• 전자공학회논문지SC
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• 제42권4호
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• pp.11-18
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• 2005

인간은 의사 표현을 위해 음성언어 뿐 아니라 몸짓 언어(body languages)를 많이 사용한다 이 몸짓 언어 중 대표적인 것은, 물론 손과 팔의 사용이다. 따라서 인간 팔의 운동 해석은 인간과 기계의 상호 작용(human-computer interaction)에 있어 매우 중요하다고 할 수 있다. 이러한 견지에서 본 논문에서는 다음과 같은 방법으로 컴퓨터비전을 이용한 인간팔의 3차원 자세 추정 방법을 제안하다. 먼저 팔의 운동이 대부분 회전 관절(revolute-joint)에 의해 이루어진다는 점에 착안하여, 컴퓨터 비전 시스템을 활용한 회전 관절의 3차원 운동 해석 기법을 제안한다. 이를 위해 회전 관절의 기구학적 모델링 기법(kinematic modeling techniques)과 컴퓨터 비전의 경사 투영 모델(perspective projection model)을 결합한다. 다음으로, 회전 관절의 3차원 운동해석 기법을 컴퓨터 비전을 이용한 인간 팔의 3차원 자세 추정 문제에 웅용한다. 그 기본 발상은 회전 관절의 3차원 운동 복원 알고리즘을 인간 팔의 각 관절에 순서 데로 적용하는 것이다. 본 알고리즘은 특히 유비쿼터스 컴퓨팅(ubiquitous computing)과 가상현실(virtual reality)를 위한 인간-컴퓨터 상호작용(human-computer interaction)이라는 응용을 목표로, 고수준의 정확도를 갖는 폐쇄구조 형태(closed-form)의 해를 구하는데 주력한다.

• 한국토양환경학회지
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• 제2권2호
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• pp.73-79
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• 1997

알칼리용출법을 사용하여 폐광산 광미로부터 비소성분을 제거하기 위한 실험을 실시하였다. 대상시료는 오래전에 폐광된 폐광산인 다덕광산 및 유천광산에서 채취한 광미를 사용하였으며, 알칼리용출액으로는 가성소다 수용액을 사용하였다. 알칼리용출후 용액중의 비소 성분은 칼슘비소화합물 형태의 불용성 침전물로 전환시키는 방법으로 제거할수 있었다. 실험결과 침출조건에 따라 약 60∼90%의 비소침출율을 달성할 수 있었으며, 0.5N이상의 가성소다 농도에서는 침출율에 대한 온도 및 슬러리 농도의 영향이 매우 작은 것으로 나타났다 또한, 1회 용출시 소모되는 알칼리 양이 별로 크지 않기 때문에 0.5N이상의 가성소다 용액을 사용할 경우 용출액 재사용이 가능한 것으로 나타났다. 한편, 비소 침전실험 결과 침출액에 대하여 2wt% 염화칼슘을 첨가함으로써 침전시간 10분이내에 99%이상의 비소 침전율을 얻을 수 있었다.

• 한국항공우주학회지
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• 제39권1호
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• pp.16-24
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• 2011

본 논문에서는 충돌각 및 종말 가속도를 제어하는 $t_{go}$-다항식 유도기법을 기반으로 표적 가관측성을 향상시키는 새로운 형태의 $t_{go}$-다항식 유도법칙을 제안한다. 제안한 유도법칙은 기존 $t_{go}$-다항식 유도명령에 거리오차와 비례이득으로 구성된 부가항을 합한 간단한 형태로서, 비례이득을 변화시킴에 따라 비행궤적의 형태를 결정할 수 있다. 또한 이는 $t_{go}$-다항식 유도가 가지는 충돌각 및 가속도 제어 특성을 그대로 유지한다. 본 연구에서는 제안한 유도법칙의 닫힌 해를 구하여 유도 특성을 고찰하고, 다양한 시뮬레이션을 수행하여 유도법칙의 타당성을 보이도록 한다.

• 대한기계학회논문집A
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• 제20권2호
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• pp.414-430
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• 1996

In this paper, a new kinematic structure of a parallel manipulator with six Cartesian degrees of freedom is proposed. It consists of a platform which is connected to a fixed base by means of 3-PPSP(parameters P, S denote the prismatic, spherical joints) subchains. Each subchain has a link which is concected to a passive prismatic joint at the one end and a passive spherical joint at the other. The spherical joint is then attached to perpendicularly arranged prismatic actuators which are fixed at the base. The spherical joint is then attached to perpendicularly arranged prismatic actuators which are fixed at the base. This arrangement provides a basis to control all six Cartesian degrees of motion of the platform in space. Due to its efficient architecture, the colsed-form solutions of the inverse and forward kinematics can be obtained. As a consequence, this new kinematic structure can be servo controlled using simple inverse kinematics becaese forward kinematics allows for measuring the platform's position and orientation in Cartesian space. Furthermore, the proposed structure provides an effective functional workspace. Series of simulations are performed to verify the results of the kinematics analyses.

