• Journal of IKEEE
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• v.18 no.4
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• pp.572-580
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• 2014

This study deals with reconfigurable modular robot with respect to the compact and capability of representing the various actions for promoting creativity through education and play. Generally modular robot can be designed as a suitable robot that is transformed to various structure by reconstructing each cells, However, there are only few research on the education and play using those robots in the world and still nothing domestically. Unlike the existing modular robots only having a repeating motion, the proposed modular works by individual module such as sound is produced by sound module, wheel is driven by wheel module, LED module controls the visual expression, power is supplied by battery module, bluetooth module for communication, and dynamic motion realization is possible by using joint module. By manipulating the abilities endowed by individual modules, diversity of creative activities is possible and thus made an easy access for children. This study deals with the design of modular robotic by using the variety of different modules to endowed the learning and playing ability. And the study showed the utility of the operating behavior over the actual production and testing.

• Journal of the Korean Society for Railway
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• v.13 no.3
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• pp.298-303
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• 2010

The transition zone of the railway is the section which roadbed stiffness is suddenly varied like as tunnel-earthwork, bridge-earthwork and concrete track-ballasted track. There are about 450 tunnel-bridge transition sections on Kyungbu high-speed railway line. It is very important to pay careful attention to construction of these transition zones, in order to secure the train running safety. So, we developed a finite element model of the moving wheel loading to simulate the behavior of bridge-earthwork transitions in this paper. The most distinctive characteristics of the model proposed is to simulate the real wheel behavior on rail. And the main analysis object is to evaluate and compare the deformation characteristics of the transition zone according to the reinforcement methods and length of transition zone which is adopted to high-speed railway. Based on the analysis results, we assessed the effect of the reinforcements on the transition zone of high-speed railway.

• Proceedings of the KSR Conference
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• 2011.10a
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• pp.2464-2472
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• 2011

Train runs on high speed and the concrete track is constructed. Rail fastening device needs to reduce elasticity, transferred load, noise, and vibration etc. Consequently, low elastic pad has a great impact of the durability and stability of the track. In this study, discussed in previous studies, static numerical analysis and real scale repeated loading test, followed by dynamic response analysis were implemented. The most distinctive characteristics of the model proposed is to simulate the real wheel behavior on rail. And the main analysis object is to evaluate and compare the deformation characteristics of the transition track while load reduction effect of transfer on roadbed assessed by various low elastic pad.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.14 no.4
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• pp.761-769
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• 1994

Actual load acting on rail surface in the track is the combined mode loading due to the contact rolling load of the wheels. To investigate the fracture behavior on rail steel under combined modes I and II, fracture tests were performed by using the test jigs and fracture specimen which were designed by Richard. The analysis results of experimental fracture data were compared with various fracture criteria that have been introduced for determination of the crack propagation direction and the critical stress of fracture of a crack submitted to a mixed mode loading. From the results, it was shown that the actual crack propagation direction of rail steel agree with the crack propagation directions predicted by maximum tangential stress criterion and strain energy density criterion, and that fracture criterion follows principal strain criterion.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.5
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• pp.10-22
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• 2008

In an automotive body structure, a design configuration that fulfills structural requirements such as deflection, stiffness and strength is necessary for structural design and is composed of various components. The integrated design is used to obtain a minimum weight structure with optimal or feasible performance based on conflicting constraints and boundaries. The mechanical design must begin with the definition of one or more concepts for structure and specification requirements in a given application environment. Structural optimization is then introduced as an integral part of the product design and used to yield a superior design to the conventional linear one. Although finite element analysis has been firmly established and extensively used in the past, geometric and material nonlinear analyses have also received considerable attention over the past decades. Also, nonlinear analysis may be useful in the area of structural designs where instability phenomena can include critical design criteria such as plastic strain and residual deformation. This proposed approach can be used for complicated structural analysis for an integrated design process with the nonlinear feasible local flexibilities between system and subsystems.

• The Korean Journal of Zoology
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• v.28 no.1
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• pp.44-59
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• 1985

The epithelium of the hindgut in the german cockroach, Blattella germanica Linne, was observed with electron microscope. The epithelium of the ileum, which is located at the anterior hindgut, is composed of a single layer of squamous and cuboidal cells. The liminal surface of the epithelium is lined with the cuticular intima. The epithelial cells contain cell organelles expected to be found in absorptive cells, and some epithelial cells have numerous lamelated crystals, the "spherites". The rectal epithelium of posterior hindgut is composed of rectal pads which are covered with cuticular intima on the luminal side. The rectal pads are composed of columnar absorptive cells and basal cells. The apical plasma membrane of columnar cell is made of microvilli, where mitochondria associated with some of the microvilli. The lateral plasma membrane is highly infolded and space is an uniform width of approximately 200$\\AA$. Well developed mitochondria are found closely associated with the infoldings and this is referred to as the "mitochondrial-scalariform complex". A septate junction is found near the apical zone between the columnar absorptive cells, whereas many desmosomes and intercellular spaces are formed between the columnar cells. Basal cells are bowl-shaped where the convex surface is inlaid into the basal surface of the columnar cells while the concave surface faces the basal lamina. The cytoplasm of the basal cell is electron dense and contains well developed cell organelles. The basal sheath is located between the basal membrane and basal lamina, providing barrier between the epithelium and the hemolymph. The epithelium is surrounded by the subepithelial space and muscles. The subepithelial space, which is composed of fibrous connective tissue, is innervated by many tracheoles and axons.

