• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.7-10
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• 2003

뱀형 로봇은 자유도보다 액추에이터의 수가 적은 논홀로믹 구속조건(nonholonomic constraint)을 가지며, 단순한 신체구조 이지만 초-여유자유도 구속조건(hyper-redundant constraint)을 이용해서 기밀한 운동과 다양한 기능을 만들어내는 특징을 가지고 있다. 본 논문에서는 6개의 관절로 각 링크가 2차원 상에서 직렬로 연결된 뱀형 로봇의 기구설계 및 기구학과 동력학을 바탕으로 설계된 기구에 대해 해석하여 운동방정식을 유도하여 추진원리와 운동원리에 관하여 알아본다. 기본적인 운동 메커니즘을 해석하여 구현한 알고리즘을 제작한 로봇에 적용하여 추진 원리와 운동원리를 검증한다. 실험용 로봇은 링크 중앙에 법선 방향으로 마찰력이 발생할 수 있도록 수동바퀴를 가지고 있으며, PC와 RF(Radio Frequency)로 직렬통신을 하며 PC에서의 운동 명령의 조작에 의해 전진, 후진, 좌/우 방향으로 회전을 할 수 있도록 운동 알고리즘을 적용할 수 있도록 제작되었다. 특징으로는 일반적으로 토크를 입력으로 하지 않고 각도를 입력으로 하여 관절을 제어하고 있다는 점이 있으며, 운동방정식 또한 이에 대한 관계를 바탕으로 유도한 것이다.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.3
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• pp.468-484
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• 1992

본 연구에서는 기존의 유연 볼 엔드밀의 절삭력 모델을 바탕으로 자유 곡면의 정삭 가공에서 발생할 수 있는 과대 또는 과소 절삭을 방지하면서 그 가공의 효율성을 높이기 위한 볼 엔드밀의 이송 속도 결정법을 제시하고자 한다. 먼저, 자유 곡면의 가공에서 발생될 수 있는 공구의 처짐에 따른 가공오차에 대하여 볼 엔드밀 공구의 처 짐벡터와 공작물의 공구 접촉점에서의 법선벡터로 표현되는 가공오차(machining error ) 예측 모델식을 유도하였다. 본 가공오차 예측 모델식은 다시 절삭날당 가지는 이 송량의 함수로 전개되어 그 곡면의 주어진 가공 공차(machining tolerance)를 만족시 키는 이송속도를 결정하게 된다.

• Tunnel and Underground Space
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• v.30 no.6
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• pp.591-602
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• 2020

Several alternative rock-cutting concepts, which are modified from the conventional ones, have been developed lately. Of the concepts, undercutting is one of the latest technologies. In this study, as a fundamental study on the undercutting technique, the rock-cutting mechanism and important parameters of the undercutting were introduced. This study built up cutting test system for evaluating the cutting performance of an actuated undercutting disc cutter (ADC), and carried out a series of cutting tests under different cutting parameters of ADC. The characteristics of cutter forces obtained from ADC rock-cutting tests were analyzed. The both average and peak values of the three directional cutter forces were linearly increased with the increases of linear velocity, penetration depth in vertical direction and eccentricity of ADC.

• Journal of the Korean Geotechnical Society
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• v.21 no.8
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• pp.107-116
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• 2005

Generally, when the stability of the geosynthetic reinforced soil slopes is analyzed, the required tensile forces of each reinforcement layers are calculated from total reinforcement forces which are necessary to retain the equilibrium state of slip mass in which the slip surfaces are assumed to be a linear or bilinear. It is assumed that the reinforcement forces are increased or constant with depth. However, according to the instrumented field data and laboratory model test results, the maximum tensile strain of reinforcement in a reinforced soil slope is developed in a certain elevation, not a bottom of the slope. In the concept of reinforced soil, postulated failure surfaces are the traces of the position in which the reinforcement tensile forces are maximum in the layer, and the reinforcement tensile forces are related to the stress state on the postulated failure surface. Therefore, in this study, based on the distribution of normal stress on the slip surface, a new method for the evaluation of required tensile forces is suggested and a number of the instrumented field data are analyzed by newly suggested method. As a result, it is shown that the newly suggested method produces relatively accurate reinforcement tension forces.

• Proceedings of the Korean Geotechical Society Conference
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• 1991.10a
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• pp.348-361
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• 1991

When reinforcing strip footing on a sand 8round with reticulated root piles, reinforcing effect depends on the length , number, cross sectional area, penetration angle, spacing, and Young's modulus of piles. the mode of action of reinfocement tendons in soil isn't one of carring developed tensile stresses but of anisotropic(uni-directional) reduction or even supression of one normal strain rate. R. H. Bassett and N. C. Last proposed that the reinforcement should be located on the direction of minor strain rate which coincides with the tensile strain rate in the velocity characteristics. Based on this proposal the author carried out a series of 2 - dimentional finite element analysis which varies the parameters mentioned above.

