• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.959-964
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• 1992

This study treats the method for kinematic modeling of the biped walking robot, for synthesizing various gait trajectories, and for calculating adequate values of the joint torque inside the stable region. To synthesize various and anthropomorphic walking easily, the gait trajectory is specified by a set of ten walking prameters, and the trunk motion equation is derived by the zero moment point and the gait trajectory. By distributing ground reaction force and moment reduced at the zero moment point to the both feet, the joint torque equation can be derived readily, and according to this equation, the joint torque to stable walking can be computed.

• Journal of the Korean Mathematical Society
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• v.45 no.2
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• pp.493-511
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• 2008

In this article, we study the relations of horizontally homothetic harmonic morphisms with the stability of totally geodesic submanifolds. Let $\varphi:(M^n,g)\rightarrow(N^m,h)$ be a horizontally homothetic harmonic morphism from a Riemannian manifold into a Riemannian manifold of non-positive sectional curvature and let T be the tensor measuring minimality or totally geodesics of fibers of $\varphi$. We prove that if T is parallel and the horizontal distribution is integrable, then for any totally geodesic submanifold P in N, the inverse set, $\varphi^{-1}$(P), is volume-stable in M. In case that P is a totally geodesic hypersurface the condition on the curvature can be weakened to Ricci curvature.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.9
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• pp.2843-2853
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• 1996

The multi-point procedure is developed to predict the shape change of a semi-elliptical surface crack during stable fatigue crack growth. 3-D stress intensity factors along a crack front are calculated using the simplified 3-D J-intergral. Crack growth rate coefficient in the Paris law is assumed to be constant along the crack growth. Crack growth rate is set to be the distance between the two parallel tangent lines on the two semi-elliptic crack fronts before and after crack growth.

• Bulletin of the Korean Chemical Society
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• v.24 no.11
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• pp.1649-1654
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• 2003

We have investigated substituent effect on the stabilization energies, and nucleus-independent chemical shifts of pentafulvalenes and on the electronic structures of the corresponding polypentafulvalenes to design environmentally stable semiconductive or conductive polymers. Geometrical optimizations of the molecules were carried out at the density functional level of theory with B3LYP hybrid functional and 6-311+G(d) basis set. Stabilization energies were estimated using isodesmic and homodesmotic reactions. As a criterion of aromaticity nucleus-independent chemical shifts of the molecules were computed using GIAO approach. For the polymers the geometrical parameters were optimized through AM1 band calculations and the electronic structures were obtained through modified extended Huckel band calculations. It is found that strong electronwithdrawing substituents increase isodesmic and homodesmotic stabilization energies of pentafulvalene, though it does not increase the aromaticity. Nitro-substituted pentafulvalene is estimated to have stabilization energy as much as azulene. However, substitution either with electron-donating groups or with electronwithdrawing groups does not significantly affect the electronic structures of polypentafulvalene and poly (vinylenedioxypentafulvalene).

• Journal of Mechanical Science and Technology
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• v.18 no.7
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• pp.1131-1139
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• 2004

A new impedance controller is proposed for bilateral teleoperation under a time delay. The proposed controller does not need to measure or estimate the time delay in the communication channel using the force loop-back. In designing a stable impedance controller, absolute stability is used as a stability analysis tool, which results in a less conservative controller than the passivity concept. Moreover, in order to remove the conservatism associated with the assumption of infinite port impedances, the boundaries of human and environment impedance are set to finite values. Based on this, this paper proposes a parameter design procedure for stable impedance controllers. The validity of the proposed control scheme is demonstrated by experiments with a 1-dof master/slave system.

• Bulletin of the Korean Chemical Society
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• v.21 no.4
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• pp.419-424
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• 2000

In this study we have investigated the determination of proper time step in molecular dynamics simulation.Since the molecular dynamics is mathematically related to nonlinear dynamics, the analysis of eigenvalues isused to explain the relationship between the time step and dynamics. The tracings of H2 and CO2 molecular dynamics simulation agrees very well with the analytical solutions. For H2, the time step less than 1.823 fs pro-vides stable dynamics. ForCO2, 3.808 fs might be the maximum time step for proper molecular dynamics. Al-though this results were derived for most simple cases of hydrogen and carbon dioxide, we could quantitatively explain why improperly large time step destroyed the molecular dynamics. From this study we could set the guide line of the proper time step for stable dynamics simulation in molecular modeling software.

