• 한국산학기술학회논문지
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• 제10권2호
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• pp.237-242
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• 2009

이동로봇은 고정된 로봇에 비해 작업영역을 확장할 수 있다는 장점이 있다. 하지만 이러한 장점은 센서들을 사용하여 자신의 위치를 추정하거나 로봇이 원하는 목적지를 파악함으로써 얻어질 수 있다. 본 논문은 전방향 위치추정 시스템을 이용한 이동로봇의 주행방법에 대하여 설명하고 있다. 이 시스템은 간단한 위치검출 장치를 이용하여 간소화된 위치 데이터를 프로세서에 제공한다. 즉, 사용자가 로봇의 도착점을 지시하면 이 시스템이 위치 방향을 실시간으로 비교 분석하여 오차를 보정한다. 이를 위하여 원뿔형 거울과 단일 카메라를 사용하였다. 이 결과, 사용자가 로봇을 움직이기 위해 가리킨 타겟을 찾아내는 영상처리 시간을 줄일 수 있었다.

• Journal of Astronomy and Space Sciences
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• 제19권1호
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• pp.1-6
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• 2002

Recently, one interesting possibility is proposed that a magnetar can be a progenitor of short and hard gamma-ray bursts (GRBs). If this is true, one may expect that the short and hard GRBs, at least some of GRBs in this class, are distributed in the Euclidean space and that the angular position of these GRBs is correlated with galaxy clusters. Even though it is reported that the correlation is statistically marginal, the observed value of < $V/V_{max}$ > deviates from the Euclidean value. The latter fact is often used as evidence against a local extragalactic origin for short GRB class. We demonstrate that GRB sample of which the value of < $V/V_{max}$ > deviates from the Euclidean value can be spatially confined within the low value of z. We select very short bursts (TgO < 0.3 sec) from the BATSE 4B catalog. The value of < $V/V_{max}$ > of the short bursts is 0.4459. Considering a conic-beam and a cylindrical beam for the luminosity function, we deduce the corresponding spatial distribution of the GRB sources. We also calculate the fraction of bursts whose redshifts are larger than a certain redshift z', i.e. f>z'. We find that GRBs may be distributed near to us, despite the non-Euclidean value of < $V/V_{max}$ >. A broad and uniform beam pattern seems compatible with the magnetar model in that the magnetar model requires a small $z_{max}$.

• Structural Engineering and Mechanics
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• 제67권6호
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• pp.555-563
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• 2018

Architectural fabrics membranes have not only the structural performance but also act as an efficient cladding to cover large areas. Because of the direct relationship between form and force distribution in tension membrane structures, form-finding procedure is an important issue. Ideally, once the optimal form is found, a uniform pre-stressing is applied to the fabric which takes the form of a minimal surface. The force density method is one of the most efficient computational form-finding techniques to solve the initial equilibrium equations. In this method, the force density ratios of the borders to the membrane is the main parameter for shape-finding. In fact, the shape is evolved and improved with the help of the stress state that is combined with the desired boundary conditions. This paper is evaluated the optimum amount of this ratio considering the curvature of the flexible boarders for structural configurations, i.e., hypar and conic membranes. Results of this study can be used (in the absence of the guidelines) for the fast and optimal design of fabric structures.

• Journal of Advanced Marine Engineering and Technology
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• 제36권4호
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• pp.512-519
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• 2012

본 논문은 원형 링 패턴의 인식에 기반한 물체의 3차원 위치/자세 추정 시스템을 제안한다. 단일 비전 기반의 자세추정 문제를 다루기 위하여, 본 논문은 물체인식 과정의 단순화를 위한 원형 링 패턴의 설계방법을 기술한다. 또한, 본 논문은 2차원 투영공간에서 원형 링 패턴이 가지는 기하학적 변환관계를 적극 활용한 실내용 위치/자세 추정 절차를 상세히 설명한다. 제안된 방법은 쿼드로터형 비행체의 3차원 위치/자세 추정에 적용되며 정확도 및 정밀도 분석을 통해 평가된다.

• 한국응용곤충학회지
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• 제29권3호
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• pp.157-164
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• 1990

한국산 멧누에(Bomdyx mandarina)chorion 유전자의 형질 발현기구를 규명하기 위한 연구의 일환으로 본 실험을 실시했다. 멧누에의 난각구조를 주사형 전자현마경에 의해 관찰한 결과 매우 특이적인 구조가 인정되었다. 즉 원추상의 불규칙 돌기에 의한 돌기구조층과 이 돌기 구조층을 덮고 있는 한 층의 얇은 덮개 구조층이 그것이다. 2차원 전기영동법에 의해 chorion 단백질을 분석한 결과, 난각을 구성하는 주요 단백질 성분은 등전점 4~6, 분자량 6~30 kd로 밝혀졌다. 특히 특이난각구조와 관련된 특이단백질 성분을 검출하였으며 이들의 대부분은 고cysteine 단백질인 것으로 추정했다. 이상의 연구결과에 의해 멧누에 난각의 특이 구조 형성에 따른 유전자발현기구 규명을 위한 기초자료가 얻어졌다.

