• Journal of the Korea institute for structural maintenance and inspection
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• v.19 no.2
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• pp.60-67
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• 2015

The finite element (FE) model updating is a commonly used approach in civil engineering, enabling damage detection, design verification, and load capacity identification. In the FE model updating, acceleration responses are generally employed to determine modal properties of a structure, which are subsequently used to update the initial FE model. While the acceleration-based model updating has been successful in finding better approximations of the physical systems including material and sectional properties, the boundary conditions have been considered yet to be difficult to accurately estimate as the acceleration responses only correspond to translational degree-of-freedoms (DOF). Recent advancement in the sensor technology has enabled low-cost, high-precision gyroscopes that can be adopted in the FE model updating to provide angular information of a structure. This study proposes a FE model updating strategy based on data fusion of acceleration and angular velocity. The usage of both acceleration and angular velocity gives richer information than the sole use of acceleration, allowing the enhanced performance particularly in determining the boundary conditions. A numerical simulation on a simply supported beam is presented to demonstrate the proposed FE model updating approach.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.5B
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• pp.502-510
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• 2011

In this research, a wireless movable systems is introduced that is applicable for real-world clinical examination in order to resolve the inconvenience of wired motion analysis system which uses markers by measuring more accurately the angle of the 3D motion. The system is composed of bluetooth data transmission and 6 DOF inertial measurement system that is composed of 3-axis acceleration and 3-axis gyroscope. The samples were collected from 10 feet of 5 young children who were confirmed as patients having flat feet and achilles tendonitis by podiatric expert in pediatrics, and the validity of the system was evaluated by comparison with the opinion by the expert using the EMG data and the data measured by the developed system. ROM of ankle was measured by the difference between the maximum and the minimum peaks of 3-axis values (pitch, roll and yaw) measured at lateral malleolus bone, and based on this measured value, the eversion rate became relatively higher as flat feet state become worse, which is equivalent to the opinion from the podiatric experts. It was shown that there is a relation between the certain muscle activities and the abnormal motion of foot caused by disease.

• Magazine of the Korea Concrete Institute
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• v.6 no.1
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• pp.120-130
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• 1994

The purpose of this study is to propose the analytical model for the hysteretic behavior of Reinforced Concrete bearn-column joints under various loading history. Discrete line elernents , YVith inelastic rotational spring was adopted to consider the movement of plastic hinging zone influenced by the details of longitudinal reinforcements. Also hysteretic model was constructed by excluding such variables which can not be utilized in dynamic analysis of Reinforced Concrete. structure that it will be adoptable in two-dimensional inelastic frame ardysis with 6-DOF. From the analysis of previous test results, it was found that stiffness deterioration caused by inelastic hysteretic loadings can be predicted by the functron of basic pinching coefficients, ductility ratio.and yield strength ratio of members. Strength degradation coefficients were newly proposed to explain the difference of inelastic behavior of members caused by spacing ratio of transverse steel and sectlon aspect ratio. The energy dissipation capacities calculated using the analytical model proposed in thls paper show a good agreements w~lh test results by an error of 10~20%.

• The KIPS Transactions:PartB
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• v.15B no.5
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• pp.421-434
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• 2008

As computer graphics, virtual reality and augmented reality technologies have been developed, in many application areas based on those techniques, interaction for 3D space is required such as selection and manipulation of an 3D object. In this paper, we propose a framework for a vision-based 3D interaction which enables to simulate functions of an expensive 3D mouse for a desktop environment. The proposed framework includes a specially manufactured interaction device using three-color LEDs. By recognizing position and color of the LED from video sequences, various events of the mouse and 6 DOF interactions are supported. Since the proposed device is more intuitive and easier than an existing 3D mouse which is expensive and requires skilled manipulation, it can be used without additional learning or training. In this paper, we explain methods for making a pointing device using three-color LEDs which is one of the components of the proposed framework, calculating 3D position and orientation of the pointer and analyzing color of the LED from video sequences. We verify accuracy and usefulness of the proposed device by showing a measurement result of an error of the 3D position and orientation.

