• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 추계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.218-221
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• 2006

This paper reports on a Realtime OS based motor control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. The system has a conventional master-slave robot configuration and the control system consists of joint controllers, host controllers, and power units. The robot features (1) a compact slave robot with 5 DOF (Degree Of Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously, and (2) direct 1:1 correspondence in the joint of master and slave robot that simplifies control algorithm and enhances reliability. Each master, slave and GUI (Graphical User Interface) host has a dedicated RTOS (RealTime OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) Each master and slave controller set pair has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication. Total 4 pairs of the master/slave manipulators as current are monitored by one host controller for operation monitoring and higher level motion control. The system showed acceptable performance in both position control precision and master-slave motion synchronization and is now under further development for better safety and control fidelity for clinically applicable prototype.

• 한국항해항만학회지
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• 제41권2호
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• pp.63-70
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• 2017

Despite the remarkable continual growth of the world cruise industry, studies have yet to be attempted on many revenue management problems in cruise operations. This paper suggests two schemes that can be easily applied to cruise revenue management: optimal dual pricing and passenger safety level. In optimal dual pricing, a pair of higher and lower prices is applied to cabin reservation through market segmentation. This scheme can be executed with a linear price-response function for the current unreserved cabins. A cruise line could benefit from this scheme to maximize reservation revenue while attaining full occupancy. The dual pricing scheme is also devised to produce only integer demands to suit real management practices. The life boat capacity is an additional service capacity unique to the cruise industry, catering to passengers' safety. The concept of passenger safety level is defined and computed for any passenger life boat capacity of a cruise ship. It can be used to evaluate the passenger safety of a cruise ship in operation, as well as to determine the number of life boat seats required for a new cruise ship. Hypothetical examples are used to illustrate the operation of these two schemes.

• Journal of Mechanical Science and Technology
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• 제18권4호
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• pp.582-591
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• 2004

The purpose of this study was to determine the effects of elbow joint angle on mechanical properties, as represented by ultimate load, failure strain and elastic modulus, of bone-tendon specimens of common extensor tendon of the humeral epicondyle. Eight pairs of specimens were equally divided into two groups of 8 each, which selected arbitrarily from left or right side of each pair, positioned at 45$^{\circ}$ and 90$^{\circ}$ of elbow flexion and subjected to tension to failure in the physiological direction of the common extensor tendon. For comparison of the differences in the failure and elastic modulus between tendon and the bone-junction, data for both were evaluated individually. Significant reduction in ultimate load of bone-tendon specimens was shown to occur at 45$^{\circ}$. The values obtained from the bone-tendon junctions with regard to the failure strain were significant higher than those from tendon in both loading directions, but the largest failure strain at the bone-tendon junction was found at 45$^{\circ}$. The elastic modulus was found to decrease significantly at the bone-tendon junction when the loading direction switched from 90$^{\circ}$ to 45$^{\circ}$. Histological observation, after mechanical tensile tests, in both loading directions showed that failure occurred at the interface between tendon and uncalcified fibrocartilage in the thinnest fibrocartilage zone of the bone-tendon junction. We concluded that differences in measured mechanical properties are a consequence of varying the loading direction of the tendon across the bone-tendon specimen.

• Smart Structures and Systems
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• 제14권5호
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• pp.765-784
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• 2014

In comparison with conventional shape memory actuated structures, antagonistic shape memory alloy (SMA) actuators permits a fully reversible two-way response and higher response frequency. However, excessive internal stress could adversely reduce the stroke of the actuators under repeated use. The two-way shape memory effect might further decrease the range of the recovered strain under actuation of an antagonistic SMA actuator unless additional components (e.g., spring and stopper) are added to regain the overall actuation capability. In this paper, the performance of all four possible types of SMA actuation schemes is investigated in detail with emphasis on five key properties: recovered strain, cyclic degradation, response frequency, self-sensing control accuracy, and controllable maximum output. The testing parameters are chosen based on the maximization of recovered strain. Three types of these actuators are antagonistic SMA actuators, which drive with two active SMA wires in two directions. The antagonistic SMA actuator with an additional pair of springs exhibits wider displacement range, more stable performance under reuse, and faster response, although accurate control cannot be maintained under force interference. With two additional stoppers to prevent the over stretch of the spring, the results showed that the proposed structure could achieve significant improvement on all five properties. It can be concluded that, the last type actuator scheme with additional spring and stopper provide much better applicability than the other three in most conditions. The results of the performance analysis of all four SMA actuators could provide a solid basis for the practical design of SMA actuators.

• 대한의용생체공학회:의공학회지
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• 제29권4호
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• pp.286-294
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• 2008

This work investigates the characteristics of brain interactions of experienced Zen-Buddhist practitioners by obtaining multichannel EEG (electroencephalogram) data. Brain interactions were compared among three phases-40-minute meditation (M), 5-minute Chakra-focusing practice (Z) and rest with closed eyes (R). The similarity index S, developed in nonlinear dynamical system theory, was employed to measure the degree of possibly asymmetric coupling. Meditators exhibited, overall, stronger interactions among multiple cortical areas in meditation stages M and Z than in the R state. This enhancement was greater in the M stage when the meditator was accompanied by a thought-free and fully consciousness state. In the high-frequency band (>13Hz), the interdependence was also higher in both meditation stages than at baseline rest. However, the interaction strength, especially in the posterior regions, was greatest in the Z stage, which involved internal attention. Few electrode pairs were observed with significant pair-wise asymmetry in the Z state. The similarity is a possible characteristic of dense reciprocal and strong mutual interactions between multiple cortical areas during meditation - especially in the Z state in the high-frequency band. These results demonstrate that profound Zen meditation induces various dynamic states in different phases of meditation, possibly reflected by nonlinear interdependence measure.

