• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.124-126
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• 1989

Inverse kinematic problem is a crucial point for robot manipulator control. In this paper, to implement the Jacobian control technique we used the Hopfield(Tank)'s neural network. The states of neurons represent joint veocities, and the connection weights are determined from the current value of the Jacobian matrix. The network energy function is constructed so that its minimum corresponds to the minimum least square error. At each sampling time, connection weights and neuron states are updated according to current joint position. Inverse kinematic solution to the planar redundant manipulator is solved by computer simulation.

• 한국세라믹학회지
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• 제27권4호
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• pp.536-542
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• 1990

Single crystals of YBa2Cu3O7-x have been grown in BaCuO2 flux at temperature of 125$0^{\circ}C$ and examined using XRD, EDAX and light microscopy. The YBCO crystals were grown in a cavity which was formed by the reduction of CuO and became large by the directional solidification in the crucible. The observed crystal growth habit is square planar with the c-axis normal to the plane. The surface morphology of grown crystals were growth ledges and growth sprial paterns on a (001) face.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 1997년도 추계학술대회논문집
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• pp.76-79
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• 1997

In this study, an elasto-plastic finite element code, ESFORM, was developed to analyze sheet stamping processes. A formulation of 4-node degenerated shell element was implemented in the code. Workpiece materials were assumed to have planar anisotropy, and governed by associated flow rule. Explicit time integration method was employed to save computation time and reduce the required computer memory. Penalty method was used to describe interface behavior between workpiece and rigid die. Deep drawing of square cup and front finder stamping processes were simulated by ESFORM>

• 한국정보통신설비학회:학술대회논문집
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• 한국정보통신설비학회 2008년도 정보통신설비 학술대회
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• pp.425-428
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• 2008

A new type of cross-coupled planar microwave filter using coupled microstrip square open-loop resonators diplexer pro-posed. A method for the rigorous calculation of the coupling coefficients of basic four pole electric and magnetic coupling structures encountered. Simple empirical models are derived for estimation of the coupling coefficients. Experiments are performed to verify the theory. And a method for diplexer matching is conjugate matching that has characteristic better than open matching method.

• Bulletin of the Korean Chemical Society
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• 제20권2호
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• pp.147-149
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• 1999

The electronic structures of α- and β-gold selenides are studied. α- and β-AuSe are known as mixed valence compounds having linear (AuSe2, Au+) and square-planar (AuSe4, Au3+) units in their structure simultaneously. Our EHTB calculations, however, show that the oxidation states of Au in α- and β-AuSe are both close to +1. This is because the frontier orbitals are largely made up of Se p-orbitals and Au d-orbitals that lie well below the Fermi level. Our results are consistent with the recent X-ray absorption spectroscopy study on AuSe which show that all Au in the compound exhibit a monovalent state independent of their chemical environments.

• Bulletin of the Korean Chemical Society
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• 제18권10호
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• pp.1067-1070
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• 1997

The synthesis and characterization of the nitrile ligands 3,4,5-tridodecyloxy benzonitrile (7) and 3,4,5-trioctadecyloxy benzonitrile (8), and their corresponding palladium(Ⅱ) complexes are described. The nitrile ligands display only a crystalline phase and do not show liquid crystalline behavior, while their corresponding palladium(Ⅱ) complexes dispaly an enantiotropic columnar mesophase. The induction of the columnar mesophase is mainly due to dimerization through the palladium complexation of the half disk-like nitrile ligands giving rise to a trans square planar geometry.

• Childhood Kidney Diseases
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• 제5권1호
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• pp.22-29
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• 2001

