• 한국항행학회논문지
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• 제11권2호
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• pp.209-216
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• 2007

본 논문에서는 보행 로봇의 자세 안정화 및 동적 걸음새를 구현하였다. 10개의 RC 서보모터가 로봇 관절에 사용되었고, 각 로봇의 관절은 어떤 걸음새 동작에도 충분히 움직일 수 있게 하였다. 각 관절 궤적은 3차 스플라인 보간법에 의해 생성되며, 궤적의 안정성은 로봇 모델링에 의한 ZMP(Zero Moment Point)를 이용하여 입증하였다. 또한 복잡한 구조와 표현을 피하기 위해 각 가속도를 이용한 ZMP방법을 구현 하였고, 로봇의 안정 상태를 측정하기 위해 기울기 센서와 자이로 센서가 사용되었다. 10개의 서보모터 제어, 궤적 생성, ZMP 보상, 센서 측정 등 과 같은 대부분의 계산 과정은 DSP에서 이루어지며, PC에서는 단순히 로봇의 상태, 데이터 처리 등의 모니터링에 이용하였다.

• 토지주택연구
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• 제14권3호
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• pp.93-106
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• 2023

본 논문은 우리나라의 아파트를 대상으로 아파트 단지 유형에 따른 열환경 변화를 CFD 기법을 이용하여 시뮬레이션을 수행하고, 유형별 열환경을 평가하고자 하였다. 이를 위해 본 연구는 2000년대와 2010년대 주요 아파트 단지 유형에 대한 선행연구를 참고하여 4가지 유형을 추출한 후, 바람 유입 방향에 따른 아파트 단지 배치와 기온 변화를 분석하였다. 각 유형별로 타워형, 판상형, 혼합 주동 유형을 이용하여 표준화 모형을 제작하였으며, 이들 유형에 대해 총 8개 방향에서의 바람 유입 상황을 상정했다. 이러한 모형 및 조건을 바탕으로 CFD 시뮬레이션을 수행하였다. 그 결과, 타워형으로만 구성된 유형과 타워형을 단지 중앙에 배치하는 유형에서 바람의 방향과 상관없이 상대적으로 온도가 낮았은 것으로 나타났다. 이들 유형에서 단지 내부로 바람이 잘 유입되기 때문인 것으로 풀이되었다. 이러한 본 연구의 결과는 건물의 형태 및 단지의 배치 유형에 따라 바람의 유동 및 그에 따른 온도 분포 패턴이 상이한 것으로 나타나 설계 초기 단계에서 단지의 배치에 대한 신중한 고려가 필요함을 확인하다. 본 연구의 결과는 향후 아파트 단지의 초기 설계단계에서 지속 가능한 주거환경 조성을 위한 기초자료로 활용될 수 있을 것으로 기대된다.

• 제어로봇시스템학회논문지
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• 제16권4호
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• pp.313-318
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• 2010

This paper deals with the relationship between zeros and step response of the second and third order LTI (Linear Time Invariant) SISO (Single-Input and Single-Output) systems with complex poles. Although it has been known that the maximum number of local extrema is less than the number of zeros in the system with only real poles[8], some cases with complex poles are shown in this paper to have many local extrema. This paper proposes monotone nondecreasing conditions and describes the relationship between the transient response and the number of local extrema in step response with each region of zeros.

• East Asian mathematical journal
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• 제35권3호
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• pp.357-363
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• 2019

Let the circle act on a compact almost complex manifold M with a non-empty discrete fixed point set. To each fixed point, there are associated non-zero integers called weights. A positive weight w is called primitive if it cannot be written as the sum of positive weights, other than w itself. In this paper, we show that if every weight is primitive, then the Todd genus Todd(M) of M is positive and there are $Todd(M){\cdot}2^n$ fixed points, where dim M = 2n. This generalizes the result for symplectic semi-free actions by Tolman and Weitsman [8], the result for semi-free actions on almost complex manifolds by the author [6], and the result for certain symplectic actions by Godinho [1].

