• 로봇학회논문지
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• 제8권2호
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• pp.92-103
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• 2013

Humanoid robot is the most intimate robot platform suitable for human interaction and services. Biped walking is its basic locomotion method, which is performed with combination of joint actuator's rotations in the lower extremity. The present work employs humanoid robot simulator and numerical optimization method to generate optimal joint trajectories for biped walking. The simulator is developed with Matlab based on the robot structure constructed with the Denavit-Hartenberg (DH) convention. Particle swarm optimization method minimizes the cost function for biped walking associated with performance index such as altitude trajectory of clearance foot and stability index concerning zero moment point (ZMP) trajectory. In this paper, instead of checking whether ZMP's position is inside the stable region or not, reference ZMP trajectory is approximately configured with feature points by which piece-wise linear trajectory can be drawn, and difference of reference ZMP and actual one at each sampling time is added to the cost function. The optimized joint trajectories realize three phases of stable gait including initial, periodic, and final steps. For validation of the proposed approach, a small-sized humanoid robot named DARwIn-OP is commanded to walk with the optimized joint trajectories, and the walking result is successful.

• ETRI Journal
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• 제42권2호
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• pp.282-291
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• 2020

The study reports on the design and performance of two air-filled and two partial ethanol-filled photonic crystal fiber (PCF) structures with a tetra core for supercontinuum generation. The PCFs are nonlinear with ultra-flattened zero dispersion. Holes with smaller areas are used to create a tetra-core PCF structure. Ethanol is filled in the holes of smaller area while the larger holes of cladding region are airfilled. Optical properties including dispersion, effective mode area, confinement loss, normalized frequency, and nonlinear coefficient of the designed PCF structures are investigated via full vector finite difference time domain (FDTD) method. A PCF structure with lead silicate as wafer exhibits significantly better results than a PCF structure with silica as wafer. However, both structures report dispersion at a telecommunication wavelength corresponding to 1.55 ㎛. Furthermore, the PCF structure with lead silicate as wafer exhibits a very high nonlinear coefficient corresponding to 1375 W^-1 km^-1 at the same wavelength. This scheme can be used for optical communication systems and in optical devices by exploiting the principle of nonlinearity.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 1999년도 춘계 학술대회논문집
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• pp.192-198
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• 1999

The present study proposes modified temperature-dependent non-Newtonian viscosity model and investigates flow characters and heat transfer enhancement of the viscoelastic non-Newtonian fluid in a 2:1 rectangular duct. The proposed modified temperature dependent viscosity model has non-zero value near the high temperature and high shear rate region while on the existing viscosity models have zero value. Two versions of thermal boundary conditions involving difference combination of heated walls and adiabatic walls are analyzed in this study. The combined effect of temperature dependent viscosity, buoyancy, and secondary flow caused by second normal stress difference are ail considered. The Reiner-Rivlin model is adopted as a viscoelastic fluid model to simulate the secondary flow caused by second normal stress difference. Calculated Nusselt numbers by the modified temperature-dependent viscosity model gives under prediction than the existing temperature-dependent viscosity model in the regions of thermally developed with same secondary normal stress difference coefficients with experimental results in the regions of thermally developed. The heat transfer enhancement of the viscoelastic fluid in a 2:1 rectangular duct is highly dependent on the secondary flow caused by the magnitude of second normal stress difference.

• 한국지능시스템학회논문지
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• 제16권5호
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• pp.601-607
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• 2006

본 논문은 칼만필터를 이용한 ZMP의 다음 상태 예측을 통한 새로운 이족로봇의 균형제어기법을 제안한다. 일반적으로 이족로봇의 동역학 모델은 3D-LIPM(3D-Linear Inverted Pendulum Mode)에 의해 수학적으로 근사화되지만, 이는 로봇의 동역학적 특성을 완벽하게 표현할 수 없다. 이족로봇의 안정성은 ZMP(Zero Moment Point) 위치가 안정영역에 존재하는 경우에 안정성이 보장된다. 그리고 로봇 구조와 그 모델 사이의 내재된 오차는 로봇의 안정성에 영향을 끼칠 수 있다. 그러므로 본 논문에서 제안하는 균형제어기법은 내부 오차를 줄일 수 있으며, 적절한 로봇의 제어가 가능하다. 제안된 균형제어기법의 실험은 다양한 상황을 포함한 가상의 공간상에서 모의실험 되었다.

