• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.104.5-104
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• 2001

In this paper, we address the swing up control and the singular problem of an acrobot. We derive a serial system equation from the acceleration constraint that there is no actuator on the first joint. Based on the serial system representation, we propose a swing up and stabilization control algorithm to move the acrobot from its downward equilibrium to its inverted equilibrium position. Simulation result is also provided to show the effectiveness of the proposed control strategy.

• Communications of the Korean Mathematical Society
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• v.23 no.1
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• pp.61-65
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• 2008

In this paper we prove that every positive solution of the third order rational difference equation $$x_{n+1}\;=\;\frac{{\beta}x_n\;+\;x_{n-2}}{A\;+\;Bx_n\;+\;x_{n-2}}$ converges to the positive equilibrium point $$\bar{x}\;=\;\frac{{\beta}\;+\;1\;-\;A}{B\;+\;1}$, where $0\;<\;{\beta}\;{\leq}\;B$, $1\;<\;A\;<\;{\beta}\;+\;1$

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.6
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• pp.2189-2205
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• 1991

Thermodynamic properties of binary nonazeotropic refrigerant mixtures are estimated by using a modified Carnhan-Starling equation of state. In this study, pure component refrigerants such as R14, R23, R13, R13 B1, R22, R12, R134a, R152a, R142b, RC318, R114, R11, R123 and R113 are chosen and the thermodynamic properties of enthalpy and entropy are calculated in terms of relevant variables. The modified Carnahan-Starling equation of state is compared with the carnahan-Staring-De Santis equation of sate. Results show that the relative errors become slightly smaller with the equation of state proposed in this study. Correlations are obtained for the mixtures of which the vapor liquid equilibruim data are available to us in the literature. Those mixtures are R14/R23, R23/R12, R13/R12, R13/R11, R13B1/R22, R13B1/RC318, R12/RC138, R12/R114 and R12/R11. The binary interaction coefficients are found under the condition of minimizing the pressure deviations at the vapor liquid equiblibrium state and the estimation of the vapor liquid equilibrium for the refrigerant mixtures is done. Pressure-enthalpy and temperature-entropy diagrams are plotted for the refrigerant mixtures of specific composition.

• Journal of Korea Soil Environment Society
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• v.1 no.2
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• pp.43-50
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• 1996

The adsorption charateristics of lead(II) ions on Aspergillus niger and Rhizopus arrhizus were investigated. Adsorption amount of A. niger and R. arrhizus was about 95 mg/g and 25 mg/g, respectively. These biomass was approached to adsorption equilibrium within reaction time of 1hr because of their high reactivity. The uptake of lead ion by A. niger was less sensitivity than it by R. arrhizus on the inhibition effect of alkali metals and the decreasing ratio of uptake of lead ion of A. niger and R. arrhizus by inhibition effect of alkali metals was 37% and 50%, respectively. In pre-treatment on these biomass, NaOH treatment was contributed high adsorption capacity to these biomass. Then, adsorption amount of A. niger and R. allhizus was increased about 25 mg/g and 10 mg/g, respectively. In isotherm for the adsorption of lead ion based on Freundlich equation, 1/n value of A. niger and R. ar고izus was calculated the range of 0.28-0.56 and 0.44-0.67, respectively.

• Korean Journal of Food Science and Technology
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• v.27 no.2
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• pp.193-198
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• 1995

The changes in the rheological properties of soybean curd upon the various storage temperatures ($5{\sim}25^{\circ}C$) were measured by the stress-relaxation test and analysed by time-temperature superposition theory. As the storage temperature was lower, higher initial and equilibrium stress of soybean curd were observed. When the stress-relaxation curves were moved horizontally by using the shift-factor on the basis of reference temperature, the master curve was obtained. By applying master curve and shift-factor to the WLF (Williams-Landel-Ferry) equation, activation energy (30kcal/mol) was calculated and storage time at the specific temperature could be predicted, suggesting the equivalent shelf-life of soybean curd texture.

• Korean Journal of Mathematics
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• v.31 no.1
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• pp.17-23
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• 2023

For a locus with two alleles (I^A and I^B), the frequencies of the alleles are represented by $$p=f(I^A)={\frac{2N_{AA}+N_{AB}}{2N}},\;q=f(I^B)={\frac{2N_{BB}+N_{AB}}{2N}}$$ where N_AA, N_AB and N_BB are the numbers of I^AI^A, I^AI^B and I^BI^B respectively and N is the total number of populations. The frequencies of the genotypes expected are calculated by using p², 2pq and q². Choi defined the density and operator for the value of the frequency of one gene and found the adapted partial differential equation as a follow-up for the frequency of alleles and applied this adapted partial differential equation to several diploid model [1]. In this paper, we find adapted equations for the model for selection against recessive homozygotes and in case that the alley frequency changes after one generation of selection when there is no dominance. Also we consider the triploid model with three alleles I^A, I^B and i and determine whether six genotypes observed are in Hardy-Weinburg for equilibrium.

