• 로봇학회논문지
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• 제16권2호
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• pp.103-111
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• 2021

This study addresses a low-cost lidar sensor-based glass feature extraction method for an accurate map representation using statistical moments, i.e. the mean and variance. Since the low-cost lidar sensor produces range-only data without intensity and multi-echo data, there are some difficulties in detecting glass-like objects. In this study, a principle that an incidence angle of a ray emitted from the lidar with respect to a glass surface is close to zero degrees is concerned for glass detection. Besides, all sensor data are preprocessed and clustered, which is represented using statistical moments as glass feature candidates. Glass features are selected among the candidates according to several conditions based on the principle and geometric relation in the global coordinate system. The accumulated glass features are classified according to the distance, which is lastly represented on the map. Several experiments were conducted in glass environments. The results showed that the proposed method accurately extracted and represented glass windows using proper parameters. The parameters were empirically designed and carefully analyzed. In future work, we will implement and perform the conventional SLAM algorithms combined with our glass feature extraction method in glass environments.

• 한국산업융합학회 논문집
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• 제25권6_2호
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• pp.1003-1008
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• 2022

This paper proposes a method related to fault tolerance operation and characteristic analysis of asymmetric 6-phase permanent magnet synchronous motor. In general, motor drive systems with multi-phase structures can be continuously operated despite a reduction of power and speed by using a phase changeover or control techniques according to the failures. As a result, it is widely used in industrial fields such as aviation and defense, which require high efficiency and high reliability. In this paper, the second order ripple of the electrical fundamental freuqnecy occurs in the dq-axis currents of the synchronous coordinate system through mathematical analysis according to the switch open of the dual 3-phase inverter. Therefore, the fault tolerant operation method is presented by applying the fault detection method with a constant cycle for continuous operations. The effectiveness of the proposed fault tolerance operation method is verified through the several experiments.

• 한국기계가공학회지
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• 제21권3호
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• pp.100-109
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• 2022

In this study, calibration technology that increases the alignment accuracy in large flexible flat panels was studied. For precise of calibration, a systematization of the calibration algorithm was established, and a calibration correction technique was studied to revise calibration errors. A coordinate systems of camera and UVW stage was established to get the global position of the mark, and equations for translational and rotational calibration were systematically derived based on geometrical analysis. Correction process for the calibration data was carried, and alignment experiments were performed sequentially in cases of the presence or absence of calibration-correction. Alignment results of both calibration correction and non-calibration correction showed accuracy performance less than 1㎛. On the other hand, the standard deviation in calibration-correction is smaller than non-calibration correction. Therefore, calibration correction showed improvement of the alignment repeatability.

• 대한조선학회논문집
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• 제31권4호
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• pp.58-65
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• 1994

계산격자크기의 변화에 따른 해의 특성을 이해하는 것은 중요하며, 특히 벽함수를 사용하지 않는 난류모형을 사용할 때 더욱 그러하다. 본 논문에서는 배주위의 3차원 난류유동장에 대한 수치해의 격자의존성에 대한 수치계산적인 조사를 수행한다. 본 연구에서는 수정된 sub-grid-scale 난류모형과 함께 유한체적법을 사용하며 복잡한 배의 기하학적 형상에 적합한 비직교의 곡선좌표계를 수치적으로 만들어 사용한다. 그리고 수학선형인 Wigley 선형과 Series 60($C_B=0.8$) 선형에 대하여 수치계산적인 연구를 수행하고, 수치해의 격자의존성을 보이기 위하여 여러가지 격자크기에 대한 계산결과들을 서로 비교하였으며 실험결과와도 비교해 보인다.

• Computers and Concrete
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• 제31권3호
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• pp.223-239
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• 2023

Geometric nonlinear performance simulation and analysis of complex modern buildings and industrial products require high-performance shell elements. Balancing multiple aspects of performance in the one geometric nonlinear analysis element remains challenging. We present a new shell element, flat shell DKMGQ-CR (Co-rotational Discrete Kirchhoff-Mindlin Generalized Conforming Quadrilateral), for linear and geometric nonlinear analysis of both thick and thin shells. The DKMGQ-CR shell element was developed by combining the advantages of high-performance membrane and plate elements in a unified coordinate system and introducing the co-rotational formulation to adapt to large deformation analysis. The effectiveness of linear and geometric nonlinear analysis by DKMGQ-CR is verified through the tests of several classical numerical benchmarks. The computational results show that the proposed new element adapts to mesh distortion and effectively alleviates shear and membrane locking problems in linear and geometric nonlinear analysis. Furthermore, the DKMGQ-CR demonstrates high performance in analyzing thick and thin shells. The proposed element DKMGQ-CR is expected to provide an accurate, efficient, and convenient tool for the geometric nonlinear analysis of shells.

