• 제어로봇시스템학회논문지
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• 제15권12호
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• pp.1216-1222
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• 2009

This article describes a simple method for generating the walking trajectory for the biped humanoid robot. The method used a simple inverted model instead of complex multi-mass model and a reasonable explanation for the model simplification is included. The problem of gait trajectory generation is to find the solution from the desired ZMP trajectory to CoG trajectory. This article presents the analytic solution for the bipedal gait generation on the bases of ZMP trajectory. The presented ZMP trajectory has Fourier series form, which has finite or infinite summation of sine and cosine functions, and ZMP trajectory can be designed by calculating the coefficients. From the designed ZMP trajectory, this article focuses on how to find the CoG trajectory with analytical way from the simplified inverted pendulum model. Time segmentation based approach is adopted for generating the trajectories. The coefficients of the function should be designed to be continuous between the segments, and the solution is found by calculating the coefficients with this connectivity conditions. This article also has the proof and the condition of solution existence.

• 멤브레인
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• 제3권3호
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• pp.108-116
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• 1993

수면전개 혼합적층막의 기체투과계수는 PS의 혼합비율이 증가함에 따라, 분리계수는 PVC의 환합비율이 증가함에 따라 증가하였다. 기체투과기구는 PS의 혼합비율이 감소함에 따라 Poiseuile-Knudsen 모델에서 solution-diffusion모델로 전이하였다. 한편 혼합박막의 구조는 공기면측에 소수성의 PS가, 수면측에는 친수성인 PVC가 배향된 직렬혼합구조였으며, 기체투과거동은 series model을 따랐다.

• Journal of applied mathematics & informatics
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• 제24권1_2호
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• pp.31-48
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• 2007

The paper deals with the solution of some fractional partial differential equations obtained by substituting modified Riemann-Liouville derivatives for the customary derivatives. This derivative is introduced to avoid using the so-called Caputo fractional derivative which, at the extreme, says that, if you want to get the first derivative of a function you must before have at hand its second derivative. Firstly, one gives a brief background on the fractional Taylor series of nondifferentiable functions and its consequence on the derivative chain rule. Then one considers linear fractional partial differential equations with constant coefficients, and one shows how, in some instances, one can obtain their solutions on bypassing the use of Fourier transform and/or Laplace transform. Later one develops a Lagrange method via characteristics for some linear fractional differential equations with nonconstant coefficients, and involving fractional derivatives of only one order. The key is the fractional Taylor series of non differentiable function $f(x+h)=E_{\alpha}(h^{\alpha}{D_x^{\alpha})f(x)$.

• Kyungpook Mathematical Journal
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• 제62권4호
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• pp.729-736
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• 2022

To help solving intractable nonlinear evolution equations (NLEEs) of waves in the field of fluid dynamics we develop an algorithm to find new high order solutions of the class of Abel, Bernoulli, Chini and Riccati equations of the form y' = ayⁿ + by + c, n > 1, with constant coefficients a, b, c. The role of this class of equations in NLEEs is explained in the introduction below. The basic algorithm to compute the coefficients of the power series solutions of the class, emerged long ago and is further developed in this paper. Practical application for hitherto unknown solutions is exemplified.

• Journal of Advanced Marine Engineering and Technology
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• 제22권6호
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• pp.792-799
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• 1998

Further improvement of existing $H_{2}O/LiBr$ absorption refrigeration machine is absolutely neces-sary to promote the utilization of gas-cooling system Among various methods to improve the per-formance of the absorption refrigeration machine this research has focused on the use of a new working fluid that has better properties than the existing $H_{2}O/LiBr$ working fluid. In the series of the research, $H_{2}O/LiBr+HO{(CH_{2})}_{3}OH$ system was selected as the most promisable candidate. The absorption refrigeration machine is water-cooled double-effect, $H_{2}O/LiBr+HO{(CH_{2})}_{3}OH$ sys-tem with series flow type. In this study we found out the characteristic of new working solution through the cycle simulation and compared the result with that of LiBr solution to evaluate. Theoptimum designs and operating conditions were determined based on the operating constraints and the coefficient of performance. Results demonstrate that new working fluid subsrantially increases COP by as much as 10% and has a wider working range with 8% higher crystallization limits compared to the conventional $H_{2}O/LiBr$.

• 한국강구조학회 논문집
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• 제22권3호
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• pp.241-251
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• 2010

본 논문에서는 등분포 하중을 받는 등방성 환형 섹터판의 지배방정식에 대한 새로운 해석적 해가 3차원 극좌표계에서 개발된다. 4차의 편미분방정식 형태를 가지는 지배방정식은 레비 타입 시리즈 해에 대한 가정과 그 후속적인 수학적 처리를 통해 4차의 상미분방정식으로 전환된다. 전환된 상미분방정식의 특성방정식에 대한 실수 영역 및 복소수 영역의 해를 해석적으로 구한 후 제차 및 비제차 방정식의 각 해의 조합으로 최종적인 지배방정식의 해가 완성된다. 개발된 해의 수렴성 및 정확성을 보여주기 위해 다양한 경계조건 및 내부 중심 각도를 가지는 판에 대한 예제 해석을 수행하였고 그 결과를 다른 해석적 연구결과와 비교하였다. 또한 개발된 해의 정확성을 확인하기 위하여 유한요소 프로그램인 ABAQUS를 이용한 탄성해석을 추가로 수행하여 그 결과를 비교하였다. 제안된 해로부터 결정된 환형 섹터판의 변위 및 모멘트 값은 여타의 해석적 및 수치적 접근방법으로 구한 값들과 비교해 본 결과 매우 높은 수준에서 일치하고 있음이 확인되었다.

