• Journal of Institute of Control, Robotics and Systems
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• v.7 no.9
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• pp.723-732
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• 2001

In this paper, the neurofuzzy controller of optically guided AGV is proposed to improve the path-tracking performance A differential steered AGV has front-side and rear-side optical sensors, which can identify the guiding path. Due to the discontinuity of measured data in optical sensors, optically guided AGVs break away easily from the guiding path and path-tracking performance is being degraded. Whenever the On/Off signals in the optical sensors are generated discontinuously, the motion errors can be measured and updated. After sensing, the variation of motion errors can be estimated continuously by the dead reckoning method according to left/right wheel angular velocity. We define the estimated contour error as the sum of the measured contour in the sensing error and the estimated variation of contour error after sensing. The neurofuzzy system consists of incorporating fuzzy controller and neural network. The center and width of fuzzy membership functions are adaptively adjusted by back-propagation learning to minimize th estimated contour error. The proposed control system can be compared with the traditional fuzzy control and decision system in their network structure and learning ability. The proposed control strategy is experience through simulated model to check the performance.

• Korean Journal of Applied Biomechanics
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• v.16 no.3
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• pp.1-7
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• 2006

The Primary type of swinging motion in human movement is that which is characteristic of a pendulum. The two types of pendulums are identified as simple and compound. A simple pendulum consist of a small body suspended by a relatively long cord. Its total mass is contained within the bob. The cord is not considered to have mass. A compound pendulum, on the other hand, is any pendulum such as the human body swinging by hands from a horizontal bar. Therefore a compound pendulum depicts important motions that are harmonic, periodic, and oscillatory. In this paper one discusses and compares two algorithms of Newton's method(F = m a) and Euler's method (M = $I{\times}{\alpha}$) in compound pendulum. Through exercise model such as human body with weight(m = 50 kg), body length(L = 1.5m), and center of gravity ($L_c$ = 0.4119L) from proximal end swinging by hands from a horizontal bar, one finds kinematic variables(angle displacement / velocity / acceleration), and simulates kinematic variables by changing body lengths and body mass. BSP by Clauser et al.(1969) & Chandler et al.(1975) is used to find moment of inertia of the compound pendulum. The radius of gyration about center of gravity (CoG) is $k_c\;=\;K_c{\times}L$ (단, k= radius of gyration, K= radius of gyration /segment length), and then moment of inertia about center of gravity(CoG) becomes $I_c\;=\;m\;k_c^2$. Finally, moment of inertia about Z-axis by parallel theorem becomes $I_o\;=\;I_c\;+\;m\;k^2$. The two-order ordinary differential equations of models are solved by ND function of numeric analysis method in Mathematica5.1. The results are as follows; First, The complexity of Newton's method is much more complex than that of Euler's method Second, one could be find kinematic variables according to changing body lengths(L = 1.3 / 1.7 m) and periods are increased by body length increment(L = 1.3 / 1.5 / 1.7 m). Third, one could be find that periods are not changing by means of changing mass(m = 50 / 55 / 60 kg). Conclusively, one is intended to meditate the possibility of applying a compound pendulum to sports(balling, golf, gymnastics and so on) necessary swinging motions. Further improvements to the study could be to apply Euler's method to real motions and one would be able to develop the simulator.

• Journal of the Korean Geotechnical Society
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• v.34 no.3
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• pp.29-41
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• 2018

In the case of the enlargement levee on the soft foundation, the existing levee and the enlargement levee connection can be damaged due to heterogeneous subsidence such as differential settlement at the joint of the box culvert passing through the levee. This study selected the downstream region of the Geum River and then confirmed the influence of the piping possibility on the levee by performing a 2D seepage analysis and analyzing the seepage tendency according to the position of the box culvert's gate. As a result, the flow velocity and the hydraulic gradient are larger in the upper breakage than the lower breakage, and the upper leak was more vulnerable to the piping than the lower leak. If leaks occur in the gate located on the riverside land, the risk of piping is increased when the water level rises and is maintained highly. In the case of the gate located on the inland, it could be predicted that the leakage could damage the stability of levee by increasing the water pressure inside the levee. As a result, if leakage occurs at any position in the box culvert, the pore water pressure is increased or decreased compared with the case when no leakage occurs. Therefore, if the pore water pressure is drastically reduced or increased compared with the normal case, leakage may occur. However, the result of this study is based on a 2D seepage analysis, and it is likely to be different from actual cases. Therefore, more detailed analysis by 3D analysis is recommended.