• Journal of the Korea Convergence Society
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• v.11 no.4
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• pp.189-193
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• 2020

In this study, the structural analysis of the track was performed according to the gap between the rails due to thermal expansion by the frictional contact between the wheels of the train in motion. The equivalent stress and total deformation at the condition for which the gap between joints are wide as the winter condition (model B) can be seen to happen more than at the summer condition (model A) in which the joints are narrow. If the results of this study are applied to the design of railway tracks, it is thought to be highly useful in preventing fatigue failure and increasing its durability. By applying the durability analysis at the seam of railroad track by season, this investigation result is seen to be favorable as the convergent research applied to the aesthetic design.

• International Journal of Highway Engineering
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• v.14 no.3
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• pp.59-67
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• 2012

This study presents the evaluation of the patching materials that are used to repair the distress of asphalt pavement. Four kinds of patching materials currently used in practice were tested in both laboratory and field. The laboratory tests included the dry and soaked Marshall stability test, indirect tensile test, wheel tracking test and adhesive strength between the asphalt pavement and the repairing material was tested as a performance test. The field study was conducted using the slab samples placed on the location of vehicle tire passing and the performance of the repairing materials were investigated as passing the traffic load. The result of the laboratory tests were satisfied with the current design criteria and material standard except for water-immersion stability. Type C patching material showed the highest adhesive shear strength among the patching materials tested. However, the mature distress, such as rutting and stripping were monitored after construction in 10 days. It was found that performance of patching material is lack of quality behavior when they were applied in the field and required to develop and applu to prevent the mature distress of the current patching materials.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.6
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• pp.692-697
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• 2011

There are many researches to develop robots that improve its mobility to adapt in various uneven environments. In the paper, a hybrid mobile robot that can dock with the other robot and transforms between wheeled robot and legged robot is proposed. The hybrid mobile robot platform has docking device with a peg and a cup module. In addition, the robot is possible to walk and drive according to condition of the road. A navigation algorithm of the hybrid mobile robot is proposed to improve the mobility of robots using docking algorithm based on image processing on the broken road and uneven terrain. The proposed method recognizes road condition through PSD sensor attached in front and bottom of the robot and selects an appropriate navigation method according to terrain surface. The proposed docking and navigation methods are verified through experiments using hybrid mobile robots.

• Proceedings of the KWS Conference
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• 2009.11a
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• pp.27-27
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• 2009

드라이브 샤프트는 일반적으로 엔진에서 발생된 회전력을 바퀴에 직접 전달하는 동시에 조향기능을 수행하는 자동차 부품이다. 최근에 경량화를 통한 에너지 절감을 위하여 기존 스틸소재를 알루미늄으로 대체하는 방안에 대한 연구가 집중되고 있다. 그러나 알루미늄 단일소재로 드라이브 샤프트를 제조하는 것은 비경제적이며 또한 기 개발된 자동차 부품들과의 연결을 고려하여 알루미늄 튜브와 스틸 요크의 이종금속 접합기술이 요구된다. 전자기 펄스용접은 전자기력을 이용하여 용접대상물을 고속으로 충돌시켜 용접하는 기술로서 열 발생이 적어 재료의 특성차로 인한 결함 및 변형이 발생하지 않아, 이종금속간 고품질 용접이 가능하며, 전자기 펄스 용접부의 품질과 밀접한 관계를 갖는 공정변수 경우 모재와 접합재의 재질 따라 적정 공정변수 범위가 변화되므로 공정에 따른 데이터의 축적은 대단히 중요하다. 전자기 펄스 용접을 이용한 이종금속 접합시 접합부 품질에 영향을 미치는 공정변수는 충전전압, 모재와 접합재 사이의 간격 및 접합재의 직경과 두께의 비(D/T비)로서 보고되었으며, Al/Steel 이종 금속 접합시 이들 공정변수가 접합부에 미치는 영향 및 최적의 공정변수 도출을 위한 연구는 시도되지 않았다. 따라서 본 연구는 전자기 펄스 용접기술을 이용한 Al/Steel 이종금속 접합 실험을 통하여 전자기 펄스용접의 적정성과 최적의 충전전압, 모재와 접합재 사이의 간격, D/T비를 도출하고자 한다. 전자기 펄스 용접 장치는 한국생산기술연구원과 웰메이트(주)에서 공동으로 개발한 $120{\mu}F$의 캐패시터 6개로 구성된 'W-MPW36'을 사용하였으며 이 장치의 최대충전전압과 최대접합용량은 각각 10kV, 36kJ이다. 접합재는 전기 전도율의 높은 Al 1070 파이프를 사용하였으며 모재는 기존 스틸 요크재인 SM45C 환봉을 사용하였다. 기보고된 연구를 통하여 코일과 접합재 사이의 간격이 좁을수록 높은 전자기력이 접합재에 작용하는 것을 확인하였으나 코일내 접합재와 모재 삽입 편의를 위하여 1mm로 설정하였다. 접합부의 품질 평가를 위하여 수압시험을 실시하였으며, 시험 후 접합부 단면을 주사전자현미경(SEM)을 이용하여 관찰하였다.