• Journal of the Korean Society for Precision Engineering
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• v.17 no.3
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• pp.76-82
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• 2000

본 논문에서는 환경에 구속 받는 유연 매니퓨레이터의 힘/위치에 대하여 논하고자 한다. 일반적으로, 유연 매니퓨레이터의 모델링 방법은 분포 정수 모델과 집중 정수 모델로 분류할 수 있다. 전자인 분포 정수 모델을 이용해서는 평면 1 링크, 2 링크를 대상으로 한 위치/힘 제어는 가능하나, 운동 방정식의 복잡성으로 인하여 실시간에서 다 링크 다 관절 유연 매니퓨레이터의 힘/위치를 제어하기는 어렵게 여겨져 왔다. 본 논문에서는 집중 정수 모델링 방법인 집중 스프링 질량 모델(Lumped Spring Mass Model)을 이용하여 환경에 구속받는 유연 매니퓨레이터의 운동 방정식을 산출했다 이 모델을 실험기인 유연 매니퓨레이터 ADAM(Aerospace Dual Arm Manipulators)에 적용하여 실시간 위치/힘 제어 실험을 행하였으며, MATLAB를 이용하여 해석했다. 또한, ADAMS$^{TM}$ FEM를 이용하여 분포 정수 모델을 도출하여, 해석하였으며, 이 결과와 집중 정수 모델을 이용한 MATLAB 해석의 결과, 그리고 실험 결과를 비교 분석하여 본 논문에서 제안한 구속받는 유연 매니퓨레이터의 집중 정수 모델 타당성을 입증시켰다.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.15 no.6
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• pp.82-88
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• 2001

This paper considers the problem of the identification of the time invariant parameters of distributed systems. In general, the parameters are identified by using the CBPOM(Conventional Block Pulse Operational Matrices), but in this paper, the parameters ard identified by using the EBPOMS(Extended Block Pulse Operational Matrices) which can reduce the burden of operation md the volume of error caused by matrices multiplication. The simulation cloves the effectiveness of the proposed method.

• Journal of Drive and Control
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• v.15 no.4
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• pp.67-73
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• 2018

The paper deals with an approach to time domain simulation for closed end at the downstream of pipe, hydraulic lines terminating into a tank and series lines with change of cross sectional area. Time domain simulation of a fluid power systems containing hydraulic lines is very complex and difficult if the transfer functions consist of hyperbolic Bessel functions which is the case for the distributed parameter dissipative model. In this paper, the magnitudes and phases of the complex transfer functions of hydraulic lines are calculated, and the MATLAB Toolbox is used to formulate a rational polynomial approximation for these transfer functions in the frequency domain. The approximated transfer functions are accurate over a designated frequency range, and used to analyze the time domain response. This approach is usefully to simulate fluid power systems with hydraulic lines without to approximate the frequency dependent viscous friction.

• The Korean Journal of Applied Statistics
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• v.12 no.2
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• pp.347-362
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• 1999

강수 형태 및 강수량을 동시에 고려하는 1차의 마코브 연쇄-의존 모델을 고차의 모델로 확장하였다. 남한의 53개 지역의 강수량 자료에 대해 계절별로 마코브 연쇄의 차수를 결정하였고, 고차의 마코브 연쇄-의존 모델을 적용하여 강수량의 분포특성을 살펴 보았다.

• Polymer(Korea)
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• v.24 no.2
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• pp.182-193
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• 2000

Molar cyclization equilibrium constant (K$_{x}$) of poly(alkylene terephthalate) (PAT) cyclics was calculated by the Monte Carlo simulation on the basis of rotational isomeric state (RIS) model. The experimental $K_{x}$ of PAT cyclics, which was not clearly explained by the Jacobson-Stockmayer theory and the method of Flory, Suter, and Mutter however, was explained well by the direct computational method with the reaction radius ${\gamma}$=0.5 < ${\gamma}^{2}$> $^{1/2}$. The effect of PAT conformation on $K_{x}$ of PAT cyclics was investigated by changing its statistical weight parameters, ${\sigma}_{1}$ and ${\sigma}_{2}{\cdot}K_{x}$ of PAT cyclics obtained by the direct computation method with various radii and the radius ${\gamma}$=0.5 < ${\gamma}^{2}$> $^{1/2}$ was slightly changed with ${\sigma}_{1}$ and ${\sigma}_{2}$. Consequently, it was concluded that $K_{x}$ of PAT cyclics is strongly dependent on the configuration of each PAT and affected by the change of its conformation to some extent.