• Journal of the Korean Society for Marine Environment & Energy
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• v.19 no.4
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• pp.259-265
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• 2016

The present study aims to design and utilize a model test system of a Caisson in wet towing condition, to assess towing stability of a 9,300 ton class caisson. The suggested towing system was designed to provide regular tension on the towline, whereas the previous model test system towed the model in constant speed. The new model test system was expected to reproduce the towing condition more realistically than the test system with constant speed condition, as the tugboat in actual towing condition tows the towline with constant power. Model tests were conducted in a towing tank with 1/30 scaled model. In the model tests, six-degrees-of-freedom motion of the caisson model and tension on the towline were measured and analyzed. By using the new system, fluctuation of the motion of model and tension on the towline decreased. The variation in the draft and initial trim was applied in the model tests. In the initial trim condition, the motion and towing force decreased.

• Journal of Biomedical Engineering Research
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• v.23 no.5
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• pp.351-364
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• 2002

Conventional 3D ultrasound imaging using mechanical ID arrays suffers from poor elevation resolution due to the limited depth-of-focus (DOF). On the other hand, 3D imaging systems using 2D phased arrays have a large number of active channels and hence require a very expensive and bulky beamforming hardware. To overcome these limitations, a new real-time volumetric imaging method using curved 2-D arrays is presented, in which a small subaperture, consisting of 256 elements, moves across the array surface to scan a volume of interest. For this purpose, a 2-D curved array is designed which consists of 90$\times$46 elements with 1.5λ inter-element spacing and has the same view angles along both the lateral and elevation directions as those of a commercial mechanical 1-D array. In the proposed method, transmit and receive subapertures are constructed by cutting the four corners of a rectangular aperture to obtain a required image qualify with a small number of active channels. In addition the receive subaperture size is increased by using a sparse array scheme that uses every other elements in both directions. To suppress the grating lobes elevated due to the increase in clement spacing, fold-over array scheme is adopted in transmit, which doubles the effective size of a transmit aperture in each direction. Computer simulation results show that the proposed method can provide almost the same and greatly improved resolutions in the lateral and elevation directions, respectively compared with the conventional 3D imaging with a mechanical 1-D array.

• Journal of the Korean Institute of Landscape Architecture
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• v.33 no.5 s.112
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• pp.43-56
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• 2005

This study was conducted to examine the inhabitation of wild birds at the World Cup Park and to offer the Park ecological management data. Land use md actual vegetation were examined to analyze the inhabitation of wild birds. Characteristics of bird communities were analyzed by dominance, density, diversity index and guild concept. You compare inhabitation before and after the Park was built. We classified the land use and actual vegetation into twenty-six types. Robinia pseudoacacia dominated the study area. Pyeonghwa Park and Nanji-cheon Park were simple-layer structures composed of alien woody species. The observed birds after the World Cup Park included 33 families 77 species, and 9,751 individuals. Among Wild Life types, the shrub and bush type was dominant. There were 26 species of resident birds, 20 species of summer visitors, 18 species of winter visitors, and 12 species of passage migrants. The following numbers of species and individuals were observed: in Hanul park, 38 species, 3,151 individuals; in Noul park, 45 species, 2,061 individuals; in Nanji-cheon park, 42 species, 2,742 individuals; in Pyeonghwa park, 29 species, 875 individuals; and in Maebongsan(Mt.) area, 35 species, 922 individuals. Species diversities for each area were as follows: Noul park, 2.613; Hanul park, 2,301; Nanji-cheon, 2.228; and Pyeonghwa park, 2,019; and each season: summer, 2.652; spring, 2.650: winter, 2.561; and autumn 2.176. The diversity of species increased from 1.135 in 1994 to 2.324 in 2001. We recommended that the park be differented into different ecological areas in order to encourage the appearance of wild birds at the World Cup Park. The management area was divided into three districts(conservation area, preservation and restoration area, use area). The conservation area was established to the west of a waste landfill and in the downstream area of NanJi-cheon, the preservation and restoration area was established in the midstream area of Nanji-cheon, and the use area was established in the buffer zone of Pyeonghwa Park and the Nanji pond greenspace.

