• 로봇학회논문지
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• 제6권3호
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• pp.230-236
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• 2011

In previous researches, the self-stability was studied for the spring-mass model and the two segment leg model. In these researches, it was presented that the spring-mass model has the self-stable region at relatively high speed running and the two segment leg model has the self-stable region at relatively low speed running. If the model was run in the self-stable region, the cost of transport is zero ideally. That is, actually, only the energy loss is needed to compensate for running. This means that the energy efficiency is high, running in the self-stable region. We want to have high energy efficiency at low and high speed running. So, in this paper, we propose the design direction of the three segment leg having the self-stable region at low and high speed running. And we prove the self-stable region of the three segment leg designed by the proposed design direction.

• 한국물환경학회지
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• 제27권4호
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• pp.438-444
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• 2011

Magnesium is one of the abundant natural resources in the earth crust and seawater, which is directly related to various organisms activities interconnecting with water-rock system. In aqueous system, magnesium is known to predominantly exist in the form of $Mg^{2+}$ ion which is verified in its $E_h-pH$ diagram. When it is at equilibrium in aqueous system, temperature takes an essential role to complete equilibrium states. This study represents the change of the stable region of magnesium ion according to temperature, and how the consequences would affect aquatic organisms. It was revealed that there is a noticeable tendency shrinking the stable region of magnesium ion in a diagram as temperature increases, and as a result, aquatic bio-species presumably have difficulties to absorb the nutrient. Also, it was considered that the water system would be acidified by decreasing alkalinity.

• 제어로봇시스템학회논문지
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• 제15권1호
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• pp.99-104
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• 2009

This article describes the analysis of stable grasping for multi-fingered robot. An analysis method of stable grasping, which is based on the three-dimensional acceleration convex polytope, is proposed. This method is derived from combining dynamic equations governing object motion and robot motion, force relationship and acceleration relationship between robot fingers and object's gravity center through contact condition, and constraint equations for satisfying no-slip conditions at every contact points. After mapping no-slip condition to torque space, we derived intersected region of given torque bounds and the mapped region in torque space so that the intersected region in torque space guarantees no excessive torque as well as no-slip at the contact points. The intersected region in torque space is mapped to an acceleration convex polytope corresponding to the maximum acceleration boundaries which can be exerted by the robot fingers under the given individual bounds of each joints torque and without causing slip at the contacts. As will be shown through the analysis and examples, the stable grasping depends on the joint driving torque limits, the posture and the mass of robot fingers, the configuration and the mass of an object, the grasp position, the friction coefficients between the object surface and finger end-effectors.

• 분석과학
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• 제6권2호
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• pp.149-156
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• 1993

고온고압하(高溫高壓下)에서의 Ni-C 액상(液相) 중에서 구상흑연입자(球狀黑鉛粒子)의 형성과정을 밝히기 위한 실험적인 관찰을 행하였다. 구상 흑연입자는 다이아몬드 안정역에서 유지하는 동안 안정한 형태로 생성되어 성장하였다. 이 때의 구상 흑연입자는 다결정형태(多結晶形態)가 아닌 연속적으로 성장한 많은 결함을 포함하는 단결정형태(單結晶形態)(fullerene형(型))를 하고 있었다. 표면분석기(表面分析機)(Auger electron spectroscope) 및 고분해능(高分解能) 투과전자현미경(透過電子顯微鏡)을 이용한 분석결과 구상 흑연 입자는 $sp^2$ 및 $sp^3$ 결합을 갖는 탄소원자가 혼재(混在)되어 있는 결정상태임이 밝혀졌다. 다이아몬드 안정역으로부터 흑연 안정역으로 압력이 감소함에 따라 흑연입자의 모양이 구형(球形)에서 평판형(平板形)으로 연속적으로 변해가는 것이 관찰되었다. 다이아몬드 안정역에서 형성되는 구상 흑연입자는 $sp^3$ 결합을 가지는 탄소 원자의 안정적인 존재 때문인 것으로 해석되었다. 많은 결함을 포함하는 큰 크기의 fullerene형(型) 구상 흑연입자가 연속적으로 성장하는 사실은 Kroto가 예측한 대형 fullerene의 성장과정을 실험적으로 뒷받침해 주는 결과라 생각한다.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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• pp.697-703
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• 2000

In design step of an active vibration control system, the stability analysis is required for obtaining a stable control region so that the system is protected from it violent natural vibration. This paper describes the procedure of stability simulation for the active magnetic bearing-main spindle of a machine tool. The characteristic equation of the overall system is derived by assembling the dynamic equation of a flexible shaft and the transfer functions of feedback components. And the stable region is obtained by calculating the eigenvalues of the characteristic equation. The simulated control stable region is good agreement by comparing the experiment. Therefore the stable control gain is selected in this paper.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1997년도 전력전자학술대회 논문집
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• pp.9-13
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• 1997

In this paper, the operation regions of a three-phase voltage-source PWM converter are defined: linear modulation region, allowed current region, linear control region, unity power-factor region, and power-factor decreasing region. Particularly, the power-factor decreasing region is first examined and defined as the region where both the sinusoidal input current control and the stable DC link voltage regulation can not be obtained with a unity power-factor operation. To avoid these undesirable effects, the optimal current vector is derived, which ensures the sinusoidal input current and the stable DC link voltage regulation with maximum power-factor available, and, in consequence, it extends the operation region of the PWM converter. The validity of the proposed control scheme is proved by the computer simulation.

