• 제어로봇시스템학회논문지
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• 제11권9호
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• pp.761-767
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• 2005

There exists a structural limit of 2WS cars that drivers would not like simultaneously to follow the desired path and attenuate moments resulting from disturbances because lateral acceleration and yaw rate are coupled inherently. In order to overcome the limit, the 4WS cars that have rear wheel steering as an additional input have been introduced. But the 4WS cars have disadvantages that much cost is required due to structural alteration, it is difficult to be used to the driving circumstances and tire performances are not efficient in nonlinear or large lateral acceleration ranges. Therefore, it is proposed that, in this paper, a robust controller is easy to apply to 2WS cars by using direct yaw moment, decouples lateral acceleration from yaw motion and is robust against disturbances and uncertainties of system parameters, and thus the proposed control method has the advantages of 4WS cars which can be achieved in 2WS cars.

• 로봇학회논문지
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• 제4권4호
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• pp.273-280
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• 2009

It is difficult to find a practical solution for the backward-motion control of a car-like mobile robot with n passive trailers. Unlike an omni-directional robot, a car-like mobile robot has nonholonomic constraints and limitations of the steering angle. For these reasons, the backward motion control problem of a car-like mobile robot with $n$ passive trailers is not trivial. In spite of difficulties, backing up a trailer system is useful for parking control. In this study, we proposed a mechanical alteration which is connecting $n$ passive trailers to the front bumper of a car to improve the backward motion control performance. Theoretical verification and simulations show that the backward-motion control of a general car with n passive trailers can be successfully carried out by using the proposed approach.

• 대한전기학회논문지:전기물성ㆍ응용부문C
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• 제55권4호
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• pp.204-208
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• 2006

In this study, we investigated the ion energy distributions in a chlorine based inductively coupled plasma by quadrupole mass spectrometer with an electrostatic ion energy analyzer. Ion energy distributions are presented for various plasma parameters such as $BCl_3/Ar$ gas mixing ratio, RF power, and process pressure. As the $BCl_3/Ar$ gas mixing ratio and process pressure decreases, and RF power increases, the saddle-shaped structures is enhanced. The reason is that there are ionized energy difference between $BCl_3$ and Ar, change of plasma potential, alteration of mean free path. and variety of ion collision in the sheath.

• 자원환경지질
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• 제27권2호
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• pp.131-145
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• 1994

The Daehung and Pyeongan talc mines are located in the Yoogoo area, Chungcheongnam-Do. These deposits occur as the complex vein type in the ultramafic rocks which intruded Precambrian gneiss. The talc ore formed from sepentinitt: originated from ultramafic rocks but some of those from hornblende gneiss. The talcification processes were considered here on the basis of the mineral assemblages, paragenesis, and geochemistry. It appears that there are five processes in talcification ; serpentine$\rightarrow$talc, phlogopite$\rightarrow$chlorite$\rightarrow$talc, phlogopite$\rightarrow$talc, hornblende$\rightarrow$chlorite$\rightarrow$talc, and hornblende$\rightarrow$talc. Among them, the most dominant alteration path is serpentine to talc in these deposits. EPMA data suggest that there might be interstratified minerals were in between parent mineral and talc such as serpentine and talc, and phlogopite and talc. It can be found that tremolite exists in between the inner and outer most part of talcified serpentinite blocks coated with phlogopite. Some of tremolites has been altered to talc. The quartz veins and carbonate minerals were found in the talc ore zone. It indicates that the hydrothermal solution played an important role in talcification. The hydrothermal alteration occured after sepentinization. Ore zones can be divided into two zones; talc-serpentine zone preserving a pseudormorph of olivine (mesh texture) and talc-phlogopite zone showing talcification from phlogopite directly or through chlorite. It can be concluded that the formation of major talc ore body was due to talcification of serpentinite and phlogopite by hydrothermal solution. A nature of hydrothermal solution was relatively pure water at the beginning of serpentinization, and was getting richer in silica composition. There was a large amount influx of K and AI with hydrothermal solution in the later stage, and increased $P_{CO_{2}}$ also. It suggests that phlogopite formed in later stages as a secondary mineral. So, the major part of the talc ore body was formed from one parents rocks, serpentinite originated from ultramafic rocks, by hydrothermal solutions at several times.