• Journal of the Korean Institute of Gas
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• v.15 no.4
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• pp.7-14
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• 2011

Using 20 L spherical explosion vessel and differential scanning calorimeter (DSC), an experimental investigation was carried on explosion characteristics and thermal decomposition of some reactive organic dust. As the result, the minimum explosion concentration of Benzoyl peroxide (BPO), Phthalic anhydride (PA) and 1-Hydroxybenzotriazol (HBT) exist between 10 and 15 g/$m^3$, which indicates that their explosion sensitivity are high. The maximum Kst values of HBT, PA and 97 % BPO are 251, 146 and 80 [$bar{\cdot}m/s$], respectively and the explosion severity of HBT is the explosion class of St-2. The flame velocity was also calculated from the combustion time of dust and flame arrival time to estimate the flame propagation characteristics in a closed vessel. The decomposition temperature and heat of decomposition reaction for 97 % BPO and HBT are $107^{\circ}C$ (1025 J/g), $214^{\circ}C$ (1666 J/g), respectively and it was found that these low decomposition temperature and high released heat affect the explosion characteristics.

• Journal of Life Science
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• v.19 no.12
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• pp.1821-1828
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• 2009

The purpose of this research was to investigate how the plyometric training and weight training program, applied in the field for exercise performance of throwing players, influenced improvement of athletic abilities, including agility, maximum muscular power, and strength. After implementing plyometric training and weight training to 21 high school throwing players for 10 weeks, we designed the next step. The 21 subjects were divided into two groups - women's group and men's group. All subjects were tested to determine agility using sidestep, burpee test, reaction time, lower body power and strength using standing long jump, standing jump, 30 m running, squats and leg presses. Additionally, isokinetic strength was measured using Cybex isokinetic dynamometer. The results showed that both groups demonstrated improvement in the standing long jump, standing jump and 30 m running after training. Particularly, the women's group indicated better improvement. Second, women's groups showed higher improvement in the sidestep and burpee test. However, in the reaction time test, the men's group indicated better improvement. Third, both groups showed better improvement in squats and leg presses after training. Particularly, the women's group indicated better improvement. Fourth, in the left and right side extension torque and flexion torque at a velocity of $60^{\circ}$/sec, both groups showed better improvement after training. In the left side extension peak torque, the men's group showed higher improvement, but the women's group showed higher improvement in the left side flexion and extension peak torque. Fifth, both groups showed better improvement in bench pressing and back strength after training. Particularly, the women's group indicated higher improvement.

• Journal of Korean Society of Occupational and Environmental Hygiene
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• v.25 no.2
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• pp.202-210
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• 2015

Objectives: The purpose of this study was to examine clean room(C/R) structure, air conditioning and contamination control systems and to provide basic information for identifying a correlation between the semiconductor work environment and workers' disease. Methods: This study was conducted at 200 mm and 300 mm semiconductor wafer fabrication facilities. The C/R structure and air conditioning method were investigated using basic engineering data from documentation for C/R construction. Furthermore, contamination parameters such as airborne particles, temperature, humidity, acids, ammonia, organic compounds, and vibration in the C/R were based on the International Technology Roadmap for Semiconductors(ITRS). The properties of contamination control systems and the current status of monitoring of various contaminants in the C/R were investigated. Results: 200 mm and 300 mm wafer fabrication facilities were divided into fab(C/R) and sub fab(Plenum), and fab, clean sub fab and facility sub fab, respectively. Fresh air(FA) is supplied in the plenum or clean sub fab by the outdoor air handling unit system which purifies outdoor air. FA supply or contaminated indoor air ventilation rates in the 200 mm and 300 mm wafer fabrication facilities are approximately 10-25%. Furthermore, semiconductor clean rooms strictly controlled airborne particles(${\leq}1,000{\sharp}/ft^3$), temperature($23{\pm}0.5^{\circ}C$), humidity($45{\pm}5%$), air velocity(0.4 m/s), air change(60-80 cycles/hr), vibration(${\leq}1cm/s^2$), and differential pressure(atmospheric pressure$+1.0-2.5mmH_2O$) through air handling and contamination control systems. In addition, acids, alkali and ozone are managed at less than internal criteria by chemical filters. Conclusions: Semiconductor clean rooms can be a pleasant environment for workers as well as semiconductor devices. However, based on the precautionary principle, it may be necessary to continuously improve semiconductor processes and the work environment.