목 적 : 99mTc DMSA 신스캔 평면영상은 급성신우신염과 신반흔의 진단에 유용한 검사로 알려져 있다. 최근에는 99mTc DMSA 신스캔 평면 영상에 Single-photon emission computed tomography(SPECT) 영상을 추가하여 예민도를 높일 수 있다고 하였다. 저자들은 소아 요로감염에서 99mTc DMSA 신스캔 평면영상에 추가된 SPECT영상의 진단적 가치를 평가하고자 하였다. 대상 및 방법 : 1997년 1월부터 1999년 7월 까지 이대 목동병원 소아과에서 요로감염으로 진단 받고 99mTc DMSA 신스캔 평면영상에 SPECT영상을 추가 시행하였던 130명 (260 kidney unit)과 신반흔으로의 진행을 파악하기 위하여 추적검사를 시행하였던 22명(44 kidney unit)을 대상으로 하였다. 신스캔은 99mTc DMSA를 주사하고 3시간후 전면상과 후면상의 평면영상을 얻고, 이어서 저에너지 범용 조준기가 장착된 회전형 카메라 (Starcam 4000-I U.S.A. GE)를 사용하여 SPECT Axial과 Coronal 영상을 얻어 진단율을 비교하였다. 통계는 Yates 교정 후 Chi 검정하였다. 결 과 : 급성신우염 환자의 진단율은 SPECT영상에서 47.7$\%$로 평면영상의 35.4$\%$에 비해 12.3$\%$가 높았다. 신단위로 평가하면 SPECT 영상에서는 32.3$\%$로 평면영상의 25.8$\%$에 비하여 6.5$\%$가 높았다. 평면 영상 음성인 18신단위(6.9$\%$)가 SPECT 영상에서는 14신단위(5.4$\%$에서 국소성결손, 4신단위 (1.5$\%$)에서 다발성 결손이었고 평면영상에서 양성인 1신단위 (0.4$\%$)가 SPECT 영상에서 음성이었다. 평면영상에 비하여 SPECT영상이 더 우수한 경우가 17.3$\%$, 동일한 경우가 82.3$\%$, 미흡한 경우가 0.4$\%$였다. 99mTc DMSA 신스캔의 신반흔 진단율은 SPECT 영상에서는 43.2$\%$로 평면영상의 36.4$\%$에 비하여 6.8$\%$ 높았다. 평면영상에서 양성은 SPECT영상에서 모두 양성이었고, 평면영상에서 음성이 SPECT영상에서 양성인 경우는 6.8$\%$(3신단위)이었다. 평면영상에 비하여 SPECT 영상이 우수한 경우가 11.4$\%$, 동일한 경우가 88.6$\%$이었다. 결 론 : 99mTc DMSA신스캔 평면영상에 추가된 SPECT영상은 급성신우염과 신반흔의 진단율을 높이고 더 우수한 영상을 얻을 수 있었다.

• 한국컴퓨터정보학회논문지
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• 제6권1호
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• pp.51-59
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• 2001

본 논문에서는 pencil beam 형성에 적합하며, 특정 방향으로 예리한 지향특성을 갖는 이중 원형 배열 안테나의 성능을 분석하였다. N개의 등방성 점원을 평면상에 정방형, 원형 이중원형 구조를 갖도록 등간격으로 배열하여 각 배열 구조에 따른 방사패턴 특성을 비교ㆍ분석 하였다. 결과적으로 이중 원형 배열 안테나가 지향 특성 또는 SLL과 HPBW의 측면에서 정방형과 원형 배열 구조보다 우수한 특성을 나타내고 있음을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.422-427
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• 1988

The purpose of this research is to develope a algorithm characterizing the grasp of the randomly fed objects using the tactile sensor. The tactile sensor used is composed of the 10 x 16 arrays of optical sensors and the planar resolution is 1.8 x 1.8 mm$^{2}$. The square and circular plate are used for the investigation of the characteristics of this sensor. The result shows that the measuring performance of the square plate is superior to that of the circular plate. Based upon this result the algorithm for the assembly of the electric plug was developed and was implemented using the mini-robot.

• International Journal of Precision Engineering and Manufacturing
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• 제9권3호
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• pp.82-84
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• 2008

A surface encoder based on the Half-shaded square pattern (HSSP) is presented. The HSSP working as reference grid is composed of the straight lines which are easy to be fabricated and make measuring time short. Since the periodic cell is separated in ON/OFF by the $45^{\circ}$ straight line, the duration from the starting point of scanning to the first rising edge and the duty cycle of the pulse train vary with respect to the position of the starting point. And the relationship between X and Y position and the duration, and duty cycle is described in the simple linear equation. Therefore, it is possible to measure X and Y position with the measured duration and duty cycle without calculating load. Through the test set-up, the feasibility of the proposed surface encoder was verified. Also the future works for improvement of performance were suggested.