw a clear line between rest space and play space. They would like to see their children play in their rooms, but children want to make use of the whole space of their housing for play. 4) Mothers think that the children's rooms should be used primarily for study while children think that their rooms have multiple uses such as studying, resting, and playing.

• International Journal of Automotive Technology
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• 제2권3호
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• pp.117-122
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• 2001

For a dynamic analysis of a constrained multibody system, it is necessary to have a routine for satisfying kinematic constraints. LU decomposition scheme, which is used to divide coordinates into dependent and independent coordinates, is efficient but has great difficulty near the singular configuration. Other method such as the projection matrix, which is more stable near a singular configuration, takes longer simulation time due to the large amount of calculation for decomposition. In this paper, the row space and the null space of the Jacobian matrix are proposed by using the pseudo-inverse method and the projection matrix. The equations of the motion of a system are replaced with independent acceleration components using the null space of the Jacobian matrix. Also a new hybrid method is proposed, combining the LU decomposition and the projection matrix. The proposed hybrid method has following advantages. (1) The simulation efficiency is preserved by the LU method during the simulation. (2) The accuracy of the solution is also achieved by the projection method near the singular configuration.

• 생물환경조절학회지
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• 제14권1호
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• pp.7-14
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• 2005

본 연구는 식물공장용 체인컨베이어식 조간조절장치를 개발하기 위해 수행하였다. 개발 시스템을 재배작물에 실제로 적용하기 위해 평가 시험하였다. 실험결과, 식물공장에서 수경재배되는 채소의 주간을 조절하는 기술을 제공하였다 작물조간조절단계는 매주 수확하는 것으로 하여 4단으로 설정하였고, 단계별 이송속도는 각각 6.4, 9.6, 12.3, 15.8$cm{\cdot}s^{-1}$이었고, 조간조절량은 각각 101.6, 152.4, 203.2, 254.0mm로 나타났다. 1단계에서 4단계로 작물이 이송되는 동안 작물과 재배 홈통의 무게가 17N에서 935N으로 증가함에 따라 구동축토오크도 $11.7\~33.3N{\cdot}m$범위에서 증가하여 이론토크 값보다 $5.9\~9.8N{\cdot}m$ 더 소요되었으며, 이때의 진행 저하율은 $1.6\~2.1\%$이었다. 재배홈통의 이동소요 시간의 설계 값이 2.26초이고 실측값이 2.24초로 잘 일치한 것으로 나타났다. 조간조절장치는 조간조절량이 설계된 값의 $5%$이내 범주에서 잘 조절되고, 시스템으로도 안정적으로 나타나 식물공장용 조간조절장치로 체인컨베이어식 조간조절장치가 활용될 수 있을 것으로 판단되었다.

• 한국대기환경학회:학술대회논문집
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• 한국대기환경학회 2003년도 춘계학술대회 논문집
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• pp.163-164
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• 2003

Reaction dynamics plays an essential role in understanding the microscopic mechanism of elementary chemical processes at the molecular level. Detailed studies of the reactions of atomic species such as hydrogen and second-row atoms with small closed-shell molecules have provided important insights into hydrocarbon synthesis, combustion, interstellar space and atmospheric chemistry. Despite its mechanistic significance, however, the investigations of atom-radical reaction dynamics are quite scarce in comparison to the extensive studies of atom-molecule reactions. (omitted)

• Journal of the Korean Statistical Society
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• 제25권4호
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• pp.589-601
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• 1996

Geometric approach to extend the classical two-set theory of canonical correlation analysis to three or more sets is considered. It provides statistical graphs to represent the data in a low dimensional space. Procedures are developed for computing the canonical variables and the corresponding properties are investigated. The solution is equivalent to that of the usual problem in the case of two sets. Goodness-of-fit of the proposed plots is studied and a numerical example is included.

• 한국환경과학회지
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• 제20권8호
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• pp.997-1009
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• 2011

In order to estimate volume transport by upwelling for single artificial seamount, same shape and size of artificial seamount already deployed was applied to numerical experiment. The result showed that strong upwelling appeared at front while took place downwelling at rear. The strongest upwelling existed at the top of the artificial seamount. Volume transport by upwelling was computed as 785 m3/s. Column arrangement was applied to two artificial seamount in three cases; case 1) no clearance, case 2) sixty-five meters of clearance as half of artificial seamount's length, and case 3) hundred-thirty meters of clearance as an artificial seamount's length. All cases of column arrangements showed more upwelling volume transport than that of single seamount. Particularly, the case of no clearance calculated as 106% and appeared the most upwelling effect comparing to two other cases. Row arrangement was also applied to two artificial seamount in three cases; case 4) no clearance, case 5) forty meters of clearance as an artificial seamount's width, and case 6) eighty meters of clearance as twice of artificial seamount's width. Upwelling volume transport in case 4 increased 48% than the case of single seamount. Other two cases of 5 and 6 were estimated as 97% increased and more effective than case 4. According to the case experiments, column arrangements show more upwelling volume transport than that of row arrangements. In cases of column arrangements, with decreasing clearance between two seamount, the effect increases while showing maximum value at clearance zero. In cases of row arrangements, on the contrary, with decreasing clearance between two seamount, the effect decreases while showing minimum value at clearance zero. Since simple barotropic condition was considered for this study, further study is necessary by considering baroclinic condition to get close to reality. In conclusion, in deploying artificial seamount, optimal arrangement should be well designed to enhance primary and secondary productivity and to increase the diversity of species as well as reducing time and space.

• 토지주택연구
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• 제8권4호
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• pp.223-232
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• 2017

The purpose of this study is to identify the supply status and planning trend of North Korean housing through analysis on the North Korean architecture specialized media data. The flat composition is changing and the living room is becoming the center of the houses. Also, in the urban areas, the standard apartment type is four apartments in a row and the plan form is getting diversified into circle type, Y type, and irregular type. On the other hand, in the rural areas, two houses in a row and single house are typical and the change in planning scale and space structure are not substantial. Since the 2000s, design changes have been made to emphasize the third dimensional structure of buildings such as the elliptical houses and L-shaped houses. Furthermore, 8~10 households are located on one floor which leads to the tendency of the building enlargement. In terms of house size, a square concept was introduced to replace the initial 2~3 room concept and the basic module of the room planning the 3 room house based on $3m{\times}3m$. However, there seems to be no standard house size, and the house size may differ depending on the social classandregion. In the early 1980s, when there was focus on the apartment complex construction, the high-rise apartment buildings of 30~40 floors was planned. However, during the Pyongyang redevelopment project, apartments of more or less than 10 floors were built and row-houses of more or less than 4 floors were built. In terms of the complex scale, a lot of small complexes of around 300 households are emerging after 2010. The construction projects are mainly limited to specific regions such as Pyongyang and Samjiyeon, and also limited to specific classes such as the workers and soldiers initially and the scientists lately. In addition, living boundary composition and ancillary facilities for sufficient green area ratio securement and the people of North Korea are maintained consistently. In recent years, the specialized floor planning such as solar house and the house for the disabled people, framework houses for redevelopment business, and multi-storied house construction technology are also emerging.