• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.11
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• pp.5219-5226
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• 2011

A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed In this paper. This built-in type manipulator consists of both arms with 3 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed manipulator is confirmed through live test of tasks.

• The Bulletin of The Korean Astronomical Society
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• v.46 no.1
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• pp.45.1-45.1
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• 2021

The polarization degree as a function of phase angle (the Sun-target-observer's angle), so-called the polarimetric phase curves (PPC), have provided priceless information on asteroids' albedos since B. Lyot (1929). Succeeding experimental works in 1970s have confirmed the Umow law: There is a universal and strong correlation between the albedo and the PPC slope (slope of the tangential line at the zero of the PPC at phase angle ~ 20 degrees). Experiments in 1990s (ref [1]), on the other hand, have demonstrated that the negative branch of PPC is dependent on the size parameter (X ~ π * particle-size / wavelength), especially when X <~5. The change in particle size changed the minimum polarization degree, location of the minimum, and the width of the negative branch (called the inversion angle). From polarimetry[2] and spectroscopy[3], large asteroids are expected to be covered with fine (<~ 10 ㎛ size) particles due to the gravity. The size parameters are X ~ 30 at the optical wavelength (λ ~ 0.5 ㎛) and X ~ 10 in near-infrared (J, H, Ks bands; λ ~ 1.2-2.2 ㎛), if the representative particle size of 5 ㎛ is considered. Accordingly, the near-infrared polarimetry has a great potential to validate the idea in ref[1]. We conducted near-infrared photopolarimetry of the large asteroid (4) Vesta using the Nishiharima Infrared Camera (NIC) at Nishi-Harima Astronomical Observatory (NHAO). NIC allows simultaneous polarimetric measurements in J, H, and Ks bands, and thus the change of PPC is obtained for three different size parameters. As a result, we found a signature of the change in the negative branch in the PPC of asteroid (4) Vesta. We will introduce our observation and the results and give an interpretation of the regolith on Vesta.

• Journal of Bio-Environment Control
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• v.23 no.1
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• pp.39-42
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• 2014

The objective of this study was to estimate cardinal temperatures for germination of lettuce (Lactuca sativar L.) using bilinear, parabolic, and beta distribution functions. Seeds of lettuce were germinated in a growth chamber at 7 constant temperatures: 10, 14, 16, 20, 24, 28, and $32^{\circ}C$. Four replicates of 100 seeds were placed on two layers of filter paper in a 9 cm petri-dish. Radicle emergence of 1 mm was scored as germination. The time course of germination was modeled using a logistic function. These minimum, optimum, and maximum temperatures were estimated by regression of the inverse of time to 50% germination rate against the temperature gradient. In bilinear function, minimum, optimum, and maximum temperatures were $7.9^{\circ}C$, $23.3^{\circ}C$, and $28.0^{\circ}C$, respectively. In parabolic function, minimum, optimum, and maximum temperatures were $9.7^{\circ}C$, $19.5^{\circ}C$, and $29.4^{\circ}C$, respectively. In beta distribution function, minimum, optimum, and maximum temperatures were $3.7^{\circ}C$, $20.7^{\circ}C$ and $32.0^{\circ}C$, respectively. Minimum, optimum, and maximum ranges of temperatures were $3.7{\sim}9.7^{\circ}C$, $19.5{\sim}23.3^{\circ}C$, and $28.0{\sim}32.0^{\circ}C$, respectively.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• v.32 no.1
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• pp.52-59
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• 2006

Purpose: The purpose of this study was to evaluate the influence of apical-coronal implant position on the stress distribution after occlusal and oblique loading. Materials and Methods: The cortical and cancellous bone was assumed to be isotropic, homogeneous, and linearly elastic. The implant was apposed to cortical bone in the crestal region and to cancellous bone for the remainder of the implant-bone interface. The cancellous core was surrounded by 2-mm-thick cortical bone. An axial load of 200 N was assumed and a 200-N oblique load was applied at a buccal inclination of 30 degrees to the center of the pontic and buccal cusps. The 3-D geometry modeled in Iron CAD was interfaced with ANSYS. Results: When only the stress in the bone was compared, the minimal principal stress at load Points A and B, with a axial load applied at 90 degrees or an oblique load applied at 30 degrees, for model 5. The von Mises stress in the screw of model 5 was minimal at Points A and B, for 90- and 30-degree loads. When the von Mises stress of the abutment screw was compared at Points A and B, and a 30-degree oblique load, the maximum principal stress was seen with model 2, while the minimum principal stress was with model 5. In the case of implant, the model that received maximum von Mises stress was model 1 with the load Point A and Point B, axial load applied in 90-degree, and oblique load applied in 30-degree. Discussion and Conclusions: These results suggests that implantation should be done at the supracrestal level only when necessary, since it results in higher stress than when implantation is done at or below the alveolar bone level. Within the limited this study, we recommend the use of supracrestal apical-coronal positioning in the case of clinical indications.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.18 no.11
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• pp.1726-1734
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• 1993

This paper propose a survivable communication network design process using node degree that augments the usual traffic flow and cost analyses with previously ignored topological survivability and computing time considerations. At first, decide a initial topology, and then measure a throughput of network. If the throughput is smaller than the required traffic, add edge to the optimum place by using minimum node degree and link distance. Otherwise, drop useless edge by using maximum node degree, link distance and link utilization. This process is repeated until throughput equals to the required traffics. This Process designs a survivable communication network with the minimized cost and computing time and usual traffic flow. The design proceses that minimized computing time are freely select initial topology and easily design a large network. And these results of algorithm are compared with the Kris and Pramod's in order to analyses the perfmance of the designed network.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.255-270
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• 2006

