• Proceedings of the KSME Conference
• /
• 2008.11a
• /
• pp.888-893
• /
• 2008

In This paper proposes the control algorithm for quadruped robots on irregularly sloped uneven surface. Body balance is important in stable running locomotion. Since the body balance is determined by the forces applied at the feet during touchdown phase, the ground reaction force is controlled for stable running. To control the forces at each foot, the desired force is generated. The generated desired force is compared with actual contact force, then, the difference between them modifies the foot trajectory. The desired force is generated by combination of the rate change of the angular and linear momentum at flight. Then the rate change of momentum determines each force distribution. The distribution of the force is carried out by fuzzy logic. The computer simulation is carried out with the commercial software RecurDyn$^{(R)}$. Dynamic model simulation program show that the stable running on the irregularly sloped uneven surface are accomplished by the proposed method.

• The Bulletin of The Korean Astronomical Society
• /
• v.36 no.2
• /
• pp.103.2-103.2
• /
• 2011

We measure the degree of polarization of the lunar regolith to map the distributions of the age and the particle size. We use a 12cm refracting telescope with a 2k-square pixel color CCD (R band) and a polarization filter. The angular resolution obtained is 3.02 km/pixel. Our goal is to obtain a map of the lunar particle size distribution on the lunar regolith and then that of the age distribution. Polarization of the light scattered by lunar surface contains information on their mean particle size. The mean particle size of the lunar surface has been decreased by continued micro-meteoroid impact over a long period. One can estimate the age of the lunar surface if the mean particle size is known. Particle sizes can be measured through observations of polarization because the mean particle size is related to the maximum polarization and albedo. The age and the particle size of the lunar regolith can give vital information for the future lunar exploration.

• Publications of The Korean Astronomical Society
• /
• v.30 no.2
• /
• pp.271-273
• /
• 2015

The bulk motion of star clusters can be determined after careful membership analysis using parametric or non-parametric approaches. This study aims to implement non-parametric membership analysis based on Binned Kernel Density Estimators which takes into account measurements errors (simply called BKDE-e) to determine the average proper motion of each cluster. This method is applied to 178 selected star clusters with angular diameters less than 20 arcminutes. Proper motion data from UCAC4 are used for membership determination. Non-parametric analysis using BKDE-e successfully determined the average proper motion of 129 clusters, with good accuracy. Compared to COCD and NCOVOCC, there are 79 clusters with less than $3{\sigma}$ difference. Moreover, we are able to analyse the distribution of the member stars in vector point diagrams which is not always a normal distribution.

• KCI Concrete Journal
• /
• v.11 no.3
• /
• pp.165-174
• /
• 1999

The objective of the research stated herein is to observe the elastic and inelastic behaviors and ultimate capacity of 1:5 scale 3-story reinforced concrete frame. Pushover tests were performed to 1:5 scale 3-story reinforced concrete frames with and without infilled masonry. To simulate the earthquake effect, the lateral force distribution was maintained by an inverted triang1e by using the whiffle tree. From the test results, the relation ships between the total lateral load and the roof drift, the distribution of column shears, the relation between story shear and story drift, and the angular rotations at the critical portions of structures were obtained. The effects of infilled masonry were investigated with regards to the stiffness, strength, and ductility of structures. Final collapse modes of structures with and without infilled masonry were compared.

• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.2
• /
• pp.33-40
• /
• 1997

Recently, there are an increasing needs for high speed rotating spindle which is an important mechanical ele- ment for a high efficiency machine tool in order to shorten machining time and cut production costs. The heat gen- eration is the most important problem in the motor integrated spindle. In this study, the effects of temperature distribution and thermal behavior according to the oil-air lubrication and cooling conditions are investigate theo- retically and experimentally on the motor-integrated spindle under unloading condition. The experimental spin- dle system is composed with the angular contact steel ball bearings, oil-air lubrication, air or oil jacket cooling system. To analyze the thermal behavior and cooling characteristics for the motor integrated spindle, the analysis using the finite element method is carried out. The analytical results are compared with the experimental results.

• Bulletin of the Korean Chemical Society
• /
• v.11 no.1
• /
• pp.1-7
• /
• 1990

We present a theoretical investigation on the etching of an Al solid by $SiCl_4$ molecules at a collision energy of 600 eV. The classical trajectory method is employed to calculate Al etching yields, degree of anisotropy, kinetic energy distribution and angular distribution. The calculated results are compared with the reaction of a Cu solid by $SiCl_4$. The major products of the reaction are aluminum monomers and dimers together with considerable quantities of multimers. The Al solid shows better etching yield and better anisotropy than the Cu solid. This is consistent with the problem in the CMOS micro-fabrication of the CuAl and CuAlSi alloys. The relevance of these calculations for the dry etching of CuAl alloy is discussed.