• Journal of Biomedical Engineering Research
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• v.20 no.4
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• pp.479-484
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• 1999

본 연구에서는 사람의 턱 운동과 턱 사이에 작용하는 힘(혹은 압력)을 그대로 나타낼 수 있는 저작로봇을 개발하는 것을 궁극적인 목표로 한다. 이러한 저작로봇이 개발되면, 치과의사가 환자의 턱운동에 나타나는 병변을 진단하고 치료하는데 큰 도움이 될 것으로 사료된다. 또한 , 본 연구에 채택한 병렬기구(parallel mechanism)에대한 순기구학적( forward kinematics)분석은 일반적인 병렬기구의 실계에도 응용될 것으로 기대된다. 본 연구진이 1차적으로 설계한 모델은 베이스와 플랫폼(platform), 그리고 이 둘을 연결하는 3개의 다리로 구성되어 있다. 다리와 플랫폼은 3자유도의 관절로 다리와 베이스는 1자유도의 경첩 관절로 연결되어 있으며, 이 3개의 경첩 관절은 베이스 위의 수평면에서 직선을 따라 움직인다. 경첩 관절의 수평 변위와 세 다리의 길이가 주어졌을 때 플랫폼의 위치와 오리엔테이션을 구하는 순기구학의 해( 解)를 계산해내는 알고리즘을 개발하였다. 이 알고리즘의 특징은 매 순간 오차를 계산하여 이 오차가 줄어드는 방향으로 나아가도록 시간간격(time step)을 조절하는 것이다. 본 알고리즘은 현재 가장 보편적으로 사용되고 있는 뉴튼-렙슨 방법에 비하여 3가지 장점을 나타내고 있다. 우선 , 초기치(initial guess)에 관계없이 수렴한다는 것이다. 또한, 본 알고리즘은 뉴튼-렙슨 방법에 비하여 수렴속도가 훨씬 빠르며, 연산 시간이 매우 짧아져 실제적인 실시간 적용에 적합하다. 마지막으로, 뉴튼-렙슨 방법에서는 여러 개의 해 가운데 어느 곳으로 수렴할 지 예측 할수 없으나 본 알고리즘에서는 초기치에 가장 가까운 해로 수렴한다. 이러한 순기구학의 다중성(multiplicity)문제를 해결하기 위하여 두 개의 조건을 제시하였으며, 이를 적용한 시뮬레이션 결과에 의하면 항상 원하는 해(true solution)에 수렴할 수 있었다.발생량의 감소를 기대 할 수 있는 친환경기술로 유지관리비를 최소화할 수 있는 장점이 있었다. 않은 사람들 중 미래의 검진실행의지에 건강소식지가 영향을 미친 경우는 48.7%였다. 보건교육을 받은 후 유방암 자가검진 실천율은 사업군에서 53.9%로 받기 전의 27.3%보다 증가하였으나 대조군의 경우는 별 차이가 없었다. 연령별로는 60대가 가장 높았고 사업군에서 검진율의 증가분은 30대가 가장 컸다. 교육수준별로는 사업군은 고졸이, 대조군은 전문대졸이 가장 높았고 사업군에서 검진율의 증가분은 고졸에서 가장 컸다. 보건교육 후 유방암과 관련된 건강지식의 정도는 사업군이 3.7점으로 대조군보다 유의하게 높았으며, 유방암 자가검진법을 실천하는 사람들의 동기는 ‘일반 대중매체의 영향’이 가장 많았으며 건강소식지가 동기인 경우도 20.4%였다. 사업군에서 건강소식지가 유방암 자가검진법 실천에 영향을 미친 경우가 79.6%였으며 유방암 자가검진법에 관한 보건교육을 받고 실천하지 않은 사람들 중 미래의 실천의지에 건강소식지가 영향을 미친 경우는 43.6%였다. 이상의 소견에서 지역주민을 대상으로 인쇄매체를 통한 보건교육은 인쇄물만으로도 쉽게 실천 할 수 있는 유방암 자가검진법이 가장 효과적이었으며, 자궁암검진에 관해서도 검진을 받을 수 있도록 지역사회의 보건의료의 하부구조를 정비하여 제도적 장치를 마련하고 정보를 제공한다면 자궁암검진 실천율도 증가할 것이다.고 12.9% 의 발달율을 보여 유의적인 차이를 보이지 않았다. 이상의 결과로 보아 핵이식 수정란을 효율적으로 생산하기 위하여 수핵난자의 세포질에 ionomycin 과 DMAP 의 혼합처리로 탈핵난자의 활성화를 유도하는 것이 효율을 증진시킬 수 있었다고 본다. 또한 공핵수정란을 수정 후 90시간과 114시간 개별 배양하여 할구를 공핵체로 핵이식에 이용하였을 때도 그룹배양에 비하여 효율이 떨어지지 않음을 알 수 있었으며, 수정란의 할구

