• Journal of the Korean Society for Precision Engineering
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• v.23 no.4 s.181
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• pp.75-82
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• 2006

In this paper, we propose an optimal trajectory for biped robots to move up-and-down stairs using a genetic algorithm and a computed-torque control for biped robots to be dynamically stable. First, a Real-Coded Genetic Algorithm (RCGA) which of operators are composed of reproduction, crossover and mutation is used to minimize the total energy. Constraints are divided into equalities and inequalities: Equality constraints consist of a position condition at the start and end of a step period and repeatability conditions related to each joint angle and angular velocity. Inequality constraints include collision avoidance conditions of a swing leg at the face and edge of a stair, knee joint conditions with respect to the avoidance of the kinematic singularity, and the zero moment point condition with respect to the stability into the going direction. In order to approximate a gait, each joint angle trajectory is defined as a 4-th order polynomial of which coefficients are chromosomes. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot that consists of seven links in the sagittal plane. The trajectory is more efficient than that generated by the modified GCIPM. And various trajectories generated by the proposed GA method are analyzed in a viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.

• Tribology and Lubricants
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• v.20 no.6
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• pp.322-329
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• 2004

Recently, a load/unload(L/UL) system is adopted to the hard disk drive(HDD) due to its advantages such as lower power consumption, larger data zone, simpler fabrication of disk due to no bumped parking zone, and rarer contact between slider and media. An analysis of the transient motion for the slider is very important to design an air bearing surface(ABS) of the slider to secure the stable performance of the system. During the L/UL process, however, there are several issues occurred such as contact or collision between slider and media. Sometimes this will cause the system failure. In this study, the dynamics of a pico slider during the loading process are investigated through numerical simulation using FEM analysis and experiment. Ramp profile and angular velocity of the swing arm actuator are very important parameters for the design of L/UL system to avoid collision between slider and disk.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1996.05a
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• pp.7-16
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• 1996

Rapid increase of refrigeration & air-conditioning system( r & a system ) in modern industries brings attention to the urgency of development as a core technology in the area. And it required to the compatibility problem of r & a system to alternative refrigerant for the protection of environment. Then, it is requested to research about the lubrication characteristics of refrigerant compressor which is the core thechnology in the r & a system. The study of lubrication characteristics in the critical sliding component is essential for the design of refrigerant compressor. Therefore, theoetical investigation of the lubrication characteristics of rotary compressor for r & a system is studied. And the Runge-Kutta method is used for the analysis of the behavior of rolling piston in the rotary compressor. The results show that the rotating speed of shaft and the discharge pressure have an important effect upon the angular velocity of the rolling piston. This results give important basic data for the further lubrication analysis and design of the rotary compressor.

• Korean Journal of Applied Biomechanics
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• v.23 no.4
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• pp.307-318
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• 2013

The purpose of this study was to analyze the kinematic variables of glide kip motion on the uneven bars through a two-dimensional cinematography. Three expert female gymnastics players were involved in the data gathering process. The followings were concluded according to the results. The arm, trunk and leg segments were fully extended throughout the kip movement. The whole body center of gravity showed the biggest changes during 66 to 87% of the kip motion. During the kip phase, the horizontal displacement of the leg was greater than the vertical displacement the leg. Glide kip motion should be done in orders of upward movement of leg, forward movement of leg, upward movement of trunk and forward movement of trunk segment. It was found that trunk segment and hip joint movements showed bigger changes than those of leg segment and shoulder joint in the glide kip motion. The largest angular velocity of hip joint was shown in the middle of the kip Phase. In conclusion, effective kip movement could be resulted when the trunk was displaced posterior-upward direction with fast hip joint extension after the leg segment was elevated upward and thrusted forward in advance.

• Journal of The Korean Astronomical Society
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• v.40 no.4
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• pp.179-182
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• 2007

Dynamical friction plays an important role in reducing angular momenta of objects in orbital motions. While astronomical objects usually follow curvilinear orbits, most previous studies focused on the linear-trajectory cases. Here, we present the gravitational wake due to, and dynamical friction on, a perturber moving on a circular orbit in a uniform gaseous medium using a semi-analytic method. The circular orbit causes the density wakes to bend along the orbit into asymmetric configurations, resulting in the drag forces in both opposite (azimuthal) and lateral (radial) directions to the perturber motion, although the latter does not contribute to the orbital decay much. For a subsonic perturber, the bending of a wake is only modest and the resulting drag force in the opposite direction is remarkably similar to the linear-trajectory counterpart. On the other hand, a supersonic perturber is able to overtake its own wake, possibly multiple times, creating a high-density trailing tail. Despite the dramatic changes in the wake morphologies, the azimuthal drag force is in surprisingly good agreement with the formulae of Ostriker for the linear-trajectory cases, provided $V_pt=2R_p,\;where\;V_p\;and\;R_p$ are the velocity and orbital radius of the perturber, respectively.