• 대한원격탐사학회지
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• 제22권5호
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• pp.313-323
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• 2006

Forest Canopy Density is a dynamic process mediated by various natural and anthropogenic factors. It can be changed over time and locations in the same forest type and landscape. However, human dimensions are considered as the primary force of landscape change and subsequent forest canopy loss in tropical regions of the world. Many studies have been indicated that roads have a far greater impact on forests than simply allowing access for human use. Similarly, rivers have been used as means of transportation, hence illegal logging and felling further deplete forest canopy density. The main objective of this study was to investigate the spatio-temporal dynamic alterations of Forest Canopy Density (FCD) across with site associated factors such as biophysical, physical and human interferences in tropical region of Nepal from 1988 to 2001. Landsat TM and ETM+ of 1988 and 2001 were used to assess the spatial and temporal dynamic alterations of FCD. This analysis revealed that distance to human settlements at P=<0.01, rivers, human interferences (path and fire) and species composition had a statistically significance at P=<0.05 level. However, other factors did not show any significant relation. So, we concluded that understanding of dynamic alterations of FCD with respect to factors was quite complex phenomena. Other surrounding environment could also playa significant role. A comprehensive analysis could be required to understand such complexities. Therefore, additional factors such as climatic, biophysical, social, and institutional with respect to spatio-temporal variability should be considered for the better understanding of canopy dynamic.

• 한국산업정보학회논문지
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• 제11권4호
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• pp.32-39
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• 2006

MANET은 기존의 인프라(기지국, AP)를 이용하는 무선 네트워크와는 달리 인프라가 없이 이동 노드만으로 구성된 무선 네트워크다. MANET에서 데이터 서비스를 제공하기 위해서는 각 이동 노드에서 데이터를 원하는 목적지로 전달하기 위한 효율적인 라우팅 프로토콜이 요구된다. 현재 라우팅을 위해 제시된 reactive 방식의 라우팅 프로토콜은 데이터를 전송하기 위한 경로발견 단계 시 네트워크 전체로 경로 탐색 패킷을 브로드캐스트하는 플러딩 방법을 사용하고 있다. 이로 인해 각 노드마다 경로발견과 이를 유지하기 위한 라우팅 오버헤드가 크다. 본 논문에서는 각 노드에서 N-hop 거리의 이웃노드에 대한 정보를 사전에 생성하여 경로발견을 위한 패킷을 제한된 영역으로 플러딩을 수행하는 최적의 N 값을 제시한다. 기존의 reactive 방식의 라우팅 프로토콜을 사용하는 각각의 노드들은 기본적으로 노드 이동에 대해 무지한 상태이기 때문에 경로 변경에 대해서 능동적으로 대처하지 못했다. 그러나 본 논문의 N-hop 거리의 사전조사를 이용한 적응적인 플러딩 기법은 기존의 방법보다 네트워크 이동의 변화에 보다 탄력적으로 대처할 수 있는 라우팅 기법이다. 모의실험의 결과를 통해 본 논문의 기법이 reactive 방식의 라우팅 오버헤드를 감소시켜 기존의 플러딩 방법보다 향상된 라우팅 성능을 보여준다.

• Maxillofacial Plastic and Reconstructive Surgery
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• 제15권3호
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• pp.217-228
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• 1993

