• Journal of Institute of Control, Robotics and Systems
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• v.11 no.8
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• pp.688-695
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• 2005

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The manipulability is a functionality of manipulator system in a given configuration under the limits of joint ability with respect to the task required to be performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method is presented. The dynamic equation of motion of underwater manipulator is derived based on the Lagrange-Euler equation considering with the hydrodynamic forces caused by added mass, buoyancy and hydraulic drag. The hydrodynamic drag term in the equation is established as analytical form using Denavit-Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based oil manipulability ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torques in joint space, while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid as much as gravity and velocity dependent forces in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.

• Nuclear Engineering and Technology
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• v.50 no.1
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• pp.35-42
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• 2018

This article presents clean core criticality calculations and control rod worth calculations for TRIGA (Training, Research, Isotope production-General Atomics) Mark II research reactor benchmark cores using Winfrith Improved Multi-group Scheme-D/4 (WIMS-D/4) and Program for Reactor In-core Analysis using Diffusion Equation (PRIDE) codes. Cores 133 and 134 were analyzed in 2-D (r, ${\theta}$) and 3-D (r, ${\theta}$, z), using WIMS-D/4 and PRIDE codes. Moreover, the influence of cross-section data was also studied using various libraries based on Evaluated Nuclear Data File (ENDF/B-VI.8 and VII.0), Joint Evaluated Fission and Fusion File (JEFF-3.1), Japanese Evaluated Nuclear Data Library (JENDL-3.2), and Joint Evaluated File (JEF-2.2) nuclear data. The simulation results showed that the multiplication factor calculated for all these data libraries is within 1% of the experimental results. The reactivity worth of the control rods of core 134 was also calculated with different homogenization approaches. A comparison was made with experimental and reported Monte Carlo results, and it was found that, using proper homogenization of absorber regions and surrounding fuel regions, the results obtained with PRIDE code are significantly improved.

• Smart Structures and Systems
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• v.22 no.4
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• pp.459-468
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• 2018

In this paper, the effect of non-persistent joints was determined on the behavior of concrete specimens subjected to biaxial loading through numerical modeling using particle flow code in two dimensions (PFC2D). Firstly, a numerical model was calibrated by uniaxial, Brazilian and triaxial experimental results to ensure the conformity of the simulated numerical model's response. Secondly, sixteen rectangular models with dimension of 100 mm by 100 mm were developed. Each model contains two non-persistent joints with lengths of 40 mm and 20 mm, respectively. The angularity of the larger joint changes from $30^{\circ}$ to $90^{\circ}$. In each configuration, the small joint angularity changes from $0^{\circ}$ to $90^{\circ}$ in $30^{\circ}$ increments. All of the models were under confining stress of 1 MPa. By using of the biaxial test configuration, the failure process was visually observed. Discrete element simulations demonstrated that macro shear fractures in models are because of microscopic tensile breakage of a large number of bonded discs. The failure pattern in Rock Bridge is mostly affected by joint overlapping whereas the biaxial strength is closely related to the failure pattern.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2007.05a
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• pp.401-404
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• 2007

Inertia welding is a solid-state welding process in which butt welds in materials are made in bar and in ring form at the joint face, and energy required for welding is obtained from a rotating flywheel. The stored energy is converted to frictional heat at the interface under axial load. The quality of the welded joint depends on many parameters, including axial force, initial revolution speed and energy, amount of upset, working time, and residual stresses in the joint. Inertia welding was conducted to make the large rotor shaft for low speed marine diesel engine, alloy steel for shaft of 140mm. Due to different material characteristics, such as, thermal conductivity and flow stress, on the two sides of the weld interface, modeling is crucial in determining the optimal weld geometry and parameters. FE simulation was performed by the commercial code DEFORM-2D. A good agreement between the predicted and actual welded shape is observed. It is expected that modeling will significantly reduce the number of experimental trials needed to determine the weld parameters.

• Transactions of Materials Processing
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• v.16 no.4 s.94
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• pp.266-270
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• 2007

Inertia welding is a solid-state welding process in which butt welds in materials are made in bar and in ring form at the joint face, and energy required for welding is obtained from a rotating flywheel. The stored energy is converted to frictional heat at the interface under axial load. The quality of the welded joint depends on many parameters, including axial force, initial revolution speed and energy, amount of upset, working time, and residual stresses in the joint. Inertia welding was conducted to make the large rotor shaft for low speed marine diesel engine, alloy steel for shaft of 140mm. Due to material characteristics, such as, thermal conductivity and high temperature flow stress, on the two sides of the weld interface, modeling is crucial in determining the optimal weld parameters. FE simulation is performed by the commercial code DEFORM-2D. A good agreement between the predicted and actual welded shape is observed. It is expected that modeling will significantly reduce the number of experimental trials needed to determine the weld parameters.