• Journal of the Korean Wood Science and Technology
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• v.42 no.6
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• pp.653-658
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• 2014

This research was carried out to investigate equilibrium moisture content (EMC) of wood in outdoor locations in Korea. EMC was calculated using Hailwood-Horrobin equation for 73 different locations in Korea using the 1981 to 2010 climate normal data obtained from the Korea Meteorological Admnistration (KMA). Daegu showed the lowest values of EMC (11.5), and the highest EMC values (15.8) was found in Heuksando. Considering the season effect, summer (June, July, August) showed the highest values 15.3, followed by autumn (September, October, November) 13.7, winter (December, January, February) 12.2, and spring (February, March, April) 12.0. Monthly EMC showed the lowest values 11.6 in April and July showed the highest EMC values 16.1. The smallest changes in monthly EMC were found in Jeju island and Heuksando showed the largest values 8.7. A proper wood drying based on average EMC is more required in the regions with larger variation in EMC.

• Korean Journal of Agricultural Science
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• v.48 no.4
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• pp.815-829
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• 2021

The purpose of this study is to construct a flatfish outlook model that is consistent with the "Fisheries outlook" monthly publication of the fisheries outlook center of the Korea Maritime Institute (KMI). In particular, it was designed as a partial equilibrium model limited to flatfish items, but a model was constructed with a dynamic ecological equation model (DEEM) system, considering biological breeding and shipping times. Due to limited amounts of monthly data, the market equilibrium price was calculated using a recursive model method as the inverse demand. The main research results and implications are as follows. As a result of estimating young fish inventory levels, the coefficient of the young fish inventory in the previous period was estimated to be 0.03, which was not statistically significant. Because there is distinct seasonality, when estimating the breeding outcomes, the elasticity of breeding in the previous period was found to exceed 0.7, and it increased more as the weight of the fish increased, in addition, the shipment coefficient gradually increased as the weight increased, which means that as the fish weight increased, the shipment compared to the breeding volume increased. When estimating shipments, the elasticity of breeding in previous period was estimated to respond elastically as the weight increases. The price flexibility coefficient of the total supply was inelastically estimated to be -0.19. Finally, according to a model predictive power test, the Theil U1 was estimated to be very low for all of the predictors, indicating excellent predictive power.

• Biotechnology and Bioprocess Engineering:BBE
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• v.11 no.1
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• pp.61-66
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• 2006

The simple Langmuir isotherm is frequently employed to describe the equilibrium behavior of protein adsorption on a wide variety of adsorbents. The two adjustable parameters of the Langmuir isotherm - the saturation capacity, or $q_m$, and the dissociation constant, $K_d$ - are usually estimated by fitting the isotherm equation to the equilibrium data acquired from batch equilibration experiments. In this study, we have evaluated the possibility of estimating $q_m$ and $K_d$ for the adsorption of bovine serum albumin to a cation exchanger using batch kinetic data. A rate model predicated on the kinetic form of the Langmuir isotherm, with three adjustable parameters ($q_m,\;K_d$, and a rate constant), was fitted to a single kinetic profile. The value of $q_m$ determined as the result of this approach was quantitatively consistent with the $q_m$ value derived from the traditional batch equilibrium data. However, the $K_d$ value could not be retrieved from the kinetic profile, as the model fit proved insensitive to this parameter. Sensitivity analysis provided significant insight into the identifiability of the three model parameters.

• Journal of Korean Society of Environmental Engineers
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• v.27 no.11
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• pp.1238-1243
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• 2005

The batch experiments of biosorption were carried out for the removal of lead ion from metal solution using Laminaria japonica and Kjellmaniella crassifolia, two species of marine algaes as biosorbent. We have investigated biosorption kinetics and equilibrium of lead by using marine algaes. We observed that biosorption of lead occurred very rapidly by marine algaes ; the biosorption reached equilibrium less than 2 hr. These experimental data could be accurately described by a pseudo-second-order rate equation, obtaining values between $0.883{\times}10^{-3}$ and $0.628{\times}10^{-3}\;g/mg/min$ for the biosorption rate constant $k_{2,ad}$. It could be described with Langmuir, Redlich-Peterson, and Koble-Corrigan(Langmuir-Freundlich) equation. The biosorption capacity by L. japonica and K. crassifolia were in the sequence of Pb>Cd>Cr>Cu and Pb>Cu>Cd>Cr, respectively. The biosorption capacity of L. japonica were increased with pH increasing.