• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.144-148
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• 1989

We solve the inverse kinematics problems in robotics by employing a neural network. In the practical situation. it is not easy to obtain the exact inverse kinematics solution, since there are many unforeseen errors such as the shift of a robot base the link's bending, et c. Hence difficulties follow in the trajectory planning. With the neural network, it is possible to train the robot motion so that the robot follows the desired trajectory without errors even under the situation where the unexpected errors are involved. In this work, Back-Propagation rule is used as a learning method.

• Nuclear Engineering and Technology
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• v.38 no.8
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• pp.793-802
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• 2006

The design concept of a bending magnet to be installed in the KSTAR NBI system is presented. It is the function of a bending magnet that removes unconverted ions from the main beam stream and produces an 8 MW, 120 keV deuterium neutral beam. In order to determine the proper size and shape of the bending magnet, a parametric study on the B-field pattern was carried out by changing the dimensions of the pole face model. In addition, the detailed trajectories of the dominant ion species produced in the beam line were calculated. The electrical and cooling parameters of the coil assembly were also estimated.

• Journal of The Korean Astronomical Society
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• v.29 no.1
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• pp.1-8
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• 1996

When we follow the lines of the trajectory of photons which intersect the circle, the circle may suffer some deformation as approaching to the observer. We consider an infinitesimal light bundle suffering gravitational bending. We examine the deformation of the deflected light bundle due to the gravitational lens. The size of the deformation is expressed in terms of the focal length of the gravitational lens.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.4
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• pp.443-448
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• 2006

In this paper, a novel method is proposed for generating the low-power and stable walking trajectory of biped robots, and then a biped robot with 25 DOFs(degrees of freedom) is designed and implemented for the realization of the low-power walking trajectory generated by the proposed method. In our method, first a stable VPCG(vertically projected center of gravity) trajectory is generated, and then the trajectories of ankle and pelvis of a biped robot are planned to follow the preplanned stable VPCG trajectory, which produces a waking pattern without bending its knees and enables a biped robot to walk with less power consumption. On the other hand, a biped robot implemented in this paper has the mechanical structure of foot that enables a biped robot to support on the ground well, and the mechanical structure of pelvis that enables a biped robot to move flexibly. From results of the walking experiment and power consumption measurement, it was confirmed that the proposed method can generate the more stable and flexible trajectory with less power consumption compared with the existing methods which do not use the ankle of a biped robot.

• 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.

• Honam Mathematical Journal
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• v.39 no.4
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• pp.637-647
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• 2017

Elastica is known as classical curve that is a solution of variational problem, which minimize a thin inextensible wire's bending energy. Studies on elastica has been conducted in Euclidean space firstly, then it has been extended to Riemannian manifold by giving different characterizations. In this paper, we focus on energy of the elastic curve in a Lie group. We attepmt to compute its energy by using geometric description of the curvature and the torsion of the trajectory of the elastic curve of the trajectory of the moving particle in the Lie group. Finally, we also investigate the relation between energy of the elastic curve and energy of the same curve in Frenet vector fields in the Lie group.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2003.07b
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• pp.728-731
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• 2003

This paper deals with a flat type ultrasonic motor, which uses a longitudinal-bending multi mode vibrator of rectangular form. A linear ultrasonic motor was designed by combination of the first longitudinal and eighth bending mode, and the motor consisted of a straight aluminum alloy bar bonded with piezoelectric ceramic elements as a driving element. The geometrical dimensions of the rectangular aluminum vibrator were determined by Euler-Bernoulli theory ANSYS was used to analyze the resonance frequency and the displacement of the stator vibrator. The resonance frequency of the motor provides the elliptical motion. and ANSYS was used to analyze elliptical motion and elliptical trajectory of stator vibrator when thickness of piezoelectric ceramics was varied respectively 0.763, 1.526, 2.289[mm] and width of stator vibrator was varied respectively 16, 12, 8, 4[mm]. When thickness of piezoelectric ceramics was decreased, the displacement of the stator vibrator was increased. And when width of stator vibrator was decreased, the displacement of the stator vibrator was increased.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2007.04a
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• pp.481-486
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• 2007

The Zienkiewicz-Zhu(Z/Z) error estimate is slightly modified for the hierarchical p-refinement, and is then applied to L-shaped plates subjected to bending to demonstrate its effectiveness. An adaptive procedure in finite element analysis is presented by p-refinement of meshes in conjunction with a posteriori error estimator that is based on the superconvergent patch recovery(SPR) technique. The modified Z/Z error estimate p-refinement is different from the conventional approach because the high order shape functions based on integrals of Legendre polynomials are used to interpolate displacements within an element, on the other hand, the same order of basis function based on Pascal's triangle tree is also used to interpolate recovered stresses. The least-square method is used to fit a polynomial to the stresses computed at the sampling points. The strategy of finding a nearly optimal distribution of polynomial degrees on a fixed finite element mesh is discussed such that a particular element has to be refined automatically to obtain an acceptable level of accuracy by increasing p-levels non-uniformly or selectively. It is noted that the error decreases rapidly with an increase in the number of degrees of freedom and the sequences of p-distributions obtained by the proposed error indicator closely follow the optimal trajectory.

• Journal of Navigation and Port Research
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• v.29 no.9
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• pp.783-788
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• 2005

This study provided the status and efficiency of the domestic wastewater sea outfalls based on the previous numerical and experimental studies for the analysis of the buoyant discharges from Rosette diffuser in shallow water. The VISJET model and the hybrid model proposed by Kim (2002) can be proper models for the domestic sea outfalls. The experimental results show that the merging height for MBR and MIR depends on the riser diameter and spacing between risers, and the bending characteristics of the buoyant discharges in still ambient water have significant impacts on the dilution. The current wastewater outfall systems in Korea are not effective for the environmental aspect due to the low discharge water depth. The strategies to reduce the contamination near the domestic wastewater outfalls were found to require the sufficient discharge water depth, proper diffuser location considering the tidal currents, enough riser diameter, and sufficient spacing between risers.

• Journal of the Korea Institute of Building Construction
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• v.23 no.5
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• pp.537-546
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• 2023

For the purpose of fire delineation within buildings, steel walls in Korea are mandated to undergo rigorous certification as fire-resistant entities, substantiated via a series of qualitative assessments. Predominantly, these evaluations comprise the fire resistance test paired with supplementary examinations; specifically for steel walls, these encompass the gas hazard and panel bending strength tests. Given the prevalence of semi-noncombustible core materials, gas hazard tests are largely rendered superfluous, pivoting the focus solely onto the panel bending strength test during the certification trajectory. This particular test is designed to gauge the flexural robustness of individual wall panels. An enhanced bending strength is postulated to fortify both the structural integrity and thermal insulation of the wall by mitigating potential deformations. In this scholarly exploration, an analytical deep dive was undertaken into extant, valid certification test datasets. The endeavor aimed to ascertain the depth of correlation between the designated fire resistance metric and the bending strength, the latter being the sole supplementary assessment for steel walls. In distilling the findings, it was discerned that temperature elevations beyond baseline values exhibited no statistically salient linkage with the panel's bending strength.