• 국제초고층학회논문집
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• 제7권4호
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• pp.299-311
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• 2018

As engineered timber such as Glulam is seeing increasing use in tall timber buildings, building codes are adapting to allow for this. In order for this material to be used confidently and safely in one of these applications, there is a need to understand the effects that fire can have on an engineered timber structural member. The post-fire resilience aspect of glulam is studied herein. Two sets of experiments are performed to consider the validity of zero strength guidance with respect to short duration fire exposure on thin glulam members. Small scale samples were heated in a cone calorimeter to different fire severities. These samples illustrated significant strength loss but high variability despite controlled quantification of char layers. Large scale samples were heated locally using a controlled fuel fire in shear and moment locations along the length of the beam respectively. Additionally, reduced cross section samples were created by mechanically carving a way an area of cross section equal to the area lost to char on the heated beams. All of the samples were then loaded to failure in four-point (laterally restrained) bending tests. The beams that have been burnt in the shear region were observed as having a reduction in strength of up to 34.5% from the control beams. These test samples displayed relatively little variability, apart from beams that displayed material defects. The suite of testing indicated that zero strength guidance may be under conservative and may require increasing from 7 mm up to as much as 23 mm.

• 터널과지하공간
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• 제20권4호
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• pp.241-251
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• 2010

극지는 학문적인 가치뿐만 아니라 무한한 자원의 공급처로서 각광받고 있는 추세이다. 극지와 극지 암석의 암석역학적 특성을 이해하기 위하여 남극대륙의 암석을 포함하여 극지 환경 조건에서 진행된 암석의 물성 변화에 관한 연구를 살펴보았다. 남극대륙은 바람이 매우 강하고 지구상에서 가장 기온이 낮으며 건조한 지역이다. 남극 현지 암석의 심도별 온도분포를 조사한 연구에서는 지표면과 가까운 얕은 심도에서는 동결-융해 과정이 반복되는 한편, 특정 깊이 이하에서는 항상 $0^{\circ}C$ 미만의 온도 분포를 나타내는 것으로 보고 하였다. 현지 암석의 온도분포와 대기 온도를 비교해 보았을 경우 상당한 차이를 나타내었다. 남극 사면의 기후에 의한 풍화정도를 알아보기 위하여 슈미트 반발경도와 taffoni의 분포를 조사한 연구가 있다. 그리고 실내 실험을 통해 암석 시료를 동결-융해 과정을 반복하여 풍화시킨 후 쇼어경도, 일축압축강도 등을 측정한 결과 동결-융해 횟수가 증가할수록 암석의 강도가 저하됨을 보고한 사례가 있다. 향후 극지암석에 대한 보다 상세한 암석역학적 물성 시험과 풍화에 관한 실내시험결과를 현장 암석의 물성변화에 적용시키는 연구가 필요할 것으로 판단된다.

• 대한전자공학회논문지SD
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• 제39권1호
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• pp.1-11
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• 2002

본 논문에서는 나노영역의 고해상도 도핑 농도 측정 장비 개발을 위해 공핍 근사 조건하 복잡한 계산 영역에서 공핍 영역을 간단히 계산할 수 있는 방법을 개발하였다. 개발된 공핍영역 계산 방법은 유한요소법을 이용한 적응분할 포아송 방정식 해석기를 사용하여 대전된 영역의 경계에서 전위가 0인 등고선과 일치하도록 하여 계산하는 방법이다. 이 방법의 타당성을 검증하기 위해 계산된 대전영역 및 전위분포가 공핍영역의 정의에 맞는지 확인하였으며, pn 접합에서의 공핍영역 깊이 및 MOS 구조에서 정전용량을 계산하여 비교해 본 결과 이론치와 정확히 일치함을 알 수 있었다. 이러한 Pn 접합 및 MOS 에서 공핍영역 계산 검증을 바탕으로 나노영역의 탐침을 장착한 SCM에서 전압에 따른 실리콘 내의 공핍영역 모양과 전위를 분석하여, 정전용랑 모델링을 하였으며, 이로부터 CV 곡선과 SCM의 출력인 dC/dV곡선을 계산하였다.