• Structural Engineering and Mechanics
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• 제34권4호
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• pp.507-523
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• 2010

Parametric and forced non-linear vibrations of an axially moving rotor both in non-resonance and near-resonance cases have been investigated analytically in this paper. The axial speed is assumed to involve a mean value along with small harmonic fluctuations. Hamilton's principle is employed for this gyroscopic system to derive three coupled non-linear equations of motion. Longitudinal inertia is neglected under the quasi-static stretch assumption and two integro-partial-differential equations are obtained. With introducing a complex variable, the equations of motion is presented in the form of a single, complex equation. The method of multiple scales is applied directly to the resulting equation and the approximate closed-form solution is obtained. Stability boundaries for the steady-state response are formulated and the frequency-response curves are drawn. A number of case studies are considered and the numerical simulations are presented to highlight the effects of system parameters on the linear and nonlinear natural frequencies, mode shapes, limit cycles and the frequency-response curves of the system.

• Current Optics and Photonics
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• 제5권2호
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• pp.114-120
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• 2021

Free-space optical (FSO) communication is considered to be a potential solution to congestion in the radio-frequency spectrum and last-mile-access bottleneck issues in future cellular communication networks, such as 5G and beyond. However, FSO link performance may degrade significantly due to irradiance fluctuations and random temporal fluctuations from atmospheric turbulence. Therefore, in this work the main objective is to reduce the effect of the atmospheric turbulence by considering a multihop FSO communication system with amplify-and-forward relaying supported by a radio-frequency (RF) link, which form a hybrid FSO/RF communication system. The FSO link is assumed to follow the gamma-gamma fading model, which represents strong turbulence. Also, the RF link is modeled by a Rayleigh distribution. The performance of the considered system, in terms of the outage probability and average bit-error rate (BER), is investigated and analyzed under various weather conditions and pointing errors. Furthermore, the effect of the number of employed relay nodes on the performance of the system is investigated. The results indicate that the considered system reduces outage probability and average BER significantly, especially for low channel quality. Finally, the closed-form expressions derived in this work are compared to the results of Monte Carlo simulations, for verification.

• 한국초전도ㆍ저온공학회논문지
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• 제20권4호
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• pp.16-19
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• 2018

This paper presents analytical and numerical simulation approaches on charging characteristics of no-insulation (NI) REBCO pancake coil by using the equivalent circuit model to estimate magnetic performance response in the coil. The analytical methods provide closed form or definite solution in the form of complete mathematical expressions but they are hard to solve the complex problems. Numerical methods have become popular with the development of the computing capabilities to solve the problems which are impossible or very hard to solve analytically. First of all, the equivalent circuit model are proposed to develop the simulation code for both analytical and numerical method. The charging test was performed under critical current to obtain magnetic field induced and terminal voltage through the radial as well as spiral current paths within the coil. To verify the validity of both proposed methods, the simulation results were compared and discussed with the experimental results.

• Structural Engineering and Mechanics
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• 제52권2호
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• pp.323-349
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• 2014

In this paper, linear buckling analysis of a curved sandwich beam with a flexible core is investigated. Derivation of equations for face sheets is accomplished via the classical theory of curved beam, whereas for the flexible core, the elasticity equations in polar coordinates are implemented. Employing the von-Karman type geometrical non-linearity in strain-displacement relations, nonlinear governing equations are resulted. Linear pre-buckling analysis is performed neglecting the rotation effects in pre-buckling state. Stability equations are concluded based on the adjacent equilibrium criterion. Considering the movable simply supported type of boundary conditions, suitable trigonometric solutions are adopted which satisfy the assumed edge conditions. The critical uniform load of the beam is obtained as a closed-form expression. Numerical results cover the effects of various parameters on the critical buckling load of the curved beam. It is shown that, face thickness, core thickness, core module, fiber angle of faces, stacking sequence of faces and openin angle of the beam all affect greatly on the buckling pressure of the beam and its buckled shape.

• Structural Engineering and Mechanics
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• 제52권2호
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• pp.369-389
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• 2014

Two-layer coupled or composite beams with discrete shear connectors of finite dimensions are commonly encountered in pre-fabricated construction. This paper presents the development of simplified closed-form solutions for such type of coupled beams for practical applications. A new coupled beam element is proposed to represent the unconnected segments in the beam. General solutions are then developed by an inductive method based on the results from the finite element analysis. A modification is subsequently considered to account for the effect of local deformations. For typical cases where the local deformation is primarily concerned about its distribution over the depth of the coupled beam, empirical modification factors are developed based on parametric calculations using finite element models. The developed analytical method for the coupled beams in question is simple, sufficiently accurate, and suitable for quick calculation in engineering practice.

• 전자공학회논문지B
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• 제30B권1호
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• pp.38-44
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• 1993

A model for BICMOS buffer switching operation is presented, including the influence of bipolar base transit time and collector-base capacitances. A closed-form solution for the propagation delay-time is obtained assuming low level injection and channel velocity limitation. For the high level injection case, the delay-times are numerically obtained using effective current gain. These results are compared with those by HSPICE simulation, which shows good agreement. It is noted that the collector-base capacitance strongly affects the delay-time. The effects of voltage scaling are also investigated, which shows the model can be applied for the reduced supply voltages.