• Proceedings of the Korean Nuclear Society Conference
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• 1996.05d
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• pp.259-266
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• 1996

This paper presents a geometrically non-linear formulation for the general curved beam element based on assumed strain fields and Timoshenko's beam theory. This general curved beam element is formulated from constant strain fields. And this element, designed in a local curvilinear coordinate system, is transformed into a global cartesian system in order to analyze effectively the general curved beam structures located arbitrarly in space. Numerical examples are presented to show the accuracy and efficiency of the present formulation. The results obtained from the present formulation are compared with those available in the literature and analysis by ANSYS.

• Communications of Mathematical Education
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• v.22 no.3
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• pp.337-347
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• 2008

'Slope' is an invariant of a straight line and 'Linear Equation' is an algebraic representation of a straight line in the cartesian plane. The concept 'slope' is necessary for algebraically representing a geometrical figure, line. In this article, we investigate how those concepts are dealt with in school mathematics and suggest some improvement methods.

• Journal of Mechanical Science and Technology
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• v.15 no.6
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• pp.693-698
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• 2001

The analysis of actuating forces (or torques) and joint reaction forces (or moments) are essential to determine the capacity of actuators, to control the system and to design the components. This paper presents an inverse dynamic analysis algorithm for flexible multibody systems with closed-loops in the relative joint coordinate space. The joint reaction forces are analyzed in Cartesian coordinate space using the inverse velocity transformation technique. The joint coordinates and the deformation modal coordinates are used as the generalized coordinates of a flexible multibody system. The algorithm is verified through the analysis of a slider-crank mechanism.

• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.125-134
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• 2006

The problem of establishing the servo system to reach the desired location keeping all features in the field of view and following a straight line is considered. In addition, robustness of camera calibration parameters is considered in this paper. The proposed approach is based on switching from position-based visual servoing (PBVS) to image-based visual servoing (IBVS) and allows the camera path to follow a straight line. To achieve the objective, a pose estimation method is required; the camera's target pose is estimated from the obtained images without the knowledge of the object. A switched control law moves the camera equipped to a robot end-effector near the desired location following a straight line in Cartesian space and then positions it to the desired pose with robustness to camera calibration error. Finally simulation results show the feasibility of the proposed visual servoing technique.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.3 no.3
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• pp.186-196
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• 1991

Numerical analysis has been performed to investigate the effects of the turbulence intensity and Prandtl number on the local heat transfer around a circular cylinder in crossflow. The governing equations were reformulated in a non-orthogonal coordinate system with Cartesian velocity components and discretised by the finite volume method with a non-staggered variable arrangement. For laminar flow, the calculations were performed for the Reynolds numbers 26 and 200. The results showed good agreement with the experimental results. For turbulent flow of the Reynolds number $1{\times}10^5$ and $2{\times}10^6$, the results showed that with an increase in the turbulent intensity in the main stream, the local Nusselt number increases in the front region of the circular cylinder. But the effect of turbulent intensity on the local Nusselt number diminishes in the wake region. The influence of Prandtl numbers show similar trend to that of turbulent intensity.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.10
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• pp.921-927
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• 2013

This paper presents a user interface for vision based indirect teaching of a robotic manipulator with Kinect and IMU (Inertial Measurement Unit) sensors. The user interface system is designed to control the manipulator more easily in joint space, Cartesian space and tool frame. We use the skeleton data of the user from Kinect and Wrist-mounted IMU sensors to calculate the user's joint angles and wrist movement for robot control. The interface system proposed in this paper allows the user to teach the manipulator without a pre-programming process. This will improve the teaching time of the robot and eventually enable increased productivity. Simulation and experimental results are presented to verify the performance of the robot control and interface system.

• The Bulletin of The Korean Astronomical Society
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• v.41 no.1
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• pp.50.1-50.1
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• 2016

The incorporation of radiation from massive stars is essential for modeling the dynamics and chemistry of star-forming clouds, yet it is a computationally demanding task for three-dimensional problems. We describe the implementation and tests of radiative transfer module due to point sources on a three-dimensional Cartesian grid in the Eulerian MHD code Athena. To solve the integral form of the radiation transfer equation, we adopt a widely-used long characteristics method with spatially adaptive ray tracing in which rays are split when sampling of cells becomes coarse. We use a completely asynchronous communication pattern between processors to accelerate transport of rays through a computational domain, a major source of performance bottleneck. The results of strong and weak scaling tests show that our code performs well with a large number of processors. We apply our radiation hydrodynamics code to some test problems involving dynamical expansion of HII regions.

• 전기의세계
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• v.35 no.1
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• pp.20-26
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• 1986

시간오차 및 수수에너지오차의 교정방법은 많은 전력회사(또는 제어지역)이 한개의 대전력계통으로 동작하는 경우에 적용되는 것이므로 단일 회사의 전력계통에는 적용할 수 없다. 다만 한 전력회사계통도 수개의 제어지역으로 나누어질 수도 있으므로 수개의 제어지역이 Tie-line Bias control에 의하여 동작하는 경우에는 적용된다.(a) 시간오차 및 수수에너지오차를 한개 벡터의 두 성분으로 보고, 이를 하나의 제어지역i와 나머지 제어지역의 성분으로 분해가능하다. (b) 벡터 Decomposition은 2차원 Cartesian평면에 도시할 수 있으며 이를 (.epsilon., Ii)평면이라고 하였다. 이 평면에서 Ii=(-Br/6).epsilon.상에 있고, 나머지 제어지역이 지역i에 미치는 벡터성분은 선분 Ii=(Bi/6).epsilon. 상에 있다. (c) 제어지역i단독 또는 나머지 제어지역의 control action이 지역i의 시간오차 및 수수에너지오차에 미치는 영향을 관찰하고 현행 NERC 교정법도 이에 따라 도시하였다. (d) 현행 NERC교정법을 수정한 교정법을 제시하였으며, 두가지 교정법의 Regulation에너지를 비교하고 예시하였다.

• Journal of Information Processing Systems
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• v.7 no.1
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• pp.63-74
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• 2011

As a powerful and flexible processor, the Graphic Processing Unit (GPU) can offer a great faculty in solving many high-performance computing applications. Sweep3D, which simulates a single group time-independent discrete ordinates (Sn) neutron transport deterministically on 3D Cartesian geometry space, represents the key part of a real ASCI application. The wavefront process for parallel computation in Sweep3D limits the concurrent threads on the GPU. In this paper, we present multi-dimensional optimization methods for Sweep3D, which can be efficiently implemented on the finegrained parallel architecture of the GPU. Our results show that the overall performance of Sweep3D on the CPU-GPU hybrid platform can be improved up to 4.38 times as compared to the CPU-based implementation.

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.530-532
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• 1998

In this paper, We Designed the torque compensatory controller for robot manipulator using modified chaotic neural networks with self feedback loop. The proposed torque compensatory controller compensate torque of the PD controller. In order to estimate the proposed controller, we implemented to the Cartesian space control of three-axis PUMA robot and compared the simulation results with recurrent neural networks(RNNs) controller. Simulation results show that the learning error drastically decrease at on-line learning. The proposed CNNs controller shows much better control performance and shorter processing time compared to the recurrent neural network controller in the robot trajectory control.