• Structural Engineering and Mechanics
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• 제11권2호
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• pp.199-210
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• 2001

Axially compressed circular cylinders repeat symmetry-breaking bifurcation in the postbuckling region. There exist stable equilibria with all symmetry broken in the buckled configuration, and the minimum postbuckling strength is attained at the deep bottom of closely spaced equilibrium branches. The load level corresponding to such postbuckling stable solutions is usually much lower than the initial buckling load and may serve as a strength limit in shell stability design. The primary concern in the present paper is to compute these possible postbuckling stable solutions at the deep bottom of the postbuckling region. Two computational approaches are used for this purpose. One is the application of individual procedures in computational bifurcation theory. Path-tracing, pinpointing bifurcation points and (local) branch-switching are all applied to follow carefully the postbuckling branches with the decreasing load in order to attain the target at the bottom of the postbuckling region. The buckled shell configuration loses its symmetry stepwise after each (local) branch-switching procedure. The other is to introduce the idea of path jumping (namely, generalized global branch-switching) with static imperfection. The static response of the cylinder under two-parameter loading is computed to enable a direct access to postbuckling equilibria from the prebuckling state. In the numerical example of an elastic perfect circular cylinder, stable postbuckling solutions are computed in these two approaches. It is demonstrated that a direct path jump from the undeformed state to postbuckling stable equilibria is possible for an appropriate choice of static perturbations.

• 한국군사과학기술학회지
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• 제18권5호
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• pp.510-516
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• 2015

This paper describes an approach to detect interesting objects using satellite images. This paper focuses on the interesting objects that have common special patterns but do not have identical shapes and sizes. The previous technologies are still insufficient for automatic finding of the interesting objects based on operation of special pattern analysis. In order to overcome the circumstances, this paper proposes a methodology to obtain the special patterns of interesting objects considering their common features and their related characteristics. This paper applies MSER(Maximally Stable Extremal Regions) for the region detection and corner detector in order to extract the features of the interesting object. This paper conducts a case study and obtains the experimental results of the case study, which is efficient in reducing processing time and efforts comparing to the previous manual searching.

• 대한환경공학회지
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• 제38권5호
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• pp.228-235
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• 2016

아질산화 반응을 통한 nitrite 축적은 단축질소제거 혹은 anammox 공정 수립을 위해 필수적이고 이 반응의 속도가 전체 질소제거공정의 효율에 큰 영향을 미칠 수 있다. 본 연구는 부유 미생물 연속류 반응기에서 pH 농도가 암모니아 폐수(2,000 mgN/L) 처리에 주는 복잡하고 다양한 영향 들을 modeling과 실험을 통해 종합적으로 분석하였다. modeling 연구 결과 반응의 안정성(stability)은 pH에 의해 지대한 영향을 받으며, free ammonia 저해가 심해지는 알칼리성 환경일수록 안정적 운전 영역(stable region)은 축소되었다. 기질과 pH의 좌표 상에서 stable region과 unstable region을 가르는 경계(stability ridge) 근처에서 안정적인 최대반응속도를 얻을 수 있고, 이 운전조건에서 아질산 축적 가능성도 최대가 되었다. stability ridge 근처의 조건에서 반응기를 운전한 결과 아질산화속도는 안정적으로 약 $6kgN/m^3-d$까지 얻을 수 있었고, 아질산축적율은 약 99% 이었다. 그러나 unstable region에서는 부하증가를 통한 반복된 교란 결과 유출수 암모니아 농도가 회복 불가능한 상태로 상승하였다. Modeling 결과 고유(intrinsic) 최적 pH 값을 고정하여도 실험에서 관찰되는 최적 운전 pH는 사용 기질의 농도가 높을수록 낮아지는 것으로 나타났으며, 이는 문헌에서 보고된 경향과 일치 하였다. 본 연구의 modeling 조건에서 95% 아질산화(5%는 암모니아로 잔존)를 위한 최적 운전 pH는 ~8.0인 것으로 예측되었으나, anammox 유입수 생산을 위해 55% 아질산화하려 할 때의 최적 운전 pH는 ~7.2로 낮아 졌다.

• 보건행정학회지
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• 제32권2호
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• pp.205-215
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• 2022

Background: The purpose of this study is to identify the factors infecting the medical care utilization from a new perspective by newly classifying the categories of administrative districts using the urban decline index and medical vulnerability index as indicators. Methods: This study targeted 150,940 people who used medical services using the 2015 cohort database (DB), 2010-2015 urban regeneration analysis index DB, and 2014-2015 public health and medical statistics DB. The decline of the region was classified using the urban decline index typed using k-means clustering and the medical vulnerability index typed using the quantile score calculation. Regression analysis was performed 3 times with medical expenditure, length of stay, and the number of outpatient visits as dependent variables. Results: There were 37 stable region (47.4%), 29 health vulnerable region (37.2%), and 12 decline region (15.4%). The health vulnerable region had lower medical expenditure, fewer outpatient visits, and a higher length of stay than the stable region. The decline region was all higher than the stable region but had no significant effect. Conclusion: The factors that cause the health disparity between regions are not only factors related to individual health behavior but also environmental factors of the local community. Therefore, there is a need for a systematic alternative that properly considers the resources within the community and reflects the characteristics of the population.