• Proceedings of the KSME Conference
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• 2005.11a
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• pp.227.2-227.2
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• 2005

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.559-564
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• 1993

Nonlinear equation of motion of the flexible manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. The resulting equations of motion have a structure which is useful to reduce the number of terms calculated, to check correctness, or to extend the model to high order. A manipulator with a flexible 4 bar link mechanism is a constrained system whose equations are sensitive to numerical integration error. This constrained system is solved using the null space matrix of the constraint Jacobian matrix. Singular value decomposition is a stable algorithm to find the null space matrix.

• Journal of Bio-Environment Control
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• v.30 no.4
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• pp.328-334
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• 2021

This study was conducted to analyze the effect of fog cooling during daytime and heatpump cooling at night in greenhouses in summer. During daytime, the average temp. and RH of the control greenhouse which had shading screen were 32.1℃ and 59.4%. and the average temp. and RH of the test greenhouse which had fog cooling were 30.0℃ and 74.3%. At this time, the average outside temp. and RH were 31.4℃ and 57.7%. So, the temp. of the control was 0.7℃ higher than outside temp., but the temp. of the test was 1.4℃ lower than outside and 2.1℃ lower than control. The average RH was 74.3% in the test and 59.4% in control. The average temp. and RH of the control greenhouse which had natural ventilation at night were 25.2℃ and 85.1%, and the average temp. and RH of the test greenhouse which had heat pump cooling were 23.4℃, 82.4%. The average outside temp. and RH at night were 24.4℃ and 88.2%. The temp. of the control was 0.8℃ higher than outside temp., but the temp. of the test was 1.0℃ lower than outside and 1.8℃ lower than control. The average RH was 82.4% in test and 85.1% in control greenhouse. There was no significant difference between the plants growth eight weeks after planting. But after the cooling treatment, the values of stem diameter, plant height, chlorophyll in test were higher than control. The total yield was 81.3kg in test, 73.8kg in control, so yield of test was 10.2% higher than control. As a result of economic analysis, 142,166 won in profits occurred in control greenhouse, but 28,727 won in losses occurred in test greenhouse, indicating that cooling treatment was less economical.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.3
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• pp.88-98
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• 1998

In many automatization applications, a rigid body is required to go forward and backward repeatedly through a set of given position/orientations precisely while a crank is rotated. Such a motion can be generated by 6 bar mechanism adding a dyad to a 4 bar mechanism. If this is the case for 3 position synthesis of the 4 bar mechanism, the feasible solution area for designing the 4 bar mechanism will be limited over the general solution area. This paper proposes a procedure to synthesize 4 bar mechanism to be used to generate the required motion. It is found that the only input crank of the 4 bar mechanism should be limited to satisfy the condition. And the feasible design area for the circle point/ center point of the input crank is identified so that design of the undesired mechanism could be avoided. The method is tested and the results are shown.

• Journal of Bio-Environment Control
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• v.25 no.4
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• pp.283-287
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• 2016

This study was conducted to examine the effects of defoliation levels during winter season on the yield and soluble solid contents of fruits. To achieve this strawberry 'Seolhyang' cultivated forcingly in the year of 2013 to 2014 as well as 2014 to 2015. The three treatments include periodical removing of leaves remaining 6 fully expanded leaves, those remaining 9 leaves, and only removing of old and infected leaves during the period from early December to end of February. In the early marketable fruit yield until the end of February and total marketable fruit yield, the treatment of non-defoliation was significantly higher than those of the treatment of 6 and 9 leaves in the year of 2014 to 2015 cropping season. Soluble solid contents of fruits among January and March increased significantly as the number of leaves get higher. Soluble solid contents were higher and stable around $12^{\circ}Brix$ in the treatment of non-defoliation. Assimilation of photosynthetic products into plant tissue are insufficient due to the lack of irradiation and short day in winter season forcing cultivation of strawberry. Thus, it is considered to manage the leaves with defoliation for only old and infected leaves from December to February for increasing of fruit yield and improvement of fruit quality.

• Transactions of the Korean Society of Mechanical Engineers
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• v.12 no.5
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• pp.1026-1034
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• 1988

An efficient method for designing balancing springs to be used for dynamic balancing of planar mechanisms was studied. In spite of its wide application in the field of balancing problems such as balancing of input torques, clearance effects etc., there have been few efficient ways of determining the specifications of the balancing springs. To improve this problem, a method of approximating the characteristic of linear springs was suggested and its validity was checked through an analysis of errors. Further, through an example of a balancing problem to reduce the fluctuation of input torques of a 4bar mechanism, it was shown that the proposed method of approximation simplifies the design equations and a satisfactory result can be found efficiently.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.924-927
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• 1996

In this work, we investigate the quasi-static crawling of the four-bar mechanism. Since the crawling of the mechanism is based on sliding of contact points of the mechanism with the ground, interaction forces and friction forces at contact points of the mechanism with the ground should be computed. For this purpuse, we introduce the concept of imaginary joints to find these forces. Therefore, we are able to treat the closed mechanism as a serial one. Also, sliding conditions of the mechanism in quasi-static equilibrium are examined. Lastly, the required torques for the mechanism to crawl with respect to various configurations of the mechanism but with a fixed ground friction are investigated.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.18 no.6
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• pp.576-584
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• 2009