• Bulletin of the Korean Chemical Society
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• v.20 no.3
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• pp.345-351
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• 1999

The structures, the energetics, and the spectra of K+(H2O)3 have been studied at HF and MP2 levels with the basis set of triple-zeta plus two sets of polarization functions (TZ2P) for water molecules. Two structures considered are 3+0 (D3), and 2+1 (C2v). The 2+1 (C2v) has two hydrogen bonds between the primary hydration and the secondary hydration shell water molecules. They have similar binding energy and enthalpy. The most stable conformation of K+(H2O)3 is entropy driven as shown in Na+(H2O)5 and in Na+(H2O)6 cases. The 3+0 (D3) conformation is the most stable at 298 K and at 1 atm, based on Gibbs free energy changes (ΔGr). The thermal contributions to the enthalpy and the Gibbs free energy are corrected for the low frequency modes. The corrected ΔGr is in good agreement with the experimental value. Vibrational frequencies of two conformations are revealed as their characteristics.

• International Journal of Internet, Broadcasting and Communication
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• v.15 no.2
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• pp.31-38
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• 2023

This paper introduces a real-time face swapping system that enables video influencers to swap their faces with arbitrary generated face images of their choice. The system is implemented as a Django-based server that uses a REST request to communicate with the generative model,specifically the pretrained stable diffusion model. Once generated, the generated image is displayed on the front page so that the influencer can decide whether to use the generated face or not, by clicking on the accept button on the front page. If they choose to use it, both their face and the generated face are sent to the landmark extraction module to extract the landmarks, which are then used to swap the faces. To minimize the fluctuation of landmarks over time that can cause instability or jitter in the output, a temporal filtering step is added. Furthermore, to increase the processing speed the system works on a reduced set of the extracted landmarks.

• Journal of Korea Technical Association of The Pulp and Paper Industry
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• v.44 no.4
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• pp.77-84
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• 2012

The lithographic process depends on a satisfactory ink-in-water emulsion being formed during printing and the speed of wet presses makes the choice of fountain solution vitally important as the ink and fount must react quickly to form a stable emulsion. Ink and water come into contact with each other on the rolls of the press and are forced together in the roll nips. The water is not soluble in the ink since it is slightly fat. Instead, an emulsion is formed, a heterogeneous mass consisting of small water drops mixed into the ink, if the water feed is too great. This emulsification can affect the properties of an off-set ink and negatively affect the printability. So we investigated the effects of the emulsification of phenol free heat-set ink and existing heat-set ink on printed quality, such as amount of ink transfer, printed density, print-through and uniformity. We used Duke emulsification tester for the emulsification of inks, and used IGT printability tester for printed quality. The printed quality were measured by densitometer and were evaluated by the image analysis system. Compared to conventional printing ink, phenol-free ink showed better results of the printability at the emulsification.

• Proceedings of the KIPE Conference
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• 2001.10a
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• pp.586-590
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• 2001

In this paper, a novel control scheme compensating source voltage unbalance and harmonic currents for hybrid active power filters is proposed, where no low/high-pass filters are used in compensation voltage composition. The phase angle and compensation voltages for source harmonic current and unbalanced voltage components are derived from the positive sequence component of the unbalanced voltage set, which is simply obtained by using digital all-pass filters. Since a balanced set of the source voltage obtained by scaling the positive sequence components is used as reference values for source current and load voltage, it is possible to eliminate the necessity of low/high-pass filters in the reference generation. Therefore the control algorithm is much simpler and gives more stable performance than the conventional method. In addition, the source harmonic current is eliminated by compensating for the harmonic voltage of the load side added to feedback control of the fundamental component.