• Journal of Biomedical Engineering Research
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• v.21 no.2
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• pp.201-212
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• 2000

본 논문에서는 인공고관절과 환자의 고관절 부위를 각각 3차원 영상화한 후에 이들의 정합도 (fitness)를 측정하여 수치적인 정보로 제공함으로써 환자의 체형에 적합한 인공고관절을 선택하고, 더 나아가 정확한 시술방향과 시술깊이를 제공할 수 있는 모의시술시스템을 제시하였다. 이를 위해 region growing 기법등을 이용하여 환자의 CT 영상을 3차원화하고, 또한 인공고관절을 projection 기법 등을 통해 3차원 영상화하였으며, 지금까지 인공고관절 정합도 측정에 사용했던 단순한 단면적 비교방식과는 달리 삽입의 균일성도 가늠할 수 있는 새로운 정합도 측정 방식을 고안하여 적용하였다. 다양한 실험과 분석을 통하여 새로 제안한 정합도 측정 방법의 정확성과 우수함을 확인할 수 있었으며, 본 논문에서 제시하는 모의 시술시스템은 향후 정형외과 분야에서 인공무릎과 같은 다른 영역에서의 시술 보조 시스템으로도 응용될 수 있을 뿐만 아니라, 인공관절의 국산화 및 주문제작 등에성도 많은 활용을 할 수 있을 것으로 기대된다.

• 한국지구물리탐사학회:학술대회논문집
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• 2007.06a
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• pp.167-172
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• 2007

The frequency-domain small-loop electromagnetic (EM) instruments are increasingly used for shallow environmental and geotechnical surveys because of their portability and speed. However, it is well known that the data quality is generally so poor that quantitative interpretation of the data is not justified in many cases. We present an inversion method that allows the correction for the calibration errors and also constructs multidimensional resistivity models. The key point in this method is that the data are collected at least at two different heights. The forward modeling used in the inversion is based on an efficient 3-D finite-difference method, and its solution was checked against 2-D finite-element solution. The synthetic and real data examples demonstrate that the joint inversion recovers reliable resistivity models from multi-frequency data severely contaminated by the calibration errors.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.05a
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• pp.204-209
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• 2004

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The Manipulability is a functionality of manipulator system in a given configuration and under the limits of joint ability with respect to the tasks required to bt performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method are presented. The dynamic equation of motion of underwater manipulator is derived from the Lagrange - Euler equation considering with the hydraulic forces caused by added mass, buoyancy and hydraulic drag. The hydraulic drag term in the equation: is established as analytical form using Denavit - Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based on Manipulability Ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torque in joint space while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.

• Journal of Mechanical Science and Technology
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• v.18 no.2
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• pp.211-220
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• 2004

It is well known that the geometry of the articular surface has a major role in determining the position of articular contact and the lines of action for the contact forces. The contact force calculation of the knee joint under the effect of sliding and rolling is one of the most challenging issues in this field. We present a 3-D human knee joint model including sliding and rolling motions and major ligaments to calculate the lateral and medial condyle contact forces from the recovered total internal reaction force using inverse dynamic contact modeling and the Least-Square method. As results, it is believed that the patella, muscles and tendon affect a lot for the internal reaction forces at the initial heel contact stage. With increasing flexion angles during gait, the decreasing contact area is progressively shifted to the posterior direction on the tibia plateau. In addition, the medial side contact force is larger than the lateral side contact force in the knee joint during normal human walking. The total internal forces of the knee joint are reasonable compared to previous studies.

• Nuclear Engineering and Technology
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• v.55 no.9
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• pp.3326-3333
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• 2023

The results of the analysis of a mathematical modeling for the IBR-2M pulsed reactor dynamics for a transition from a power pulse repetition frequency of 5 Hz-10 Hz are presented. The change in the amplitude response of the reactor for variable pulse delayed neutron fraction was studied. We used a set of power feedback parameters determined experimentally in 2021 at an energy output of 1820 MW·day. At a pulse repetition frequency of 10 Hz, the amplitude of pulse energy oscillations significantly depends on the value of the delayed neutron fraction in pulse β_p. Depending on β_p both suppression and amplification of reactor power fluctuations in the frequency ranges of 0.05-0.20 and 1.25-5.00 Hz can be realized.