• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.230-236
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• 2011

In previous researches, the self-stability was studied for the spring-mass model and the two segment leg model. In these researches, it was presented that the spring-mass model has the self-stable region at relatively high speed running and the two segment leg model has the self-stable region at relatively low speed running. If the model was run in the self-stable region, the cost of transport is zero ideally. That is, actually, only the energy loss is needed to compensate for running. This means that the energy efficiency is high, running in the self-stable region. We want to have high energy efficiency at low and high speed running. So, in this paper, we propose the design direction of the three segment leg having the self-stable region at low and high speed running. And we prove the self-stable region of the three segment leg designed by the proposed design direction.

• Journal of Korean Society on Water Environment
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• v.27 no.4
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• pp.438-444
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• 2011

Magnesium is one of the abundant natural resources in the earth crust and seawater, which is directly related to various organisms activities interconnecting with water-rock system. In aqueous system, magnesium is known to predominantly exist in the form of $Mg^{2+}$ ion which is verified in its $E_h-pH$ diagram. When it is at equilibrium in aqueous system, temperature takes an essential role to complete equilibrium states. This study represents the change of the stable region of magnesium ion according to temperature, and how the consequences would affect aquatic organisms. It was revealed that there is a noticeable tendency shrinking the stable region of magnesium ion in a diagram as temperature increases, and as a result, aquatic bio-species presumably have difficulties to absorb the nutrient. Also, it was considered that the water system would be acidified by decreasing alkalinity.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.99-104
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• 2009

This article describes the analysis of stable grasping for multi-fingered robot. An analysis method of stable grasping, which is based on the three-dimensional acceleration convex polytope, is proposed. This method is derived from combining dynamic equations governing object motion and robot motion, force relationship and acceleration relationship between robot fingers and object's gravity center through contact condition, and constraint equations for satisfying no-slip conditions at every contact points. After mapping no-slip condition to torque space, we derived intersected region of given torque bounds and the mapped region in torque space so that the intersected region in torque space guarantees no excessive torque as well as no-slip at the contact points. The intersected region in torque space is mapped to an acceleration convex polytope corresponding to the maximum acceleration boundaries which can be exerted by the robot fingers under the given individual bounds of each joints torque and without causing slip at the contacts. As will be shown through the analysis and examples, the stable grasping depends on the joint driving torque limits, the posture and the mass of robot fingers, the configuration and the mass of an object, the grasp position, the friction coefficients between the object surface and finger end-effectors.

• Analytical Science and Technology
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• v.6 no.2
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• pp.149-156
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• 1993

The formation of the graphite spherulites has been studied experimentally in the Ni-C liquid under high pressure and temperature. In the diamond-stable region the graphite spherulites were formed and grew stably. They were not the polycrystalline particles but the single crystals of the fullerene-type, respectively, grown spirally with much imperfection. And they were proved to be in a mixture state of carbon atoms with $sp^2$- and $sp^3$-bonding by an Auger electron spectroscope and a high resolution transmission electron microscope. As the pressure decreased from the diamond-stable region to the graphite-stable region, the shape of the graphite particles changed gradually from the sphere to the flaky shape. The formation of the graphite spherulites was attributed to the stable existence of the carbon atoms with $sp^3$ bonding in the diamond-stable region. The formation of the large fullerene-type graphite spherulites with much imperfection is well agreed with Kroto's prediction for growth of the giant fullerene.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.697-703
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• 2000

In design step of an active vibration control system, the stability analysis is required for obtaining a stable control region so that the system is protected from it violent natural vibration. This paper describes the procedure of stability simulation for the active magnetic bearing-main spindle of a machine tool. The characteristic equation of the overall system is derived by assembling the dynamic equation of a flexible shaft and the transfer functions of feedback components. And the stable region is obtained by calculating the eigenvalues of the characteristic equation. The simulated control stable region is good agreement by comparing the experiment. Therefore the stable control gain is selected in this paper.

• Proceedings of the KIPE Conference
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• 1997.07a
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• pp.9-13
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• 1997

In this paper, the operation regions of a three-phase voltage-source PWM converter are defined: linear modulation region, allowed current region, linear control region, unity power-factor region, and power-factor decreasing region. Particularly, the power-factor decreasing region is first examined and defined as the region where both the sinusoidal input current control and the stable DC link voltage regulation can not be obtained with a unity power-factor operation. To avoid these undesirable effects, the optimal current vector is derived, which ensures the sinusoidal input current and the stable DC link voltage regulation with maximum power-factor available, and, in consequence, it extends the operation region of the PWM converter. The validity of the proposed control scheme is proved by the computer simulation.

