• 한국작물학회:학술대회논문집
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• 한국작물학회 2006년도 한국약용작물학회 공동춘계학술발표회
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• pp.334-335
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• 2006

• 제어로봇시스템학회논문지
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• 제15권1호
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• pp.37-43
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• 2009

This paper deals with designing a ground-based longitudinal landing controller which is robust to datalink time delays. Time delays occur because forward velocity measurements are downlinked and the controller output commands are uplinked. An $H_{\infty}$ controller was designed by using the input/output decomposition where time delay is modeled as a first-order system with Pade approximation. Linear simulations show that the system tracks well the predefined path and is robust to the variation of time delay.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.420-425
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• 2000

When spatially dense velocity distribution is measured by a scanning laser Doppler vibrometer, the Fourier transform method provides the real and imaginary parts of the mode shapes in the form of a polynomial. However the Fourier transform method is often impractical because the independent decomposition property of cosine and sine components into real and imaginary parts, respectively, does not hold due to the leakage problem which commonly occurs in the Fourier transform of harmonic signals. To deal with this problem, a Hilbert transform method is newly proposed in this article. The proposed method is free from the leakage problem and relatively robust to tire scanning error. A simulation example is provided to verify the effectiveness of this method.

• 한국염색가공학회지
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• 제8권1호
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• pp.43-55
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• 1996

When some disperse dye was decolored with oxidation power of ozone, the results in investigation of decoloration behavior with dye solution and its order of reaction and variation of TOC were as follow: 1. Order of decoloration for Some disperse dye is C.I. Disperse Blue 79>Blue 73> Red 343>Red 60>Blue 354>Yellow 42. 2. Velocity of decoloration for the all dyestuffs was the fastest when pH 3. 3. TOC was rapidly reduced between 10 min. and 20 min. 4. For the reduction of TOC ozone was needs many times as compared with decoloration of dyestuffs.

• 융합신호처리학회논문지
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• 제7권1호
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• pp.38-44
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• 2006

The omnidirectional mobility of a mobile robot may lose significance in motion control, unless the isotropy characteristics of the mechanism is maintained well. This paper investigates the local and global isotropy of an omnidirectional mobile robot with three caster wheels. All possible actuations with different number and combination of rotating and steering joints are considered. First, the kinematic model based on velocity decomposition and the algebraic conditions for the local isotropy are obtained. Second, the geometric conditions for the local isotropy are derived and all isotropic configurations are fully identified. Third, the global isotropy index is examined to determine the optimal parameters in terms of actuation set, characteristic length, and steering link length.

• Journal of Electrical Engineering and information Science
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• 제2권3호
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• pp.51-60
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• 1997

A practically applicable collision free trajectory planning technique for tow robot systems is proposed. The robot trajectories considered in this work are composed of many segments, an at the intersection points between segments robots stop to assemble, weld, ordo other jobs by the attached a end-effectors. The proposed method is based on the Planning-Coordination Decomposition where planning is to find a trajectory of each robot independently according to their tasks and coordination is to find a velocity modification profile to avoid collision with each other. To fully utilize the independently planned trajectories and to ensure no geometrical path deviation after coordination, we develop a simple technique added the minimal delay time to avoid collision just before moving along path segments. We determine the least delay time by the graphical method in the Coordination space where collisions and coordinations are easily visualized. We classify all possible cases into 3 group and derive the optimal solution for each group.

• Structural Engineering and Mechanics
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• 제81권6호
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• pp.705-714
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• 2022

The aim of this paper is to investigate nonlinear dynamic responses of functionally graded composite beam resting on the nonlinear viscoelastic foundation subjected to moving mass with temperature rising. The non-linear strain-displacement relationship is considered in the finite strain theory and the governing nonlinear dynamic equation is obtained by using the Hamilton's principle. The Galerkin's decomposition technique is utilized to discretize the governing nonlinear partial differential equation to nonlinear ordinary differential equation and then the governing equation is solved by using of multiple time scale method. The influences of temperature rising, material distribution parameter, nonlinear viscoelastic foundation parameters, magnitude and velocity of the moving mass on the nonlinear dynamic responses are investigated. Also, the buckling temperatures of the functionally graded beams based on the finite strain theory are obtained.