• 대한수학회지
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• 제52권4호
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• pp.699-725
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• 2015

In this paper, we study the estimation for algebraic polynomials in the bounded and unbounded regions bounded by piecewise Dini smooth curve having interior and exterior zero angles.

• 대한수학회보
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• 제43권3호
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• pp.653-655
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• 2006

We give a simple proof of the statement that if T is a bounded linear operator on a complex HIlbert space then T is Fredholm if and only if ${\pi}(T)$ is not a TDZ, where ${\pi}(\cdot)$ is the Catkin homomorphism.

• Environmental Engineering Research
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• 제23권1호
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• pp.46-53
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• 2018

This study explores the environmentally innovative and low-impact technology, a zero food waste system (ZFWS) that utilizes food waste and converts it into composts or biofuels and curtails carbon emissions. The ZFWS not just achieves food waste reductions but recycles food waste into fertilizer. Based on a fermentation-extinction technique using bio wood chips, the ZFWS was employed in a field experiment of the system installed in a large-scale apartment complex, and the performance of the system was examined. The on-site ZFWS consisted of three primary parts: 1) a food waste slot into which food waste was injected; 2) a fermentation-extinction reactor where food waste was mixed with bio wood chips made up of complex enzyme and aseptic wood chips; and 3) deodorization equipment in which an ultraviolet and ozone photolysis method was employed. The field experiment showed that food waste injected into the ZFWS was reduced by 94%. Overall microbial activity of the food waste in the fermentation-extinction reactor was measured using adenosine tri-phosphate (ATP), and the degradation rate of organic compounds, referred to as volatile solids, increased with ATP concentration. The by-products generated from ZFWS comply with the national standard for organic fertilizer.

• 한국정밀공학회지
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• 제23권1호
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• pp.174-184
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• 2006

In order to fill the holes with complex shapes in the large polygon model, a new approach which is based on the implicit surface interpolation method combined with domain decomposition method is presented. In the present study, a surface is constructed by creating smooth implicit surface from the incomplete polygon model through which the surface should pass. In the method an implicit surface is defined by a radial basis function, a continuous scalar-valued function over the domain $R^3$ The generated surface is the set of all points at which this scalar function takes on the value zero and is created by placing zero-valued constraints at the vertices of the polygon model. In this paper the well-known domain decomposition method is used in order to treat the large polygon model. The global domain of interest is divided into smaller domains where the problem can be solved locally. LU decomposition method is used to solve a set of small local problems and their local solutions are combined together using the weighting coefficients to obtain a global solution. In order to show the validity of the present study, various hole fillings are carried out fur the large and complex polygon model of arbitrary topology.

• Journal of electromagnetic engineering and science
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• 제5권2호
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• pp.72-79
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• 2005

The leaky dispersion characteristics of a circular dielectric rod were investigated using Davidenko's method for several lower-order transverse magnetic(TM) modes. The normalized complex propagation constants were precisely determined and their tolerances below $10^{-10}$ compared with zero for both real and imaginary parts. It was also checked whether the normalized complex propagation constants obtained represented forward leaky waves. The leaky modes existing below the cutoff frequency of the guided mode were classified as a nonphysical mode, reactive mode, antenna mode, and spectral gap based on a precise determination of the complex propagation constants. Finally, the effects of the dielectric constant and radius of the dielectric rod on the leaky dispersion characteristics were also considered.

• 한국세라믹학회지
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• 제32권1호
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• pp.25-30
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• 1995

The frequenc dependence of magnetic permeability($\mu$r) and dielectric constant($\varepsilon$r) in MHz-GHz frequency range and their relationships with microwave absorbing properties were investigated in sintered and composite Ni-Zn ferrites, respectively. It was confirmed that zero reflection condition was required the real parts of permeability and permittivity in sintered specimen, and the complex permeability, permittivity and dielectric loss tangent in composite specimen. The real part of permittivity varied with the replacement of nickel by manganese in sintered Ni-Zn ferrite. Therefore, we could control the matching frequency and matching thickness.