• Structural Engineering and Mechanics
• /
• v.77 no.2
• /
• pp.245-259
• /
• 2021

In this research, the influence of the laminate stacking sequence on thermal stress distribution in symmetric composite plates with a quasi-square cutout subjected to uniform heat flux is examined analytically using the complex variable technique. The analytical solution is obtained based on the thermo-elastic theory and the Lekhnitskii's method. Furthermore, by employing a suitable mapping function, the solution of symmetric laminates containing a circular cutout is extended to the quasi-square cutout. The effect of important parameters including the stacking sequence of laminates, the angular position, the bluntness, the aspect ratio of cutout, the flux angle and the composite material are examined on the thermal stress distribution. It is found out that the circular shape for cutout may not necessarily be the optimum geometry for all stacking sequences. The finite element analysis results are used to validate the analytical solution.

• Research in Plant Disease
• /
• v.22 no.1
• /
• pp.9-17
• /
• 2016

Nationwide survey for angular leaf spot (ALS) of strawberry caused by Xanthomonas fragariae, a quarantine disease in Korea, was performed in November 2012. In the survey, ALS was observed in eighty eight farmers' fields of Sukok, Jinju and Okjong, Hadong in Gyeongnam Province, and one field in Namwon of Jeollabuk Province. The infected field of Namwon closed immediately after the disease diagnosed ALS. In detailed survey of Sukok and Okjong areas during February 2012 to January 2015, ALS occurrence decreased from 45% farmer's fields on December 2012 to 5% on January 2015, and from 38% on November 2013 to 5% on January 2015, respectively. Phenotypic characteristics of the Korean strains were similar to those of the type strain of X. fragariae. A multilocus sequence analysis of Korean strains of X. fragariae was conducted using four genes; dnaK, fyuA, gyrB, and rpoD. All the Korean strains had the same sequences of the four genes. The concatenated sequences of the Korean strains shared 100% with that of the type strain of X. fragariae. All strawberry cultivars tested were susceptible to the strains of X. fragariae two weeks after inoculation. The inoculated sites were necrosis and expanded, which were rated 4 based on evaluation of inoculation site.

• Journal of the Institute of Convergence Signal Processing
• /
• v.9 no.1
• /
• pp.24-30
• /
• 2008

In this paper we analyze the performance of an adaptive sector cell system, which is adopted to maintain the traffic balance between sectors and to utilize the cell resources effectively, using the data collected from real channel environments. In the data measurements, we transmitted the QPSK modulated signal with carrier frequency of 1.95GHz and received the signals using the 8x4 array antenna equipped on the top of buildings in the urban area. We analyzed the angular distribution and the delay spread of a user signal and analyzed angular distribution of mobile users in a cell using the collected data. Also, we propose the vector channel modeling using the estimated pdf(probability distribution function) of the analyzing results. Through the proposed channel modeling the improvement of the call blocking rate was analyzed when using the adaptive sector cell system, and computer simulations show that the call blocking rate of the adaptive sector cell system was much lower than that of the fixed sector cell system. Additionally, it shows that the call blocking rate increases severely in the fixed sector cell system while the difference of the call blocking rate was smaller in the adaptive sector cell system, as the user density of the spatial distribution increases.

• Korea-Australia Rheology Journal
• /
• v.19 no.4
• /
• pp.201-209
• /
• 2007

The present paper is concerned with non-isothermal spherical Couette flow of Oldroyd-B fluid in the annular region between two concentric spheres. The inner sphere rotates with a uniform angular velocity while the outer sphere is kept at rest. Moreover, the two spherical boundaries are maintained at fixed temperature values. Hence, the fluid is effect by two heat sources; namely, the viscous heating and the temperature gradient between the two spheres. The viscoelasticity of the fluid is assumed to dominate the inertia such that the latter can be neglected. An approximate analytical solution of the energy and momentum equations is obtained through the expansion of the dynamical fields in power series of Nahme number. The analysis show that, the temperature variation due to the external source appears in the zero order solution and its effect extends to the fluid velocity distribution up to present second order. Viscous heating contributes in the first and second order solutions. In contrast to isothermal case, a first order axial velocity and a second order stream function fields has been appeared. Moreover, at higher orders the temperature distribution depends on the gap width between the two spheres. Finally, there exist a thermal distribution of positive and negative values depend on their positions in the domain region between the two spheres.