• 정보처리학회논문지C
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• 제12C권1호
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• pp.111-120
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• 2005

이동 애드-혹 네트워크는 물리적 위치 이동이 가능한 노트들에 의해 자체적으로 형성되는 시스템으로 동적 위상을 고려한 라우팅 프로토콜을 필요로 한다 본 논문에서는 IETT의 라우팅 프로토콜 DSR을 확장한 R-DSR이라 불리는 온-디멘드 다중경로 프로토콜을 제안한다. 제안된 프로토콜에서는 DSR에 의해 구축되는 단인 경로 상의 2-홉 간격의 모든 노드들에 대해 별도의 노드론 경유하는 추가 경로가 연결된다. 수학적 분석을 통하여 DSR 관련 연구 중 가장 대표적인 방법 중의 하나인 Das의 다중경로 프로토콜보다 더 높은 메시지 전달 확률을 제공함을 보였다.

• Macromolecular Research
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• 제10권2호
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• pp.91-96
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• 2002

To explore the effects of intramolecular interactions within the copolymer on the phase separation behavior of polymer blends, copolymers having two different types of intramolecular interactions, i.e., intramolecular repulsion and intramolecular attraction were prepared . In this study, poly(styrene-co-methylmethacrylate) (P(S-MMA)) having intramolecular repulsion caused by positive interaction between styrene and MMA and poly(styrene-co-ethyl-methacrylate) (P(S-EMA)) and poly(styrene-co-cyclohexylmethacrylate) (P(S-CHMA)) having intramolecular attraction caused by negative interaction between styrene and methacrylate were blended with tetramethyl poly-carbonate (TMPC). The phase behavior of blends was examined as a function of copolymer composition and blend composition. TMPC formed miscible blends with styrenic copolymers containing less than certain amount of methacrylate. The phase separation temperature of TMPC blends with copolymer such as P(S-MMA) and P(S-EMA), first increases with methacrylate content, goes through a maximum and then decreases just prior to the limiting content of methacrylate for miscibility, while that of TMPC blends with P(S-CHMA) always decreases. The calculated interaction energy for TMPC-P(S-EMA) pair is negative and monotonically increases with EMA content of the copolymer. Such behavior contradicted the general notion that systems with more favorable energetic interactions have higher LCST, The detailed inspection of the lattice-fluid theory related to the phase behavior was performed to explain such behavior.

• 대한화학회지
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• 제39권3호
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• pp.143-149
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• 1995

낮은 농도에서 유기색소와 계면활성제 계의 흡수거동을 계산하기 위해 간단한 모델을 사용해보았다. 실험에서 얻어진 값에 3개의 파라미터가 포함되어 있는 결과식을 적용함으로써 이온쌍형성$(K_O)$, 회합체에 계면활성제 분자첨가의 경우$(K_S)$, 그리고 색소회합반응$(K_D)$에 대한 평형상수들을 계산하였으며 이값들을 이용하여 자유에너지를 계산하였다. $K_O$와 K_S$의 값들은 소수성에 원인이 있는 정전기적 상호작용에서 기대했던 것들보다 컸었고, $K_D$값들은 정전기적 반발력의 차폐효과로 간주할 수 있는 순수한 수용액에서의 알려진 회합값보다 약 10~20배 정도 높았다.

• Journal of Radiation Protection and Research
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• 제11권1호
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• pp.29-36
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• 1986

본 연구에서는 NaI검출기에서 감마스펙트럼 시뮤레이션 코드인 GESS를 개발하였다. 감마선에 의한 모든 상호작용이 시뮤레이션 과정에서 고려되었으며, 생성된 하전입자의 스펙트럼은 CSDA 모델에 기반을 두어 계산하였다. 매질내에서 입자 수송에 대한 해석수단으로는 몬테칼로 방법을 적용하였다. 코드의 검증을 위하여 1.33MeV의 입사 감마선에 대한 스펙트럼이 본 연구에서 개발된 코드에 의해 계산되었으며, 계산된 스펙트럼은 대체적으로 실험에서 얻은 스펙트럼과 거의 동일한 분포를 나타내고 있다.

• 한국전기전자재료학회논문지
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• 제26권2호
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• pp.83-86
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• 2013

The optical properties of ZnO thin film have been studied using photoluminescence(PL) spectroscopy with the change of sample temperatures from 10 K to 290 K. The spectrum at 10 K showed the characteristic emission lines of ZnO which were as follows: free exciton(FX) at 3.369 eV, neutral donor-bound exciton($D^0X$) at 3.360 eV, two electron satellite(TES) at 3.332 eV, $D^0X$-1LO at 3.289 eV, and donor-acceptor pair(DAP) transiton at 3.217 eV. From the spectral evolution with temperatures, two features could be identified as temperature went higher: (1) the bound excitons changed gradually into free excitons, (2) DAP turned into free electron-acceptor transition(e,$A^0$). The PL intensity of free exciton increased with the increase of temperatures, which was accompanied by the decrease of the intensity of bound excitions and bound excition-related transitons such as TES and $D^0X$-1LO. At 80 K DAP transition disappeared, while (e,$A^0$) transition started to appear at 30 K.