In this paper, a design method of nonlinear autopilot for ship-to-ship missiles is proposed. Ship-to-ship missiles have strongly coupled dynamics through roll, yaw, and pitch channel in comparison with general STT type missiles. Thus it becomes difficult to employ previous control design method directly since we should find three different solutions for each control fin deflection and should verify the stability for more complicated dynamics. In this study, we first propose a control loop structure for roll, yaw, and pitch autopilot which can determine the required angles of all three control fins. For yaw and pitch autopilot design, missile model is reduced to a minimum phase model by applying a singular perturbation like technique to the yaw and pitch dynamics. Based on this model, a multi-input multi-output (MIMO) nonlinear autopilot is designed. And the stability is analyzed considering roll influences on dynamic couplings of yaw and pitch channel as well as the aerodynamic couplings. Some additional issues on the autopilot implementation for these coupled missile dynamics are discussed. Lastly, 6-DOF (degree of freedom) numerical simulation results are presented to verify the proposed method.

• Structural Engineering and Mechanics
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• v.62 no.1
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• pp.55-64
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• 2017

An effective design approach for Multiple Tuned Mass Dampers (MTMDs) in pedestrian bridges was proposed by utilizing the transfer function to obtain each TMD's optimum stiffness and damping. A systematic simulation of pedestrian excitations was described. The motion equation of a typical MTMD system attached to a Multi-degree-of-freedom (MDOF) system was presented, and the transfer function from the input pedestrian excitations to the output acceleration responses was defined. By solving the minimum norm of the transfer function, the parameters of the MTMD which resulted in the minimum overall responses can be obtained. Two applications of lightly damped pedestrian bridges attached with MTMD showed that MTMDs designed through this method can significantly reduce the structural responses when subjected to pedestrian excitations, and the vibration control effects were better than the MTMD when it was considered as being composed of equal number and mass ratios of TMDs designed by classical Den Hartog method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.4 s.247
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• pp.457-464
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• 2006

The anterior cruciate ligament (ACL) is liable to a major injury that often results in a functional impairment requiring surgical reconstruction. The success of reconstruction depends on such factors as attachment positions, initial tension of ligament and surgical methods of fixation. The purpose of this study is to find isometric positions of the substitute during flexion/extension. The distance between selected attachments on the femur and tibia was computed from a set of measurements using a 6 degree-of-freedom magnetic sensor system. A three-dimensional knee model was constructed from CT images and was used to simulate length change during knee flexion/extension. This model was scaled for each subject. Twenty seven points on the tibia model and forty two points on the femur model were selected to calculate length change. This study determined the maximum and minimum distances to the tibial attachment during flexion/extension. The results showed that minimum length changes were $1.9{\sim}5.8mm$ (average $3.6{\pm}1.4mm$). The most isometric region was both the posterosuperior and anterior-diagonal areas from the over-the-top. The proposed method can be utilized and applied to an optimal reconstruction of ACL deficient knees.

• Journal of Power System Engineering
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• v.13 no.6
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• pp.43-50
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• 2009

If an internal combustion engine is operated by consolidated control, the minimum fuel consumption is achieved satisfying the demanded objectives. For this, it is necessary that the engine is operated on the ideal operating line which satisfies minimum fuel consumption. In this context of view, there are many tries to achieve given object. However, the parameter in the internal combustion engines are variable and depend on the operating points. Therefore, it is necessary to cope with the uncertainties such that the optimal operating may be possible. From this point of view, this paper gives a controller design method and a robust stability condition for engine torque control which satisfies the given control performance and robust stability in the presence of physical parameter perturbation. Exactly, the present paper considers a robust stability of this 2DOF servosystem with nonlinear type uncertainty in the engine system, and a robust stability condition for the servosystem is introduced. This result guarantees that if the plant uncertainty is in the permissible set defined by the given condition then a gain tuning can be carried out to suppress the influence of the plant uncertainties.

• Proceedings of the Korean Quaternary Association Conference
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• 2004.06a
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• pp.29-29
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• 2004

Long term observational analysis by climatologists has confirmedthat the global warming is no longer a topic of debate among scientists andpolicy makers. According to the report of IPCC-2001 (Intergovernmental Panelon Climate Change), the global mean surface air temperature is increasinggradually. The reported increase of mean temperature is by 0.6 degree in the end of twentieth century. This could represent severe threat for propertylosses especially due to increase in the number of extreme weather arising out of global warming. period of model integration from 2001 to 2100 using output of ECHAM4/HOPE-G of Max Planet Institute of Meteorology (MPI) for IPCC SRES (Special Report on Emission Scenarios). The main results of this study indicate increase of surface air temperature by 6.20C and precipitation by 2.6% over Korea in the end of 21st century. Simulation results also show that there is increase in daily maximum and minimum temperatures while decrease in diurnal temperature range (DTR). DTR changes are diminished mainly due to relatively rapid increase of daily minimum temperature than that of daily maximumtemperature. It has been observed that increase in precipitation amount anddecrease in the number of rainy days lead to increase of pre precipitationintensity.