• The Journal of Korea Robotics Society
• /
• v.1 no.2
• /
• pp.107-116
• /
• 2006

We propose a planning algorithm to automatically generate a robust behavior plan (RBP) with which mobile robots can achieve their task goal from any initial states under dynamically changing environments. For this, task description space (TDS) is formulated, where a redundant task configuration space and simulation model of physical space are employed. Successful task episodes are collected, where $A^*$ algorithm is employed. Interesting TDS state vectors are extracted, where occurrence frequency is used. Clusters of TDS state vectors are found by using state transition tuples and features of state transition tuples. From these operations, characteristics of successfully performed tasks by a simulator are abstracted and generalized. Then, a robust behavior plan is constructed as an ordered tree structure, where nodes of the tree are represented by attentive TDS state vector of each cluster. The validity of our method is tested by real robot's experimentation for a box-pushing-into-a-goal task.

• The Korean Journal of Pain
• /
• v.27 no.3
• /
• pp.239-245
• /
• 2014

Background: Neuropathic pain induced by spinal or peripheral nerve injury is very resistant to common pain killers, nerve block, and other pain management approaches. Recently, several studies using stem cells suggested a new way to control the neuropatic pain. In this study, we used the spinal nerve L5 ligation (SNL) model to investigate whether intrathecal rat mesenchymal stem cells (rMSCs) were able to decrease pain behavior, as well as the relationship between rMSCs and reactive oxygen species (ROS). Methods: Neuropathic pain of the left hind paw was induced by unilateral SNL in Sprague-Dawley rats (n = 10 in each group). Mechanical sensitivity was assessed using Von Frey filaments at 3, 7, 10, 12, 14, 17, and 24 days post-ligation. rMSCs ($10{\mu}l$, $1{\times}10^5$) or phosphate buffer saline (PBS, $10{\mu}l$) was injected intrathecally at 7 days post-ligation. Dihydroethidium (DHE), an oxidative fluorescent dye, was used to detect ROS at 24 days post-ligation. Results: Tight ligation of the L5 spinal nerve induced allodynia in the left hind paw after 3 days post-ligation. ROS expression was increased significantly (P < 0.05) in spinal dorsal horn of L5. Intrathecal rMSCs significantly (P < 0.01) alleviated the allodynia at 10 days after intrathecal injection (17 days post-ligation). Intrathecal rMSCs administration significantly (P < 0.05) reduced ROS expression in the spinal dorsal horn. Conclusions: These results suggest that rMSCs may modulate neuropathic pain generation through ROS expression after spinal nerve ligation.

• Steel and Composite Structures
• /
• v.44 no.3
• /
• pp.353-369
• /
• 2022

This study attempts to shed light on the coupled impact of types of loading, thickness stretching, and types of variation of Winkler-Pasternak foundations on the flexural behavior of simply- supported FG plates according to the new quasi-3D high order shear deformation theory, including integral terms. A new function sheep is used in the present work. In particular, both Winkler and Pasternak layers are non-uniform and vary along the plate length direction. In addition, the interaction between the loading type and the variation of Winkler-Pasternak foundation parameters is considered and involved in the governing equilibrium equations. Using the virtual displacement principle and Navier's solution technique, the numerical results of non-dimensional stresses and displacements are computed. Finally, the non-dimensional formulas' results are validated with the existing literature, and excellent agreement is detected between the results. More importantly, several complementary parametric studies with the effect of various geometric and material factors are examined. The present analytical model is suitable for investigating the bending of simply-supported FGM plates for special technical engineering applications.

• Journal of the Korean Geotechnical Society
• /
• v.24 no.6
• /
• pp.17-25
• /
• 2008

Permeable reactive barriers (PRBs) technology can be applied to contaminated groundwater remediation. It is necessary to select adequate reactive material according to contaminant characterization. In groundwater. In this research, the reaction between reactive material and heavy metal contaminants was estimated through batch test. Reactive material was slag, which has been produced in Gwangyang power plant, and heavy metal contaminants were cadmium, lead and copper. Batch test consisted of two testes: 1) sorption equilibrium test and 2) sorption kinetic test. Sorption equilibrium test was performed for estimating slag sorption capacity against contaminants. And sorption kinetic test was performed for slag sorption rate with contaminants species, contaminants initial concentration and sulfate. Sorption capacity and sorption rate were affected by contaminant species. Sorption rate increased with increasing initial concentration in lead and copper but decreased with increasing initial concentration in cadmium. Sorption rate increased in existing sulfate. In low concentration, film diffusion was domain mechanism, and in high concentration, particle diffusion was domain mechanism.