• Structural Engineering and Mechanics
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• v.11 no.2
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• pp.199-210
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• 2001

Axially compressed circular cylinders repeat symmetry-breaking bifurcation in the postbuckling region. There exist stable equilibria with all symmetry broken in the buckled configuration, and the minimum postbuckling strength is attained at the deep bottom of closely spaced equilibrium branches. The load level corresponding to such postbuckling stable solutions is usually much lower than the initial buckling load and may serve as a strength limit in shell stability design. The primary concern in the present paper is to compute these possible postbuckling stable solutions at the deep bottom of the postbuckling region. Two computational approaches are used for this purpose. One is the application of individual procedures in computational bifurcation theory. Path-tracing, pinpointing bifurcation points and (local) branch-switching are all applied to follow carefully the postbuckling branches with the decreasing load in order to attain the target at the bottom of the postbuckling region. The buckled shell configuration loses its symmetry stepwise after each (local) branch-switching procedure. The other is to introduce the idea of path jumping (namely, generalized global branch-switching) with static imperfection. The static response of the cylinder under two-parameter loading is computed to enable a direct access to postbuckling equilibria from the prebuckling state. In the numerical example of an elastic perfect circular cylinder, stable postbuckling solutions are computed in these two approaches. It is demonstrated that a direct path jump from the undeformed state to postbuckling stable equilibria is possible for an appropriate choice of static perturbations.

• Journal of the Korea Institute of Military Science and Technology
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• v.18 no.5
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• pp.510-516
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• 2015

This paper describes an approach to detect interesting objects using satellite images. This paper focuses on the interesting objects that have common special patterns but do not have identical shapes and sizes. The previous technologies are still insufficient for automatic finding of the interesting objects based on operation of special pattern analysis. In order to overcome the circumstances, this paper proposes a methodology to obtain the special patterns of interesting objects considering their common features and their related characteristics. This paper applies MSER(Maximally Stable Extremal Regions) for the region detection and corner detector in order to extract the features of the interesting object. This paper conducts a case study and obtains the experimental results of the case study, which is efficient in reducing processing time and efforts comparing to the previous manual searching.

• Journal of Korean Society of Environmental Engineers
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• v.38 no.5
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• pp.228-235
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• 2016

Nitrite accumulation is essential for constructing an anammox process. As the pH in the reactor exerts a complicated and strong influence on the reaction rate, we investigated its effects upon treatment of an ammonic wastewater (2,000 mgN/L) through modeling and experiment. The modeling results indicated that the reaction stability is strongly affected by pH, which results in a severe reduction of the 'stable region' of operation under alkaline environments. On a coordinate of the total ammonia nitrogen (TAN) concentration vs. pH, the maximal stable reaction rates and the maximal nitrite accumulation potentials could be found on the 'stability ridge' that separates the stable region from the unstable region. We achieved a stable and high ammonia oxidation rate (${\sim}6kgN/m^3-d$) with a nitrite accumulation ratio of ~99% when operated near the 'stability ridge'. The optimum pH that can be observed in experiments varies with the TAN concentrations utilized, although the intrinsic optimum pH is fixed. The direction of change is that the optimum operational pH falls as the TAN concentration increases, which is in excellent accordance with the observations in the literature. The optimum operational pH for 95% nitritation was predicted to be ~8.0, whereas it was ~7.2 for 55% partial nitritation to produce an anammox feed in our experimental conditions.

• Health Policy and Management
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• v.32 no.2
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• pp.205-215
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• 2022

Background: The purpose of this study is to identify the factors infecting the medical care utilization from a new perspective by newly classifying the categories of administrative districts using the urban decline index and medical vulnerability index as indicators. Methods: This study targeted 150,940 people who used medical services using the 2015 cohort database (DB), 2010-2015 urban regeneration analysis index DB, and 2014-2015 public health and medical statistics DB. The decline of the region was classified using the urban decline index typed using k-means clustering and the medical vulnerability index typed using the quantile score calculation. Regression analysis was performed 3 times with medical expenditure, length of stay, and the number of outpatient visits as dependent variables. Results: There were 37 stable region (47.4%), 29 health vulnerable region (37.2%), and 12 decline region (15.4%). The health vulnerable region had lower medical expenditure, fewer outpatient visits, and a higher length of stay than the stable region. The decline region was all higher than the stable region but had no significant effect. Conclusion: The factors that cause the health disparity between regions are not only factors related to individual health behavior but also environmental factors of the local community. Therefore, there is a need for a systematic alternative that properly considers the resources within the community and reflects the characteristics of the population.