• Tunnel and Underground Space
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• v.26 no.2
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• pp.100-109
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• 2016

This study suggests three spatial distribution functions of strength parameters, which can be adopted in the derivation of failure conditions for transversely isotropic rocks. All three proposed functions, which are the oblate spheroidal function, the exponential function, and the function based on the directional projection of the strength parameter tensor, consist of two model parameters. With assumption that the cohesion and friction angle can be described by the proposed distribution functions, the transversely isotropic Mohr-Coulomb criterion is formulated and used as a failure condition in the simulation of the conventional triaxial tests. The simulation results confirm that the failure criteria incorporating the proposed distribution functions could reproduce the general trend in the variations of the axial stress at failure and the directions of failure planes with varying inclination of the weankness planes and confining pressure. Among three distribution functions, the function based on the directional projection of the strength parameter tensor yields the highest axial strength, while the axial strength estimated by the oblate spheroidal distribution function is the lowest.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.3
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• pp.8-13
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• 2008

The paper proposes a model-based measurement of unsteady flow rate by using distributed parameter pipeline model and the measured pressure values at two distant points along the pipeline. The distributed parameter model of hydraulic pipeline is applied with consideration of frequency dependent viscosity friction and unsteady velocity distribution at a cross section of a pipeline. By using the self-diagnostics functions of the measurement method, the validity is investigated by comparison with the measured and estimated pressure and flow rate wave forms at the halfway section on the pipeline. The results show good agreement between the estimated flow rate wave forms and theoretical those under unsteady laminar flow conditions. The method proposed here is useful in estimating unsteady flow rate through an arbitrary cross section in hydraulic pipeline and components without installing an instantaneous flowmeter.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.2287-2288
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• 2008

전력계통에는 수많은 기기가 복잡하게 연계 되어있으므로 지락사고가 일어났을 때 피해의 정도가 크다. 그래서 선로 모델링이 중요한데 선로 모델에는 많은 모델이 있기 때문에 각각의 모델들의 특성을 먼저 알아야한다. 그래서 본 논문에서는 몇 가지 선로 모델을 이용하여 모의 하여 결과를 비교해 보았다. 모의 Tool로는 EMTP/ATPDRAW를 이용하였고, 모의한 선로 모델은 Bergeron 비연가 모델, 연가 모델과 PI 등가 모델, 분포정수 모델을 이용하여 당진에서 신안성까지의 송전선로를 모델링하였다. 정상상태 일 때와 A상에서 지락사고가 일어났을 경우를 가정하고 모의하여 파형을 비교하였다.

• Tunnel and Underground Space
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• v.27 no.4
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• pp.243-252
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• 2017

Since the failure behavior of transversely isotropic rocks is significantly different from that of isotropic rocks, it is necessary to develop a transversely isotropic rock failure function in order to evaluate the stability of rock structures constructed in transversely isotropic rock masses. In this study, a spatial distribution function for strength parameters of transversely isotropic rocks is proposed, which is based on the Cassini oval curve proposed by 17th century astronomer Giovanni Domenico Cassini to model the orbit of the Sun around the Earth. The proposed distribution function consists of two model parameters which could be identified through triaxial compression tests on transversely isotropic rock samples. The original Mohr-Coulomb (M-C) failure function is extended to a three-dimensional transversely isotropic M-C failure function by employing the proposed strength parameter distribution function for the spatial distributions of the friction angle and cohesion. In order to verify the suitability of the transversely isotropic M-C failure function, both the conventional triaxial compression and true triaxial compression tests of transversely isotropic rock samples are simulated. The predicted results from the numerical experiments are consistent with the failure behavior of transversely isotropic rocks observed in the actual laboratory tests. In addition, the simulated result of true triaxial compression tests hints that the dependence of rock strength on intermediate principal stress may be closely related to the distribution of the microstructures included in the rock samples.

• The Journal of Engineering Geology
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• v.24 no.2
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• pp.247-260
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• 2014

Rock masses at the site for the $2^{nd}$ step construction of the KAERI Underground Research Tunnel (KURT) are divided into six units to establish a rock mechanics model that is dependent on the geological characteristics and degree of joint development. The site primarily consists of three granitic units (G1, G2, and G3), two dykes (D1 and D3), and a fault zone of poor rock mass quality (F3). The F3 unit crosses the tunnel at the beginning of the site of $2^{nd}$ step construction. The rock masses of each unit are classified by RMR (Rock Mass Rating), Q-system, and RMi (Rock Mass Index), all based on borehole logging data. The deformation modulus, rock mass strength, cohesion, and friction angle for each unit are calculated using established empirical relationships. The representative rock mass classification and geotechnical parameters for the rock mass units are established, and a rock mechanics model for the site is proposed, which will be useful in the design and stability analysis of the $2^{nd}$ step construction of KURT.