• Journal of the Korean Society of Marine Environment & Safety
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• v.23 no.5
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• pp.574-584
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• 2017

In this paper, the optimizing path finding control method is studied for a Legged-robot. It's named TITAN-VIII. It has a lot of advantages over the wheeled robot in the ability to walk freely on an irregular ground. However, the moving speed on the ground of the Legged-robot is slower than the Wheeled-robot's. Consequently, the purpose of the method is presented in this paper to minimize its time when it walks to a goal. It find the path, our approach is based on an algorithm which is called Dijkstra's algorithm. In the rest of paper, the various posture of the robot is discussed to keep the robot always in the statically stable. Based on above works, the math formulas are presented to determine the joint angles of the robot. After that an algorithm is designed to find and keep robot on the desired trajectory. Experimental results of the proposed method are demonstrated in the last of paper.

• Membrane and Water Treatment
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• v.8 no.3
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• pp.225-244
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• 2017

A novel thin-film nanocomposite (TFN) reverse osmosis (RO)/non-woven fabric (NWF) membrane was prepared by adding zinc oxide (ZnO) nanospheres ($30{\pm}10nm$) during the interfacial polymerization process of m-phenylenediamine (MPD) and trimesoyl chloride (TMC) on self-made polysulfone (PSF) membrane/polyester (PET) non-woven fabric support. The improved performance of TFN RO membrane was verified in terms of water contact angle (WCA), water flux, salt rejection, antifouling properties and chlorine resistance. The results showed that the WCA value of TFN RO surface had a continuous decrease with the increasing of ZnO content in MPD aqueous solution. The water flux of composite TFN RO membranes acquired a remarkable increase with a stable high solute rejection (94.5 %) in $1g{\cdot}L^{-1}$ NaCl aqueous solution under the optimized addition amount of ZnO (1 wt%). The continuous testing of membrane separation performance after the immersion in sodium hypochlorite solution indicated that the introduction of ZnO nanospheres also dramatically enhanced the antifouling properties and the chlorine resistance of composite RO membranes.

• Journal of Conservation Science
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• v.21
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• pp.41-48
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• 2007

The resistance for atmospheric corrosion of the conventional 5 epoxy resins (Araldite rapid, Araldite AW 106, Araldite SV 427, Devcon, and CDK), those were used to restoration of the iron relics, were investigated in this study. Temperature, UV light, and water were chosen for the factors of the atmospheric corrosion. The drastic voluminous changes of the epoxy resins were found at the temperature range between $40^{\circ}C$ and $70^{\circ}C$ After UV exposure, the colors of the epoxy resins were severely changed. In case of the indoor exposure the chroma value(${\Delta}E$) of the resins were less than 2, which showed a little changes of the colors. The result of the water contact angle test was Araldite rapid>AW 106>Devcon>SV 427>CDK. Although the contact angles of the resins were reduced by UV exposure, SV 427 was stable comparatively.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.06a
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• pp.528-531
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• 2007

This paper presents development of a 4-inch WVCA OCB (Optical Compensated Bend)-mode display panel. The developed panel has a built-in circuit of the LTPS (low temperature poly-Si)-integrated gate driver circuit with the function of black data insertion. The function of black data insertion makes it possible to realize rapid response time of 4ms and wide viewing angle of $160^{\circ}$. We also applied the RGBW pixel structure for the brighter image with relatively low power consumption. The developed panel showed improved optical efficiency and driving capability of stable image quality for OCB mode. We developed high efficiency OCB-mode panel with built-in integrated gate driver circuit using LTPS on panel without any external driver IC.

• Journal of architectural history
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• v.22 no.6
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• pp.7-22
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• 2013

The purpose of this paper is to study on the spatial characteristics from the "The Holy Trinity" fresco painted by Masaccio in the early Renaissance paintings. The results of this study are as follows. 1. The elevation composition of the "The Holy Trinity" fresco is divided into the upper and lower structure through horizontal axis on horizontal line around vanishing point. The upper structure is composed of vertical axis formed through the disposition of the "Trinity" elements and horizontal axis on horizontal line. The lower structure is composed of the sarcophagus and skeleton in such inside and the altar supported through circular columns of left and right. 2. The section composition of the "The Holy Trinity" fresco is composed of the ceiling structure of cylindrical-shaped vault on upper part around basic square floor plan that is interior space and upper structure. The exterior space and lower structure is placed with sarcophagus in inner part that altar and step is projected as same height and width in the outside direction. 3. The basic floor composition of the "The Holy Trinity" fresco is planned by square shape around structural columns that is placed at corners as symmetry through transverse, longitudinal and diagonal axis. The whole floor composition planned through the altar and step that is in exterior space at front, the apse of round form at rear part and the structure of the middle story concept at interior. 4. The visual aspect of the "The Holy Trinity" fresco is composed of the stable balance in relation with distance and height because the interior and exterior space as well as the upper structure and lower structure is formed by regular proportion system. The elevation angle of visual range was planned to view in detail generally or partially the architectural composition system and element, characters through proper visual distance, center and position.