• 한국세라믹학회지
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• 제18권2호
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• pp.91-98
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• 1981

Synthetic zeolite A was prerared from domestic Hadong kaolin with sodium hydroxide solution and their ion exchange isotherms of $K^+$, $NH^{4+}$, $Li^+$ and $Ag^+$ ion were presented. The optimum reaction conditions for synthetic zeolite A from calcinated kaolin were 2 fold excess of 2N sodium hydroxide solution, 10$0^{\circ}C$ and 8 hours. It was observed that before the crystallization of zeolite A the samples reacted with sodium hydroxide solution had rather higher ion exchange capacities than zeolite A. The $K^+$-$Na^+$ and $Ag^+$$Na^+$ ion exchange isotherms were signoidal. The initial selectivity series was in the order $Ag^+$$K^+$>$Na^+$>$NH_4$>$Li^+$. Between approximately 33 and 67% replacement of soium ions the selectivity series became $Na^>$ and above 67% became $Ag^+$>$K^+$. Evidence were also presented to demonstrate that 8 out of 12 sodium ions per pseudo unit cell were not easily replaceable by lithium ions and 4 out of 12 not easily replaceable by ammonium ions.

• 한국지하수토양환경학회지:지하수토양환경
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• 제20권5호
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• pp.26-33
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• 2015

Batch experiments were performed to investigate the feasibility of a surfactant-enhanced soil washing process for soils heavily contaminated with crude oil in Kuwait. TPH concentration of the contaminated soil was 223,754 mg/kg, sampled from the bottom of a vaporized oil extraction pond in the Burgan reservoir field. Commercialized eight nonionic surfactants (Tween and Tergitol series) were used to measure the aqueous solubility for the crude oil. Among them, two Tergitol surfactants were used to evaluate the TPH removal efficiency of the surfactant-enhanced soil washing for heavily contaminated Kuwait soil. The solubility of the crude oil in surfactant solution was in the order Tergitol 15-S-7 > Tergitol 15-S-9 > Tergitol 15-S-12 > Tween-80 > Tween-20 > Tween-60, which showed that the crude oil solubilities of the Tergitol series were higher than those of the Tween series. The TPH removal efficiencies of 2% and 5% Tergitol 15-S-9 solution were 59% and 65%, respectively. Because the residual TPH concentration in the washed soil was still higher than the clean-up level (10,000 mg/kg), the soil washing process was repeated five times. After the fifth washing, the residual TPH concentration in the soil went down to 7,680 mg/kg and its removal efficiency was 97%.

• 한국막학회:학술대회논문집
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• 한국막학회 1997년도 추계 총회 및 학술발표회
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• pp.39-45
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• 1997

Introduction : Polyimides are one of the most important classes of the high performance polymers due to their excellent electrical, thermal, and high-temperature mechanical properties. But their uses are limited because of their poor solubility. Most polyimide derivatives are processed in the form of polyamic acids, which are subsequently converted into the imide structures.Recently, it has been found that the soluble polyimides with large molecular weight sufficient to application. For enhancing processability, the majority of approaches have involved the following factors. As much as, the separation of the imide ring along the back-bone, that is to say, reducing the density of imide ring in the repeat structure. The introduction of bulky substituents along the back-bone, in order to enhance the free volume of main-chain. The incorporation of flexible or thermally stable linkages in the main-chain, reducing the packing force. The disruption of symmetry or recurrence regularity through copolymerization in order to reduce crystallnity.The objectives of this investigation are the synthesis and characterization of soluble polyimides as membrane materials by the single-step polymerization and the preparation of the asymmetric polyimide membrane by using phase inversion technique. In the present study, three series of polyimide derivatives are synthesized; H series is homopolyimides, A series is prepared from single dianhydride and two diamines, B series is yielded from two dianhydrides and a diamine. The dope solution was directly prepared from the PI solution via one step polymerization from monomers.

• 한국태양에너지학회 논문집
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• 제38권5호
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• pp.27-36
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• 2018

The purpose of this paper is to apply the numerical solution procedure to compute conduction time series factors (CTSF) for construction materials with large thermal capacities. After modifying the procedure in Ref. [9], it is applied to find the CTSF for the wall type 19 and the roof type 18 of ASHRAE. The response periods for one hr pulse load are longer than 24hrs for these wall and roof. The CTSF generated using modified procedure agree well with the values presented in the ASHRAE handbook. The modified procedure is a general procedure that can be applied to find CTSF for materials with complex structures. For the large thermal capacity materials, it should be checked whether thermal response period of the material is over 24hr or not. With suggested solution procedure, it is easy to check the validity of the CTSF based on 24hr period.