Up to now, it has been said that no satisfactory computer solution has been found for synthesizing four-bar linkage based on the prescribed coupler link curve. In our study, an algorithm has been developed to improve the design synthesis of four bar linkage based on the 5 precision points method. The suggested algorithm generates the desired coupler curve by using NURBS, and then the generated curve approximates as closely as possible to the desired curve representing coupler link trajectory. Also, when comparing each generated curve by constructing the control polygon, rapid comparison is easily achieved by applying convex hull of the control polygon. Finally, an optimization process using ADS is incorporated into the algorithm based on the 5 precision point method to reduce the total optimization process time. As for examples, two four bar linkages were tested and the result well demonstrated the effectiveness of the algorithm.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2017.04a
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• pp.118-118
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• 2017

지구 온난화에 따른 환경변화로 인하여 최근 10년('02~'11)간 여름의 일수는 4일, 겨울 일수는 16일 각각 증가하였다. 현재 육계사 내의 고밀도 밀집사육으로 인하여 고온스트레스로 하절기 육계의 폐사율이 증가하고 있는 실정이다. 2016년 폭염으로 닭 406.1천수, 오리 15.7천수, 메추리 70천수, 돼지 8천수가 폐사하였다. 이에 혹서기 가축이 약430만수가 폐사하였으며 피해 보상금액 128억원 소요되었다. 본 연구에서는 하절기 고온스트레스 경감과 폐사율 저감을 위해 계사 냉난방 공조와 냉온 음용수 급수를 병행할 수 있는 고효율 환경 개선 시스템을 개발하여 고온스트레스 저감 및 생산성 향상에 목적이 있다. 계사 냉난방 공조 및 냉온음용수 급수 병행 시스템 설계요인을 분석하고 냉난방 공조부하, 냉온수 생산 부하를 고려한 시스템 용량 산정하고 히트펌프, 축열조, 냉난방 및 냉온수 분배장치 등 구성요소로서 공조 및 냉온음용수 급수시스템을 설치하였다. 시스템 용량은 공기-물 히트펌프(10kW,1대), 축열조(10톤), 음용수조(2톤), 열교환기(열교환량,5만kcal/h), 물순환펌프(250W,2대) 및 팬코일유닛(1만kcal/h,4대)으로 시스템 모니터링 및 제어 시스템 개발하여 계사 내 환경, 시스템 성능에 대한 실시간 모니터링을 통하여 저장하였다. 조사항목으로 위치별 온습도, 체중, 사료섭취량, 페사율 등을 조사 분석하였다. 연구결과 계사의 내부온도는 시험구에서는 평균 $25.3^{\circ}C$를 나타내었고 대조구에서는 평균 $28.1^{\circ}C$로서 $2.8^{\circ}C$ 높게 나타났으나 상대습도는 시험구 76.2%, 대조구 75.0%로 큰 차이가 없었다. 냉수급여에 따른 계사 높이별 내부온도는 상하의 온도차가 $4.5^{\circ}C$로 크게 차이가 났다. 육계의 음수량은 혹서기 냉수를 급여한 시험구에서 일일 23.2L, 대조구에서는 21.5L를 섭취하였다. 일일 사료섭취량은 냉수를 급여한 시험구에서 937g, 대조구에서는 725g을 섭취하였다. 사료섭취량은 냉수를 급여한 시험구가 212g 많이 섭취하였으며 사료요구율은 시험구는 1.86, 대조구는 1.91로서 시험구가 낮게 나타났다. 체중은 냉수를 급여한 시험구가 359g 많았으며 증체량은 냉수를 급여한 시험구에서 495g, 대조구에서는 392g으로 나타났다. 폐사율은 냉수를 급여한 시험구에서 84%가 폐사율을 줄일 수 있었다.

• Journal of Bio-Environment Control
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• v.3 no.1
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• pp.58-65
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• 1994

It is necessary to effective temperature and humidity management for normal growth of crops in protected cultivation during the summer season. Because the highest temperature of vinyl house inhibit normal growth of crop and decrease of crop production or marketability in summer season. Finally, the vinyl house was impossible some crop cultivation in summer season. This study was conducted to investigate effective and economic method for temperature drop in protected cultivation during the summer season. 1. In medium size vinyl house(5$\times$13$\times$3m), the effect of temperature drop appeared the highest in treatment of shading with aluminium thermal curtain＋fog system＋ventilation with fan. The effect of temperature drop was about 1$0^{\circ}C$ lower than outer air temperature and about 4$^{\circ}C$ lower than outer soil temperature. 2. The effect of temperature drop according to shading with aluminium thermal curtain＋fog system＋ventilation with fan during the highest temperature of summer season Jul., 20 to Aug., 21 was appeared about 8$^{\circ}C$ lower than outdoor above ground(1.2m) and about 7$^{\circ}C$ lower than outdoor surface ground. 3. The changes of solar radiation during a day according to shading with aluminium thermal curtain＋ventilation with fan and shading with black curtain＋ventilation with fan treatments was appeared respectively about 29.3%, 32.5% of outdoor solar radiation a fine day and respectively about 27.4%, 31.8% of outdoor solar radiation a cloudy day.