• Proceedings of the Korean Institute of Building Construction Conference
• /
• 2013.11a
• /
• pp.68-71
• /
• 2013

Reactive Powder Concrete (RPC) is an ultra high strength and high ductility cement-based composite material and has shown some promise as a new generation concrete in construction field. It is characterized by a silica fume-cement mixture with very low water-binder (w/b) ratio and very dense microstructure, which is formed using various powders such as cement, silica fume and very fine quartz sand (0.15~0.4mm) instead of ordinary coarse aggregate. However, the unit weight of cement in RPC is as high as 900~1,000 kg/㎥ due to the use of very fine sand instead of coarse aggregate, and a large volume of relatively expensive silica fume as a high reactivity pozzolan is also used, which is not produced in Korea and thus must be imported. Since the density of RPC has a heavy weight at 2.5~3.0 g/㎤. In this study, the modified RPC was made by the combination of ternary pozzolanic materials such as blast furnace slag and fly ash, silica fume in order to economically and practically feasible for Korea's situation. The fire resistance and structural behavior of the modified RPC exposed to high temperature were investigated.

• Journal of Electrical Engineering and Technology
• /
• v.9 no.4
• /
• pp.1258-1268
• /
• 2014

Improving grid connection of wind farms is a relevant issue to be addressed, especially for fixed-speed wind turbines. Certain elements, such as FACTS (Flexible AC Transmission Systems), are able to perform voltage and reactive power regulation in order to support voltage stability of wind farms, and compensate reactive power consumption from the grid. Several devices are grouped under the name of FACTS, which embrace different technologies and operating principles. Here, three of them are evaluated and compared, namely STATCOM (Static Synchronous Compensator), SVC (Static Var Compensator) and SSSC (Static Synchronous Series Compensator). They have been modeled in MATLAB/Simulink, and simulated under various scenarios, regarding both normal operation and grid fault conditions. Their response is studied together with the case when no FACTS are implemented. Results show that SSSC improves the voltage stability of the wind farm, whereas STATCOM and SVC provide additional reactive power.

• Journal of the Korean institute of surface engineering
• /
• v.47 no.6
• /
• pp.311-315
• /
• 2014

Indium tin oxide (ITO) thin films (30 nm) were deposited on PET substrate by reactive DC magnetron sputtering using In/Sn(2, 5 wt.%) metal alloy target without intentionally substrate heating during the deposition under different DC powers of 70 ~ 110 W. The electrical properties were estimated by Hall-effect measurements system. The resistivity of ITO thin film deposited using In/Sn (5 wt.%) metal alloy target at low DC power increased with increasing annealing time. However, they increased with increasing annealing time at high DC power. In the case of ITO (Sn 2 wt%), we can't find clear change in resistivity with increasing annealing time. However, carrier density and mobility showed difference behavior due to change of oxygen vacancy.

• Advances in concrete construction
• /
• v.11 no.4
• /
• pp.347-356
• /
• 2021

To address the limitation of the commonly used steam curing of reactive powder concrete (SC-RPC) in engineering, a preparation technology of normal curing reactive powder concrete (NC-RPC) is proposed. In this study, an experimental comparative research on the mechanical properties of NC-RPC and SC-RPC under uniaxial tension is conducted. Under the premise of giving full play to the ultra-high performance of RPC, the paper tries to explore whether normal curing can replace steam curing. The results show that various mechanical indexes of NC-RPC (e.g., tensile strength, ultimate tensile strain, elastic modulus and deformation performance) could basically reach the mechanical index values in steam curing at 28d age, some performance is even better at a longer age. So it affirms the feasibility of normal curing. In this paper, the influence of normal curing age on the tensile properties of RPC is discussed, and the relationship between each index and age is introduced in detail. Based on the experimental data, the tensile mechanism of RPC is analyzed theoretically, and two kinds of tensile constitutive models for RPC are proposed, one is curvilinear model, and another one is polygonal line model. The validity of the two models is further verified by the test results of others.

• Proceedings of the Korean Institute of Building Construction Conference
• /
• 2015.11a
• /
• pp.7-8
• /
• 2015

The purpose of this study is to investigate the expansion of alkali-activated geopolymer mortar containing reactive aggregate due to alkali-silica reaction. In addition, this study is particularly concerned with the behavior of these alkaline materials in the presence of reactive aggregates. The test method included expansion measurement of the mortar bar specimens and geopolymer compressive strength test. Major results that alkali-activated geopolymer mortars showed expansion due to the alkali-silica reaction. geopolymer mortars is safety for the expansion exhibited less than 0.2% at 14 day.

• Proceedings of the Korean Fiber Society Conference
• /
• 2003.10a
• /
• pp.31-32
• /
• 2003

The fixation of reactive dyes onto cotton fabrics by means of dry heat treatment was examined in terms of water regain in fabrics. Dye liquors were applied to fabrics by ink-jet printer. The fixation strongly depended on water regain. At certain level of water regain the fixation showed stepwise increase. After this point the fixation reached to saturated value. The observed results were interpreted by the aggregation behavior of dyes and reactivity of hydroxyl group of cellulose depending on the amount of the surrounding water molecules. Urea molecules played a role of water at low water regain to increase the fixation.