• 한국음향학회지
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• 제19권1호
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• pp.61-66
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• 2000

본 논문에서는 다중 3차원 근거리표적의 위치를 효과적으로 추정하는 기법을 제안하였다. 제안한 기법은 세 개의 부분 센서배열을 이용하여 기존의 3D MUSIC에서의 3차원 탐색을 3번의 1차원 탐색으로 대치함으로써 연산량을 감소시켰다. 각각의 부분센서배열에서 얻은 센서신호로부터 표적이 원거리에 있다고 가정하고 원거리 입체각을 추정하면 추정된 입체각은 실제 근거리 표적의 위치인 방위각, 고각, 거리의 함수로 주어진다. 그러므로 세 개의 부분센서배열로부터 얻은 세 개의 함수를 연립하여 풀면 실제 근거리표적의 위치를 추정할 수 있다. 또한 다중 표적의 경우, 추정치에 대하여 3차원 MUSIC 스펙트럼 값을 비교함으로써 연관 문제를 해결하였다.

• 한국한의학연구원논문집
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• 제2권1호
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• pp.454-484
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• 1996

There are many factors to evoke pain, for example cold, heat, seven emotion, digestion, fatigue, venemous worms, deficiency of blood etc., and its pathogenesis is complicated. Treatments for pain in oriental medicine are as follows. 1. Pharmacotherapy is a method to treat pain by different effects of herbal medicine, for example, regulating vital energy, activating blood circulation, eliminating phlegm, and dispelling the cold evil etc. 2. Acupuncture and moxibustion therapy is a kind of external application, it has a distinct effect in relieving pain. Recently its operation method has been more developed, so new acupuncture therapies are used in clinics. There are electroacupuncture, auricular acupuncture and injection of drugs at an acupuncture points etc. 3. Oriental physiotherapy is a treatment method to stimulate acupuncture points and meridians. (1) Hot pack, Paraffin bath, Microwave, Ultrasound, Short wave, Infra-red etc. are used to treat cold syndrome by dispersing cold by warming the channels. (2) E.S.T., I.C.T., T.E.N.S., S.S.P., cupping treatment etc. are used to treat disorders of vital energy. (3) Health ion, Carbon, T.D.P., etc are used to treat conic and deficiency syndrome.

• 한국패류학회지
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• 제20권1호
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• pp.1-6
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• 2004

An anatomical and ultrastructural study on the dart sac and the dart of a Korean snail Nesiohelix samarangae was conducted to understand their morphological characteristics with the help of the light microscope and electron microscopes, TEM and SEM. Nesiolelix samarangae had two darts which are pure white structures 6-8 mm in length, tapering from 0.6-0.8 mm to 0.15-0.3 mm. The dart sac had a long conic lumen subdivided into two by a septal wall, and the darts were centrally embedded in the thick muscular layers of the sac. The darts occupied each of the two luminal spaces one per each. The convexed surfaces of the darts had many crystal buds in the shape of the petals. Otherwise, the convexed surfaces of the darts had numerous crystal buds in the shape of candle or topaz. The luminal surface of the dart sac was covered with a single columnar epithelium. The epithelial cells possessed microvilli on their free surface.

• 대한조선학회논문집
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• 제44권5호
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• pp.517-525
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• 2007

This paper presents how to approximate an optimal shape of roll bending process in the fabrication of a curved shell plate. The roll bending process usually makes the cylindrical or conic shape from an initial flat plate. It means that the final shape is developable or its surface representation has zero Gaussian curvature. The fabrication shape is important in order to find process parameters of roil bending. An optimal concept is used to determine the developable fabrication shape which is in the closest proximity to the design surface or the given shell plate and is subject to developability. The results and the efficiency of this algorithm are evaluated by applying to some shell plates. Furthermore, the fabrication shape will be fundamental information for other process parameters of roll bending such as the vertical displacement of the center roller and the rolling directions.

• 한국전기전자재료학회논문지
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• 제21권9호
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• pp.818-824
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• 2008

The Separated Pulsed Laser Deposition (SPLD) technique uses two chambers that are separated by a conic metallic wall with a central orifice. The pressures of ablation chamber and deposition chamber were controlled by the differential vacuum system. We deposited zinc oxide (ZnO) thin films by SPLD method to obtain high quality thin films. When the bias voltage of +500 V was applied between a substrate and an orifice, the ZnO thin film was deposited efficiently. The deposited ZnO thin film at ablation chamber gas pressure of Ar 5 mTorr showed the sharpest ultraviolet absorption edge indicatory the band gap of about 3.1 eV. ZnO thin films were deposited using effect of electric and magnetic fields in the SPLD method. E${\times}$B drift happened by an electric fields and a magnetic fields, activated plasma plume, as a result the film surface became very smooth. When the bias voltage of +500 V and magnet of 0,1 T were applied the ZnO thin films surface state showed high quality. Grain size was 41.99 nm and RMS was 0.84 nm.