• 스마트미디어저널
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• 제12권3호
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• pp.77-84
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• 2023

산림 화재는 현대의 급격한 기후 변화에 따른 대표적인 자연 재해이다. 화재로 인한 산림 훼손으로 산림 조성이 미비한 시점에 겨울철 해빙기와 폭우 등으로 산사태가 발생하는 이차적인 피해가 발생한다. 대부분 국가에서는 산림 관리를 위해 CCTV 중심의 모니터링 시스템으로 제한적인 면적만 관리하고 있다. 산사태 징후를 예측하기 위해 사전에 3차원 공간 좌표를 포함하고 있는 마커를 위험지역의 경사면에 장착한 후, 주기적인 드론 촬영으로 3차원 맵핑 및 안식각을 검출한다. 이를 위해서 마커의 인식범위 및 화각을 정의하고, 산사태 징후를 사전에 예측하는 방법을 제시하였다.

• 대한설비공학회지:설비저널
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• 제12권4호
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• pp.264-274
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• 1983

Two-dimensional jet flows into a couple of confined rectangular enclosures such as an Ondol flue channel and their flow distributions were analyzed by numerical graphics : rectangular space in one enclosure is vacated and the other has 8 rectangular small posts. Both enclosures have a protruded inlet nozzle and on outlet on its center line. Steady state incompressible laminar viscous flow was assumed. The primitive forms of Navier-Stokes equations and continuity equation in a cartesian coordinate system were solved numerically by the Marker and Cell method for Reynolds numbers of 5, 10, 20, 30 and 40. From the numerical graphics it was found that the flow regions in both enclosures were devided into tow parts ; one part was the jet flow localized in a narrow center region of the enclosure and the other part was the very slow recirculating flow occupying the rest of the flow region in the enclosures. However there were a little differences in the shapes of jet flow in both enclosures for Reynolds numbers of 5 and 10 and also in the shapes of recirculating flows in both enclosures for all Reynolds number. Also it was found that waving flow appeared right before the outlet at Reynolds number of 20 and more.

• Tribology and Lubricants
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• 제39권3호
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• pp.102-110
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• 2023

This study aims to quantify the variation in the performance of a tilting pad journal bearing (TPJB) owing to the elastic deformation of its pad. To this end, we first defined a parameter, "elastic preload", and predicted the changes in the performance of the TPJB, as a function of the preload amount. We used the iso-viscosity Reynolds equation, which ignores the temperature rise due to viscous shear in thin films, and the resultant thermal deformation of the bearing structure. We employed a three-dimensional finite element model to predict the elastic deformation of the bearing pad, and a transient analysis, to converge to a static equilibrium condition of the flexible pads and journal. Conducting a modal coordinate transformation helped us avoid heavy computational issues arising from a mesh refinement in the three-dimensional finite element pad model. Moreover, we adopted the Hertzian contact model to predict the elastic deformation at the pivot location. With the aforementioned overall strategy, we predicted the performance changes owing to the elastic deformation of the pad under varying load conditions. From the results, we observed an increase in the preload due to the pad elastic deformation.

• 천문학회보
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• 제44권2호
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• pp.45.2-45.2
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• 2019

The main-belt asteroid (5247) Krylov is known as a Non-Principal Axis (NPA) rotator. However, the shape model and spin state of this asteroid were not revealed. The physical model of an asteroid including spin state and shape is regarded to be important to understand its physical properties and dynamical evolution. Thus, in order to reconstruct the physical model of Kryolv, we applied the light curve inversion method using not only the optical light curves observed with ground-based telescopes in three apparitions during 2006, 2016, and 2017, but also the infrared light curves obtained with the Wide-field Infrared Survey Explorer (WISE) in 2010. We found that it is rotating in Short Axis Mode (SAM) with the rotation and precession periods of 368.71 hr and 67.277 hr, respectively. The orientation of the angular momentum vector is (298°, -58°) in the ecliptic coordinate system. The ratio of moments of inertia of the longest axis to the shortest axis is I_a/I_c = 0.36; the ratio of moments of inertia of the intermediate axis to the shortest axis is I_b/I_c = 0.96. Finally, the excitation level of this asteroid is found to be rather low with a ratio of the rotational kinetic energy to the basic spin state energy as E/E₀ ≃ 1.024. We will briefly discuss the possible evolutionary process of Krylov in this presentation.

• 대한토목학회논문집
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• 제28권6B호
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• pp.691-696
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• 2008

본 연구에서는 자유수면 흐름에 적용할 수 있는 연직방향에 대해 좌표변환된 3차원 동수압 모형을 제시하였다. 제시한 모형은 자유수면과 동수압의 해석을 위하여, 2중 예측-수정(double predictor-corrector)방법을 적용하였다. 본 연구에서는 정확한 동역학적 경계조건(자유수면에서의 압력은 0인 조건)을 적용하는 방법을 검토하였고, 이 경계조건은 기존에 개발된 모형에 미소한 수정을 통하여 적용 가능함을 보여주었다. 본 연구에서 제시한 모형과 기존 모형의 계산결과를 비교하였을 때 동역학적 경계조건의 정확한 적용이 매우 중요함을 알 수 있다.