The purpose or this study was to observe the histological alteration of Langerhans cells on wound healing process in applying low energy laser irradiation. For this study, 50 Spraque-Dewly rats, weighing 150Gm or more were devided into control, experimental control group(0), 47.5Hz(1), 190Hz(3), 380Hz(5), 760Hz(7), lased group. All the experimental animals were made excision wound on buccal mucosa, 2mm depth, and lased with stoma laser (904nm, semconductor type ASGaAI, Sedalac France) 47.5Hz, 380Hz, 960Hz, 3minutes one time respectively except experimental control group. After the experiment, experimental animals were sacrificed after 24hours, 48hours, 72hours on each. Taken specimens were embedden in paraffin, sectioned 6-8u in thickness. And the langerhans cell were detected using ant S-100 protein antibody, and histochemically processed with Avidin Biotin complex method. All the Langerhan cells were calculated under light microspe in 400 multiplication field and standard deviation, probability test between each group were evaluated using statistical analysis system(S.A.S)program. Following results were obtained. 1. Langerhan cells were increased in experimental control group compared to that in control group(P<0.01). 2. 24hour after experiments, Langerhans cell were decreased compare to that in control group and control experimental group 5, 1, 3. Probability test shows significance between control experimental and 5, 1, 3 group on a =0.05 range. 3. 48our after experiment, Langerhans cells were decreased compare to that on experimental control group, and probability test shows significance between control experimental and 3, 7, 5 group an a=0.05 range. 4. 72hour after experiments, Langerhans cells were decreased compare to that on experimental control group and probability test on group comparison shows significance between control experimental and 1, 5 and 1 between 3, 7 between 3, and 5, between 7, respeilively on a=0.05 range. 5. Langerhans cells number in experimental group were decreased compare to that on experimental control group in applying laser irradiation.

• 한국전자파학회논문지
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• 제17권3호
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• pp.295-306
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• 2006

본 논문은 고속 비행체용 안테나를 보호하기 위해 사용되는 안테나 커버(cover)를 새로운 제조 방식으로 제작하여 시뮬레이션과 실험을 통해 성능을 평가하였다. 안테나 커버용 소재는 사용 환경인 $600^{\circ}C$ 이상의 온도와 구조적 안정성을 가져야할 뿐만 아니라, 전파 투과성이 우수한 저유전율 소재여야만 한다. 고온, 고습의 환경의 변화에 따른 유전율을 토대로 모의실험을 통해 안테나 커버의 특성을 평가하였으며, 최적의 소재인 테프론 코팅된 세라믹 복합체를 안테나 커버에 적용하여 우수한 물리적 및 전기적 특성을 실험적으로 증명하였다.

• 자원환경지질
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• 제45권2호
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• pp.157-167
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• 2012

이 연구에서는 광주 치평동 유적에서 출토된 토기의 태토산지와 소성온도를 광물학적 및 지구화학적 연구방법으로 해석하고 매장환경 하에서 토기의 변질을 조사하였다. 토기와 토양시료는 유사한 광물조성과 지구화학적 진화경향을 갖는 것으로 보아 재료로서의 유사성이 인정되며 토기는 유적의 인근 지역 토양을 이용하여 제작된 것으로 해석된다. 광물학적 분석결과를 근거로, 토기는 크게 $1,000{\sim}1,100^{\circ}C$에서 고온 소성된 그룹과 $700{\sim}1,000^{\circ}C$에서 저온 소성된 그룹으로 나눌 수 있다. 또한 고온 소성된 시료에서는 거정질 입자를 제거하는 수비과정을 거쳤을 것으로 보이는데 저온 소성된 시료들과는 다른 시기 또는 용도의 차이를 보이는 것으로 판단된다. 저온 소성된 토기에서 매장환경 동안 P이 토기 내 Al, Fe 등과 반응하여 비결정질의 침전물을 형성하는 것이 관찰되었으며, 이는 환경에 의한 토기의 변질 현상으로 해석된다.

• 한국통신학회논문지
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• 제29권11C호
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• pp.1491-1497
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• 2004

구현하기 위하여 고정 소수점 연산기에 적합하도록 최적화를 수행하였다. 최적화 과정은 크게 부호화기의 음질을 고려하여 프로세서의 데이터 워드 길이를 결정하는 과정과 자주 사용되는 초월 함수를 고정 소수점 연산을 통해 구현하는 것으로 구성된다. 데이터 워드 길이를 결정하기 위하여 심리음향 모델 과정의 고정 소수점 연산 오차와 이 오차가 비트 할당 과정에 영향을 미칠 확률 사이의 관계를 통계적 모델로 정의하였다. 여기서 정의된 모델을 사용하여 고정 소수점 연산 오차에 의한 영향이 1% 이내가 되도록 24비트의 데이터 워드를 선택하였다. 최적화된 고정 소수점 심리음향 모델을 사용한 MP3 부호화기의 음질은 부동 소수점 부호화기에 비해 W-R의 음질평가 점수를 기준으로 평균 -0.2 이내의 구분하기 힘든 수준의 음질 저하를 보였다