• 보건행정학회지
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• 제22권1호
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• pp.85-108
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• 2012

One of the ways to achieve the principle of equal access for equal needs, availability and geographical accessibility of health care resources regardless of resident sites is important. The purpose of this paper is to measure socioeconomic inequities in distribution of health care resources among regions in the Republic of Korea (hereafter Korea). Data were extracted from regional statistics of National Health Insurance, Community Health Survey, Korea Social Science Data Archive, and Korean Statistical Information Services at the same period of 2009. The dependent variables were the number of health workforce and health care facilities in each region. The proxy indicator of regional socioeconomic status was local tax per person. To identify whether inequalities among regions, we examined the concentration index(CI) and indirectly standardized CI by controlling each region's demographics and need factors. Total observations were 232 districts in nationwide, and we analyzed separately Seoul(25 districts) and non-Seoul areas(207 districts). The standardized CI values of health care resources were positive(favoring the rich region) across the nation in almost all kinds of resources. Especially the number of specialist, dentist, dental clinics, clinics, oriental medical clinics, pharmacists, and pharmacies were statistically significantly favoring the rich region. But the CI for the number of long-term care hospitals, public health centers were negative(favoring the poor region). The tendency of CI presenting positive values were increased in Seoul area. But in the case of non-Seoul, the CI indexes were nearly zero. The results suggest that except the Seoul area, little regional socioeconomic-related inequalities were observed in the distribution of health care resources in Korea.

• 한국표면공학회지
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• 제56권4호
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• pp.233-242
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• 2023

In recent years, energy-management studies in buildings have proven useful for energy savings. Typically, during heating and cooling, the energy from a given building is lost through its windows. Generally, to block the entry of ultraviolet (UV) and infrared (IR) rays, thin films of deposited metals or metal oxides are used, and the blocking of UV and IR rays by these thin films depends on the materials deposited on them. Therefore, by controlling the thicknesses and densities of the thin films, improving the transmittance of visible light and the blocking of heat rays such as UV and IR may be possible. Such improvements can be realized not only by changing the two-dimensional thin films but also by altering the zero-dimensional (0-D) nanostructures deposited on the films. In this study, 0-D nanoparticles were synthesized using a sol -gel procedure. The synthesized nanoparticles were deposited as deep coatings on polymer and glass substrates. Through spectral analysis in the UV-visible (vis) region, thin-film layers of deposited zinc oxide nanoparticles blocked >95 % of UV rays. For high transmittance in the visible-light region and low transmittance in the IR and UV regions, hybrid multiple layers of silica nanoparticles, zinc oxide particles, and fluorine-doped tin oxide nanoparticles were formed on glass and polymer substrates. Spectrophotometry in the UV-vis-near-IR regions revealed that the substrates prevented heat loss well. The glass and polymer substrates achieved transmittance values of 80 % in the visible-light region, 50 % to 60 % in the IR region, and 90 % in the UV region.

• 천문학회지
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• 제56권1호
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• pp.97-115
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• 2023

We present the deep homogeneous UBV RI photometric data of 135,071 stars down to V ~ 23 mag and I ~ 22 mag toward the Carina Nebula. These stars are cross-matched with those from the previous surveys in the X-ray, near-infrared, and mid-infrared wavelengths as well as the Gaia Early Data Release 3 (EDR3). This master catalog allows us to select reliable members and determine the fundamental parameters distance, size, stellar density of stellar clusters in this star-forming region. We revisit the reddening toward the nebula using the optical and the near-infrared colors of early-type stars. The foreground reddening [E(B-V)_fg] is determined to be 0.35 ± 0.02, and it seems to follow the standard reddening law. On the other hand, the total-to-selective extinction ratio of the intracluster medium (R_V,cl) decreases from the central region (Trumpler 14 and 16, R_V,cl ~ 4.5) to the northern region (Trumpler 15, R_V,cl ~ 3.4). It implies that the central region is more dusty than the northern region. We find that the distance modulus of the Carina Nebula to be 11.9 ± 0.3 mag (d = 2.4 ± 0.35 kpc) using a zero-age main-sequence fitting method, which is in good agreement with that derived from the Gaia EDR3 parallaxes. We also present the catalog of 3,331 pre-main-sequence (PMS) members and 14,974 PMS candidates down to V ~ 22 mag based on spectrophotometric properties of young stars at infrared, optical, and X-ray wavelengths. From the spatial distribution of PMS members and PMS candidates, we confirm that the member selection is very reliable down to faint stars. Our data will have a legacy value for follow-up studies with different scientific purposes.