• Journal of the Korean Institute of Gas
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• v.16 no.6
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• pp.67-72
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• 2012

In this study, the leak-free performance and sealing endurance safety of CNG fueling nipple in which are related to the contact normal stress and equivalent true stress have been analyzed for CNG automobile using a finite element analysis. For the conventional circular o-rings and new double-lip o-rings with an initial compression rate of 15 percentages, the leak-free performance of double-lip o-rings with two contact sealing spots is 41% higher than that of the conventional circular o-rings with a contact sealing spot. The FEM computed results present that the leak-free endurance safety of double-lip o-rings with two contact sealing spots is 5% higher than that of the conventional circular o-rings for initial compression ratio of 15 percentages and a gas compression pressure of 8MPa. And, the maximum equivalent true stress of double-lip o-rings is 10.2% higher than that of the conventional circular o-rings for the leak-free endurance safety. This means that the double-lip o-ring may guarantee the extended sealing life compared to that of a conventional circular o-ring.

• KDI Journal of Economic Policy
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• v.14 no.1
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• pp.121-145
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• 1992

This paper examines characteristics of time series data related to the construction investment(stationarity and time series components such as secular trend, cyclical fluctuation, seasonal variation, and random change) and surveys predictibility, fitness, and explicability of independent variables of various models to build a short-term construction investment forecasting model suitable for current economic circumstances. Unit root test, autocorrelation coefficient and spectral density function analysis show that related time series data do not have unit roots, fluctuate cyclically, and are largely explicated by lagged variables. Moreover it is very important for the short-term construction investment forecasting to grasp time lag relation between construction investment series and leading indicators such as building construction permits and value of construction orders received. In chapter 3, we explicate 7 forecasting models; Univariate time series model (ARIMA and multiplicative linear trend model), multivariate time series model using leading indicators (1st order autoregressive model, vector autoregressive model and error correction model) and multivariate time series model using National Accounts data (simple reduced form model disconnected from simultaneous macroeconomic model and VAR model). These models are examined by 4 statistical tools that are average absolute error, root mean square error, adjusted coefficient of determination, and Durbin-Watson statistic. This analysis proves two facts. First, multivariate models are more suitable than univariate models in the point that forecasting error of multivariate models tend to decrease in contrast to the case of latter. Second, VAR model is superior than any other multivariate models; average absolute prediction error and root mean square error of VAR model are quitely low and adjusted coefficient of determination is higher. This conclusion is reasonable when we consider current construction investment has sustained overheating growth more than secular trend.

• Journal of KIISE
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• v.43 no.4
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• pp.419-429
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• 2016

Generating a 3D surface model from coronary artery segmentation helps to not only improve the rendering efficiency but also the diagnostic accuracy by providing physiological informations such as fractional flow reserve using computational fluid dynamics (CFD). This paper proposes a method to generate a triangular surface mesh using vessel structure information acquired with coronary artery segmentation. The marching cube algorithm is a typical method for generating a triangular surface mesh from a segmentation result as bit mask. But it is difficult for methods based on marching cube algorithm to express the lumen of thin, small and winding vessels because the algorithm only works in a three-dimensional (3D) discrete space. The proposed method generates a more accurate triangular surface mesh for each singular vessel using vessel centerlines, normal vectors and lumen diameters estimated during the process of coronary artery segmentation as the input. Then, the meshes that are overlapped due to branching are processed by mesh merging and merged into a coronary mesh.

• Journal of the Korea Concrete Institute
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• v.14 no.1
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• pp.126-135
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• 2002

Plate bonding technique has been widely used in strengthening of existing concrete structures, although it has often a serious problem of premature falure such as interface separation and rip-off. However, this premature failure problem has not been well explored yet especially in view of local failure mechanism around the interface of plate ends. The purpose of the present study is, therefore, to identify the local failure of strengthened plates and to derive a separation criterion at the interface of plates. To this end, a comprehensive experimental program has been set up. The double lap pull-out tests considering pure shear force and half beam tests considering combined flexure-shear force were performed. The main experimental parameters include plate thickness, adhesive thickness, and plate end arrangement. The strains along the longitudinal direction of steel plates have been measured and the shear stress were calculated from those measures strains. The effects of plate thickness, bonded length, and plate end treatment have been also clarified from the present test results. Nonlinear finite element analysis has been performed and compared with test results. The Interface properties are also modeled to present the separation failure behavior of strengthened members. The cracking patterns as well as maximum failure loads agree well with test data. The relation between maximum shear and normal stresses at the interface has been derived to propose a separation failure criterion of strengthened members. The present study allows more realistic analysis and design of externally strengthened flexural member with steel plates.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.27 no.5
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• pp.345-352
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• 2014

In this paper, the CAD data for the optimal shape design obtained by isogeometric shape optimization is directly used to fabricate the specimen by using 3D printer for the experimental validation. In a conventional finite element method, the geometric approximation inherent in the mesh leads to the accuracy issue in response analysis and design sensitivity analysis. Furthermore, in the finite element based shape optimization, subsequent communication with CAD description is required in the design optimization process, which results in the loss of optimal design information during the communication. Isogeometric analysis method employs the same NURBS basis functions and control points used in CAD systems, which enables to use exact geometrical properties like normal vector and curvature information in the response analysis and design sensitivity analysis procedure. Also, it vastly simplify the design modification of complex geometries without communicating with the CAD description of geometry during design optimization process. Therefore, the information of optimal design and material volume is exactly reflected to fabricate the specimen for experimental validation. Through the design optimization examples of elasticity problem, it is experimentally shown that the optimal design has higher stiffness than the initial design. Also, the experimental results match very well with the numerical results. Using a non-contact optical 3D deformation measuring system for strain distribution, it is shown that the stress concentration is significantly alleviated in the optimal design compared with the initial design.