• Journal of Korean Society for Geospatial Information Science
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• v.17 no.3
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• pp.23-31
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• 2009

The border of the shorelines in a nation is an important factor in determining the border of a national territory, but Korea's shorelines are rapidly changing due to the recent rise in sea level from global warming and growth-centered economic policy over the decades of years. This research was done centering on the areas having well-preserved shorelines as they naturally are and other areas having damaged shorelines in their vicinities due to artificial structures at the two beaches located at the neighboring areas and having mutually homogeneous ocean conditions with each other. First, this research derived the shorelines using the aerial photographies taken from 1947 until 2007 and revised the tidal levels sounding data obtained from a hydrographical survey automation system consisting of Echosounder[Echotrac 3100] and Differential Global Positioning System[Beacon]by using topographical data and ships on land obtained by applying post-processing Kinematic GPS measuring method. In addition, this research evaluated the changes and dimensional variations for the last 60 years by dividing these determined shorelines into 5 sections. As a result, the Haewundae Beach showed a total of 29% decrease rate in dimension as of the year 2007 in comparison with the year 1947 due to a rapid dimensional decline centering on its west areas, while the dimension of the Gwanganri Beach showed an increase in its dimension amounting to a total of 69% due to the decrease in flow velocity by artificial structures built on both ends of the beach-forming accumulation; thus, it was found that there existed a big difference in deposition & accumulation tendency depending on neighboring environment in spite of the homogeneous ocean conditions.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.42 no.6
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• pp.67-76
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• 2005

This paper proposes a compact-sized surface myoelectric sensor for the myoelectric hand prosthesis. To fit the surface myoelectric sensor in the socket for the myoelectric hand prosthesis, the sensor should be a compact size. The surface myoelectric sensor is. composed of a skin interface and a single processing circuit that are mounted on a single package. The skin interface has one reference and two input electrodes, and the reference electrode is located in the center of two input electrodes. In this paper we propose two types of sensors with the circle- and bar-shaped reference electrode, but all input electrodes are the bar-shaped. The metal material of the electrodes is the stainless steel (SUS440) that endures sweat and wet conditions. Considering the conduction velocity and the median frequency of the myoelectric signal, we select the inter-electrode distance (IED) between two input electrodes as 18mm, 20mm, and 22 mm. The signal processing circuit consists of a differential amplifier with a band pass filter, a band rejection filter for rejecting 60Hz power-line noise, amplifiers, and a mean absolute value circuit. We evaluate the proposed sensor from the output characteristics according to the IED and the shape of the reference electrode. From the experimental results we show the surface myoelectric sensor with the 18mm IED and the bar-shaped reference electrode is suitable for the myoelectric hand prosthesis.

• Journal of The Korean Society of Emergency Medicine
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• v.28 no.5
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• pp.457-466
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• 2017

Purpose: Traumatic brain injury (TBI) is a significant cause of morbidity and mortality worldwide. Severity of the initial insult is one of the most significant factors affecting outcome following TBI. In order to investigate the mechanisms of cellular injury and develop novel therapeutic strategies for TBI, we designed a standardized animal TBI model and evaluated histological and functional outcomes according to the degree of impact severity. Methods: Male adult C57Bl/6 mice underwent controlled cortical impact (CCI) at varying depths of deflection (1.0-2.0 mm). We performed hematoxylin and eosin staining at 7 days after recovery from TBI. Neurobehavioral characterization after TBI was analyzed by the Barnes maze test, passive avoidance test, open field test, rotarod test, tail suspension test, and light/dark test. Results: We observed a graded injury response according to the degree of deflection depths tested (diameter, 3 mm; velocity, 3 m/s; and duration, 500 ms) compared to sham controls. In the Barnes maze test, the severe TBI (2 mm depth) group showed reduced spatial memory as compared with the sham and mild TBI (1 mm depth) groups at 7 days after TBI. There was a significant difference in the results of the open field test and light/dark test among the three groups. Conclusion: Our findings demonstrate that the graded injury responses following TBI resulted in differential histopathological and behavioral outcomes in a mouse experimental CCI model. Thus, a model of CCI with histologic/behavioral outcome analysis may offer a reliable and convenient design for preclinical TBI research involving mice.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.1
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• pp.409-418
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• 2019

Debris flows occur in mountainous areas due to heavy rains resulting from climate change and result in disasters in the downstream area. The purpose of this study is to estimate the impact force of a debris flow when a check dam according is installed in various locations in the channel of a highly mountainous area. A Finite Differential Element Method (FDM) model was used to simulate the erosion and deposition based on the equation for the mass conservation and momentum conservation while considering the continuity of the fluid. The peak impact force from the debris flow occurred at 0 to 5 sec and 15 to 20 sec. When the supplied water discharge was increased, greater peak impact force was generated at 16 to 19 sec. This means that when increasing the water supply, the velocity of the debris flow became faster, which results in increased energy of the consolidation between the particles of the water and the sediment made. If a number of check dams were to be set up, it would be necessary to investigate the impact force at each location of the check dam. The results of this study could provide useful information in predicting the impact force of the debris flow and in installing the check dams in appropriate locations.