• Journal of the Korean Society for Railway
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• v.16 no.1
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• pp.7-13
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• 2013

A scaled version of a roller rig is developed to demonstrate the dynamic characteristics of a railway vehicle for academic purposes. This rig is designed based on Jaschinski's similarity law. It is scaled to 1/10 of actual size and allows 9-DOF motion to examine the up and down vibration of a train set. The test rig consists of three sub-hardware components: (i) a driving roller mechanism with a three-phase AC motor and an inverter, (ii) a bogie structure with first and second suspensions, and (iii) the vehicle body. The motor of the rig is capable of 3,600rpm, allowing the test to simulate a vehicle up to a maximum speed of 400Km/hr. Because bearings and joints are properly connected to the sub-structures, various motion analyses, such as a lateral, pitching, and yawing motion, are allowed. The slip motion between the rail and the wheel set is also monitored by several sensors mounted in the rig. After the construction of the hardware, an experiment is conducted to obtain the natural frequencies of the dynamic behavior of the specimen. First, the test rig is run and data are collected from six sets of accelerometers. Then, a numerical analysis of the model based on the ADAMS program is derived. Finally, the measurement data of the first three fundamental frequencies are compared to the analytical result and the validation of the test rig is conducted. The results show that the developed roller rig provides good accuracy in simulating the dynamic behavior of the vehicle motion. Although the roller rig designed in this paper is intended for academia, it can easily be implemented as part of a dynamic experiment of a bogie and a vehicle body for a high-speed train as part of the research efforts in this area.

• Nuclear Engineering and Technology
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• v.46 no.3
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• pp.439-446
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• 2014

An amphibious inspection robot system (hereafter AIROS) is being developed to visually inspect the in-containment refueling storage water tank (hereafter IRWST) strainer in APR1400 instead of a human diver. Four IRWST strainers are located in the IRWST, which is filled with boric acid water. Each strainer has 108 sub-assembly strainer fin modules that should be inspected with the VT-3 method according to Reg. guide 1.82 and the operation manual. AIROS has 6 thrusters for submarine voyage and 4 legs for walking on the top of the strainer. An inverse kinematic algorithm was implemented in the robot controller for exact walking on the top of the IRWST strainer. The IRWST strainer has several top cross braces that are extruded on the top of the strainer, which can be obstacles of walking on the strainer, to maintain the frame of the strainer. Therefore, a robot leg should arrive at the position beside the top cross brace. For this reason, we used an image processing technique to find the top cross brace in the sole camera image. The sole camera image is processed to find the existence of the top cross brace using the cross edge detection algorithm in real time. A 5-DOF robot arm that has multiple camera modules for simultaneous inspection of both sides can penetrate narrow gaps. For intuitive presentation of inspection results and for management of inspection data, inspection images are stored in the control PC with camera angles and positions to synthesize and merge the images. The synthesized images are then mapped in a 3D CAD model of the IRWST strainer with the location information. An IRWST strainer mock-up was fabricated to teach the robot arm scanning and gaiting. It is important to arrive at the designated position for inserting the robot arm into all of the gaps. Exact position control without anchor under the water is not easy. Therefore, we designed the multi leg robot for the role of anchoring and positioning. Quadruped robot design of installing sole cameras was a new approach for the exact and stable position control on the IRWST strainer, unlike a traditional robot for underwater facility inspection. The developed robot will be practically used to enhance the efficiency and reliability of the inspection of nuclear power plant components.