• 대한조선학회논문집
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• 제28권1호
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• pp.60-68
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• 1991

비압축성 유체유동에 대한 Navier-Stokes 방정식과 충돌 접촉면 조건으로 특징지어지는 강체-유체 충돌문제를 Lagrangian 유한요소법에 의해 해석하였으며, 계산의 편의상, 속도장을 점성및 중력항과 압력항으로 나누어 수행하는 소위 fractional step method를 도입하였다. 유체영역은 4절점의 4각형 요소로 분할하였으며, 충분히 작은 시간간격의 도입을 전제로 하여 explicit time marching법으로 수치해석하였다. 매 시간 step의 초기에 우선 운동량-충격량 법칙으로 강체의 수면충돌후 속도를 구했으며, 그 속도로 표현되는 충돌 접촉면의 경계조건과 완전한 형태의 자유표면조건 그리고 운동방정식 및 연속 방정식을 모두 만족하는 속도장을 구하였다. 본 논문에서 제시하는 수치해석법에 의하면, 유체충격문제에 있어 매우 중요하다고 알려져 있는 tip splash를 포함하는 자유표면의 형상을 쉽게 추적해 갈 수 있다. Lagrangian 유한요소법의 적용의 타당성을 확인하기 위하여 대칭형 2차원 쐐기 모양의 강체가 수면충돌하는 경우를 예로하여 시간의 경과에 따른 충격수압의 분포 및 충격외력 등을 추정한 결과, 본 방법의 적용의 유효성과 아울러 몇가지 유용한 결론을 유도할 수 있었다.

• 대기
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• 제24권3호
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• pp.317-329
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• 2014

Eddy covariance data have been analyzed to investigate the influence of surface heterogeneity on turbulent transfer over farmland and industrial sites near Nakdong river, Korea, where both large and small scale heterogeneities co-exist. For this purpose, basic turbulent statistics, quadrant analysis and multi-resolution decomposition have been analyzed during the daytime. Basic turbulent statistics were compared with typical turbulent statistics in the surface layer. Such comparisons were in close agreement for momentum and heat at both sites but not for water vapor at industrial site. The correlation coefficient between water vapor and vertical velocity ($r_{wq}$) is relatively low and skewness of water vapor ($sk_q$) is very low at industrial site, possibly due to limited water source. For heat at both sites and water vapor at farmland, the quadrant analysis show similar behavior to that over homogeneous site but for water vapor at industrial site, the presence of river and limited water source at industrial site seems to influence on water vapor transfer by coherent eddy motion by increasing sweep contribution and decreasing ejection contribution. Multi-resolution decomposition analysis shows that large scale heterogeneity leads to low $r_{Tq}$ at large averaging time regardless of season at both sites and there are seasonal changes of $r_{Tq}$ in mid-averaging times at industrial site, possibly due to seasonal change of trees and grasses near the site.

• 대한토목학회논문집
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• 제32권2A호
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• pp.97-108
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• 2012

재킷식 해양구조물인 울돌목 시험조류발전소에 대하여 장기 모니터링을 통하여 구조물 동적 응답을 계측하였으며, 계측된 동적 응답 중 저주파수 거동을 정밀하게 계측할 수 있는 동적 경사 응답을 이용하여 구조물의 고유주파수 및 모드감쇠비를 추정하고, 이와 같은 동특성이 조위와 조류 유속 등 외부 환경에 의하여 어떤 영향을 받는지를 분석하였다. 제한된 수의 응답 계측 자료로부터 구조물의 고유주파수 및 모드감쇠비를 정밀하게 추정하기 위하여 개선된 실험모드해석 방법인 LS-FDD 방법을 제안하였으며, 제안된 실험모드해석 기법을 이용하여 울돌목 시험조류발전소의 동적 경사 응답을 분석하여, 주요 3차모드의 고유주파수와 모드감쇠비를 정밀하게 추정하였다. 추정된 동특성은 시간에 따라 크게 변동하며, 이러한 변동은 조석의 영향을 지배적으로 받고 있음을 시계열 분석 및 주파수 분석을 통하여 알 수 있었다. 또한 울돌목 시험조류발전소에서 관측한 일정 기간의 조위 및 조류 유속 자료를 이용하여, 구조물의 동특성과 조류 자료 사이의 상관관계를 분석하였고, 조위 및 유속 자료만으로 구조물의 동특성을 예측할 수 있는 모델식을 결정하였다.