• Journal of the Korean Society of Propulsion Engineers
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• v.3 no.1
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• pp.1-8
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• 1999

In the present paper an attempt has been made to simulate the secondary injection-primary flow interaction in the conical rocket nozzle and to derive the performance of secondary injection thrust vector control(SITVC) system. Complex three-dimensional flowfield induced by the secondary injection is numerically analyzed by solving unsteady three-dimensional Euler equation with Beam and Warming's implicit approximate factorization method. Emphasized in the present study is the effect of secondary injection such as secondary mass flow rates and the momentum of secondary/primary nozzle flow mass rates upon the gross system performance parameters such as thrust ratio, specific impulse ratio and deflection angle. The results obtained in terms of system performance parameters show that lower secondary mass flow rate is advantageous for to reduce secondary specific impulse loss. It is further found that the nozzle with secondary jet injected downstream and interacting with fast primary flow is preferable for efficient and stable SITVC over the wide range of use with the penalty of side specific impulse loss.

• Journal of the Korean Society of Propulsion Engineers
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• v.12 no.2
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• pp.48-56
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• 2008

In the rocket preburner, oxidizer-rich combustion with liquid oxygen and kerosene is very challenging work. The key factor of stable flame is good mixing and that is controlled by the injector performance. We have studied spray characteristics of the oxidizer-rich rocket preburner injector in high pressure environments. The injector is composed of fuel orifices, oxidizer orifices and cooling skirt with liquid oxygen. By using this apparatus, we have taken photographs and measured Sauter mean diameter with changing ambient pressure from 0 to 30 kgf/cm2[g]. Droplet diameter is measured by the image processing technique. From the test results, we could understand spray characteristics of the oxidizer-rich preburner injector and this result could be applied to the development of the oxidizer rich preburner system.

• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.8
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• pp.89-96
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• 2017

This Paper proposes a vehicle detection system and a license plate recognition system from CCTV images installed on public roads. Since the environment of this system acquires the image in the general road environment, the stable condition applied to the existing vehicle entry / exit system is not given, and the input image is distorted and the resolution is irregular. At the same time, the viewing angle of the input image is more wide, so that the computation load is high and the recognition accuracy of the plate is likely to be lowered. In this paper, we propose an improved method to detect and recognize a license plate without a separate input control devices. The vehicle and license plate were detected based on the HOG feature descriptor, and the characters inside the license plate were recognized using the k-NN algorithm. Experimental environment was set up for the roads more than 45m away from the CCTV, Experiments were carried out on an entry vehicle capable of visually identifying license plate and Experimental results show good results of the proposed method.

• Journal of architectural history
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• v.21 no.2
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• pp.7-20
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• 2012

As the corner of wooden pagoda forms the roof by closely bordering left and right eaves on the various purlins and angle rafters, it is designed for every face to be recognized as front whose structure system increases load to bear proportionally. The corner of wooden pagoda is inseparable with the corner bracket set as it becomes stable thanks to the corner bracket set structurally and load burden under restrained structure makes the corner bracket set really important. Accordingly, this study could figure out some facts by analyzing corner bracket sets of Palsangjeon of Beobjusa Temple in Korea, Seokgatap of Bulgungsa Temple in China and Ojungtap of Beobryungsa Temple in Japan which were constructed with pure wooden structure. This study demonstrated that corner bracket set played a pivotal role in keeping balance of concentrated load of corner (corner of opening) in each floor that contributed to the stability of wooden pagoda structurally despite multiple duplications of floors and also figured out the outfit of corner bracket set was subject to the floor type and the cross section of Gongpo installed on top of Pyeongju. Wooden pagodas in 3 countries were two floor types of octagon and square, and employed different connection method between upper and lower floors. The difference between floor and duplication method determines the method of corner, but even different methods were sufficient to have entirety in every side by completing dynamic principle of corner bracket set even though old method had to solve the problem of concentrated load and it also confirms that it was essential Gongpo to prevent any deformation of corner.

• Journal of Mechanical Science and Technology
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• v.19 no.11
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• pp.2032-2039
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• 2005

The lattice Boltzman method (LBM) and the finite difference-based lattice Boltzmann method (FDLBM) are quite recent approaches for simulating fluid flow, which have been proven as valid and efficient tools in a variety of complex flow problems. They are considered attractive alternatives to conventional finite-difference schemes because they recover the Navier-Stokes equations and are computationally more stable, and easily parallelizable. However, most models of the LBM or FDLBM are for incompressible fluids because of the simplicity of the structure of the model. Although some models for compressible thermal fluids have been introduced, these models are for monatomic gases, and suffer from the instability in calculations. A lattice BGK model based on a finite difference scheme with an internal degree of freedom is employed and it is shown that a diatomic gas such as air is successfully simulated. In this research we present a 2-dimensional edge tone to predict the frequency characteristics of discrete oscillations of a jet-edge feedback cycle by the FDLBM in which any specific heat ratio $\gamma$ can be chosen freely. The jet is chosen long enough in order to guarantee the parabolic velocity profile of a jet at the outlet, and the edge is of an angle of $\alpha$=23$^{o}$. At a stand-off distance w, the edge is inserted along the centerline of the jet, and a sinuous instability wave with real frequency is assumed to be created in the vicinity of the nozzle exit and to propagate towards the downstream. We have succeeded in capturing very small pressure fluctuations resulting from periodic oscillation of the jet around the edge.