• The Bulletin of The Korean Astronomical Society
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• v.35 no.2
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• pp.39.1-39.1
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• 2010

We study the effects of the cluster environment on galactic morphology by defining a dimensionless angular momentum parameter ld, to obtain a quantitative and objective measure of galaxy type. The use of this physical parameter allows us to take the study of morphological transformations in clusters beyond the measurements of merely qualitative parameters, e.g. S/E ratios, to a more physical footing. To this end, we employ an extensive SDSS sample, with galaxies associated with Abell galaxy clusters. The sample contains 93 relaxed Abell clusters and over 34,000 individual galaxies. We find that the median ld value tends to decrease as we approach the cluster center, with different dependences according to the mass of the galaxies and the hosting cluster; low and intermediate mass galaxies showing a strong dependence, while massive galaxies seems to show, at all radii, low ld values. By analysing trends in ld as functions of the nearest galactic neighbour environment, clustercentric radius and velocity dispersion of clusters, we can identify clearly the leading physical processes at work. We find that in massive clusters (s > 700 km/s), the interaction with the cluster central region dominates, whilst in smaller clusters galaxy-galaxy interactions are chiefly responsible for driving galactic morphological transformations.

• Journal of Ocean Engineering and Technology
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• v.19 no.3
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• pp.1-10
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• 2005

The effect of rotation on the unsteady laminar flaw past a circular cylinder is numerically investigated in the present study. The numerical solutions for the 2D Navier-Stokes equation obtained, using two different numerical methods. One is an accurate spectral method and the other is a finite volume method(FVM). First, the flaw around a stationary circular cylinder is investigated to understand the basic phenomenon of flaw separation and bluff body wake. Next, the flow characteristics of the laminar flow, past a rotating circular cylinder, are investigated, using a FVM developed in this study. By the effect of rotation, it is seen that values of lift increase, while the values of mean drag decrease. Further, the criteria of angular velocity, at which the Karman vorteces disappear, is also determined.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.17 no.2
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• pp.49-57
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• 2003

In this paper, is proposed an anti-swing control algorithm for the automation of overhead crane. The algorithm consists of three parts, the FCL with compensatory FLC which generates acceleration, velocity and position reference to reduce swing angle and acceleration feedback controller which feedback control errors. Especially the algorithm dose not need angular sensor which detect swing angle of payload and requires high cost. By the simulation study and experiment with prototype crane, we showed the usefulness of the proposed algorithm.

• Steel and Composite Structures
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• v.22 no.5
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• pp.1193-1214
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• 2016

In this paper, the 3D stress state and inter-laminar stresses in a rotating thin laminated cylinder shell are studied. The thickness of the cylinder is supposed to be thin and it is made of laminated composite material and can have general layer stacking. The governing equations of the cylindrical shell are obtained by employing the Layerwise theory (LWT). The effect of rotation is considered as rotational body force which is induced due to the rotation of the cylinder about its axis. The Layerwise theory (LWT), is used to discrete the partial differential equations of the problem to ordinary ones, in terms of the displacements of the mathematical layers. By applying the Free boundary conditions the solution of the governing equations is completed and the stress state, the inter-laminar stresses, and the edge effect in the rotating cylindrical shells are investigated in the numerical results. To verify the results, LWT solution is compared with the results of the FEM solution and good agreements are achieved. The inter-laminar normal and shear stresses in rotating cylinder are studied and effects of layer stacking and angular velocity is investigated in the numerical results.

• Journal of Mechanical Science and Technology
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• v.19 no.10
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• pp.1835-1845
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• 2005

In this paper a safe arm with passive compliant joints and visco-elastic covering is designed for human-friendly service robots. The passive compliant joint (PCJ) is composed of a magneto-rheological (MR) damper and a rotary spring. In addition to a spring component, a damper is introduced for damping effect and works as a rotary viscous damper by controlling the electric current according to the angular velocity of spring displacement. When a manipulator interacts with human or environment, the joints and cover passively operate and attenuate the applied collision force. The force attenuation property is verified through collision experiments showing that the proposed passive arm is safe in view of some evaluation measures.