• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2004.04a
• /
• pp.15-20
• /
• 2004

Inclined surface milling in the mould and die industries is one of the most commonly needed cutting process. For the variety and complexity of cutting characteristics in various cutting condition, it is difficult to select a optimal tool path orientation. The comparative results through FFT analysis in this study provide a guideline for the selection tool path orientation.

• Journal of the Korean Society of Hazard Mitigation
• /
• v.10 no.5
• /
• pp.109-116
• /
• 2010

Infiltration and the rising level of groundwater caused by rainfall are a major cause of the landslide and sliding. In order to secure the safety factor of slope, the slope stabilization and reinforcement works are used to enhance consistency. Nailing, Slope Drainage method and the surface vegetation measures can be simultaneously applied in the Mass Nail method, which is also environmental friendly reinforcement method. To demonstrate the reinforcement effect of a strengthened slope by Mass Nail, the changes in water contents by rainfall were considered while performing Scale Model Test. As a result, safety factor of reinforced slope was about 1.4~2.3 times increased on the unstrength slope. In the case of increasing water content 10% to 22%, The maximum stress was reduced to 12%~24% at the average rate of 18% on the unstrength slope and the reinforced slope by the Mass Nail Method was reduced to 4%~23% at the average rate of 14%.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.22 no.5
• /
• pp.617-623
• /
• 2012

In this paper, we propose a gait generation method for a quadruped robot to walk efficiently on the slope, which uses the waist joint of a quadruped robot. We derive the kinematic model of a quadruped robot with waist joint using the Denavit-Hartenberg representation method and the algebraic method. In addition, the gaits are generated based on the wave gait. In the proposed gait generation method, first in order to alleviate the mechanical restriction and the reduction of the stride, we determine the appropriate waist joint angle according to the slope degree, and then decide the location of the tiptoe of a quadruped robot by exploring the workspace. Finally, through computer simulations, we verify the effectiveness and applicability of the proposed method.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.4 no.1
• /
• pp.1-6
• /
• 2003

A novel Solid Freeform Fabrication System, which makes prototype by cutting tapes at the boundary of object and accumulating the tapes, has been developed. In order to overcome the staircase shape at the surface of prototype, the laser beam is irradiated tangent to the surface. Five axis cutting system and the tangent cutting trajectory generation algorithm have been developed.

• Journal of the Korean Crystal Growth and Crystal Technology
• /
• v.21 no.5
• /
• pp.187-192
• /
• 2011

Tilt angle of r-plane wafer is a one of the important factors related with the quality of the GaN epi, so the fine control of the tilt angle is important for the growing of high quality non-polar a-GaN epi. We prepared the R-plane sapphire wafers with slight tilt angles for nonpolar a-plane GaN. The target tilt angles of ${\alpha}$ and ${\beta}$ were 0, -0.1, -0.15, -0.2, -0.4, $-0.6^{\circ}$ and -0.1, 0, $0.1^{\circ}$, respectively. The tilt angles of sliced R-plane sapphire wafers were measured by x-ray and the statistical evaluation of reliability of tilt angles of wafers were performed. The tolerance of the tilt angle was ${\pm}0.03^{\circ}$. R-plane sapphire wafers have relatively large distributions of BOW and TTV data than c-plane sapphire wafers due to the large anisotropy of R-plane. As the tilt angle ${\alpha}$ was increased from -0.1 to $-0.6^{\circ}$, the step widths and heights were decreased from 156 nm to 26 nm and 0.4 nm to 0.2 nm, respectively. The growth and qualities of GaN epi seems to be largely affected by the change of step structure of R-plane sapphire wafers with tilt angle.

• Solar Energy
• /
• v.13 no.1
• /
• pp.1-10
• /
• 1993

The purpose of this research is to investigate the characteristics of heat transfer in the downward axisymmetric free water jet system impinged on a flat oblique plate which has the uniform heat flux. Experimental conditions considered were Reynolds number, distance between nozzle and Bat plate, inclination angle of heater surface and nozzle exit velocity. Local Nusselt number was subjected to the influence of Re number, Pr number, oblique angle of heating surface and local position of flat plate. In the wall region of downward surface, The secondary peak point of heat transfer appeared at the local point of X/D=-8 from the stagnation point. The stagnation heat transfer rate of this experimental study augments 2.4 times than that of laminar theorical solution. The stagnation nusselt number is function of Reynolds number, nozzle-plate spacing Prandtl number and oblique angle of impinging plate.

• Journal of Korean Society of Forest Science
• /
• v.107 no.4
• /
• pp.336-343
• /
• 2018

This study was carried out to provide the technology of silvicultural practices and management for regeneration by sprouts in the oak forests distributed on the slope. A total of 1,451 stumps were examined for the following factors relative to the occurrence and growth of the sprouts: stump height & diameter; location & quantity and root collar diameter & height of arisen sprouts. The amount of sprouts deceased or increased as the stump diameter increased. However, it tended to increase with stump height. The difference in the stump height between direction of the upwards (DUS) and downward slopes (DDS) was occurred, because oak trees were felled lower based on direction of the upward for convenience of regeneration works on the slope. The number of sprouts was higher relatively in the stumps of DDS. The rate of arisen side and root sprouts was higher in the stumps of DDS and DUS, respectively. The stump height difference was found to affect the arisen part of sprouts. As a result of comparing the sprouts growth according to the arisen part, there was no difference in the stump of DUS, but the growth of side sprouts in the stump of DDS was higher than that of the root. In order to improve the quality of oak sprouts considering the distribution characteristics of the oak forests in South Korea, it is necessary to apply the silvicultural technique, making the cutting surface parallel with the slope to reduce the stump height difference, to suppress arising side sprouts.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2004.05a
• /
• pp.153-156
• /
• 2004

이 연구에서는 동작 포착 데이터에서 최적의 동작을 얻기 위한 비용과 시간을 줄이고, 캐릭터의 체형 크기에 무관하게 복합 지형에서 적응적인 이동 동작을 빠르고 효율적으로 생성하는 방법을 제안한다. 즉 캐릭터의 신장이나 걷는 속도, 걸음폭 등의 매개변수들을 사용하여 평지면, 경사면, 계단면 그리고 굴곡면 등 다양한 지형에서의 달리기 동작을 생성하며 역운동학(Inverse Kinematics) 개념을 적용하여 관절들의 위치나 각도를 산출하고 관절의 이동 궤적을 계산하기 위해 큐빅 스플라인 곡선을 활용한다.

• Journal of Advanced Marine Engineering and Technology
• /
• v.36 no.2
• /
• pp.250-257
• /
• 2012

Currently, large vessels and structures are manufactured into set of blocks, then assembled on-site. Large scale ships that weigh thousands of tons are built in a short period by making set of large blocks and assembled on a dock or a land. When a transporter encounters a slope during the process of transporting blocks, the heavy goods loaded on the transporter can be tilted. Further, if the vehicle moves down the slope in this state then it can cause an accident of overturn of loaded goods. The research has been taken into account to calculate the center of gravity of the transporter carrying heavy objects on a leveled surface or the three dimensions. In addition, ZMP (Zero Moment Point) is used to calculate the allowable slope degree that objects are predicted to overturn. Through the simulation, the objects' stability is tested when it is climbing the slope.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.21 no.3
• /
• pp.283-289
• /
• 2011

In this research a controller based on velocity estimator for a Wheeled Inverted Pendulum (WIP) is designed and various numerical simulation studies are carried out. The WIP has stable and unstable equivalent points. To Keep the unstable equilibrium point, a controller should control carefully the wheels persistently. There are angle, angular velocity, displacement, and velocity of the WIP for controller inputs. The velocity is obtained by differentiating the encoder signals from the motor and is subject to the resolution of the encoder. An improved velocity detection method is proposed based on low resolution encoder and velocity estimator. Various numerical simulations are carried out for showing the validation of the velocity estimator in case of the inclined road condition.