• Proceedings of the KSME Conference
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• 2007.05a
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• pp.399-402
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• 2007

In the previous research, it has been found that water strider's legs are strongly water repellent due to hierarchical structure of hydrophobic setae on the legs. Here we propose an answer why they should be so hydrophobic by showing that the work required to remove a floating hydrophobic cylinder from an interface depends very sensitively on the contact angle of the cylinder: superhydrophobic cylinders require relatively little work to remove them from an interface. Also we experimentally study the work required to lift a leg out of water with different contact angles and compare our experimental results with a theoretical prediction.

• The Journal of Korea Robotics Society
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• v.4 no.1
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• pp.17-24
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• 2009

This work deals with an intuitive method for a planar biped to walk, which is named Relative Trajectory Control (RTC) method. A key feature of the proposed RTC method is that feet of the robot are controlled to track a given trajectory, which is specially designed relative to the base body of the robot. The trajectory of feet is presumed from analysis of the walking motion of a human being. A simple method to maintain a stable posture while the robot is walking is also introduced in RTC method. In this work, the biped is modeled as a free-floating robot, of which dynamic model is obtained in the Cartesian space. Using the obtained dynamic model, the robot is controlled by a model-based feedback control scheme. The author shows a preliminary experimental result to verify that the biped robot with RTC method can walk on the even or uneven surfaces.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.04a
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• pp.203-207
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• 2004

In this study, we focus on the submerged plate built into the Very Large Floating Structure with the partial openings of 5m long, which enables the reverse flow of incident wave to generate the wave breaking. The purpose of this study is to investigate the characteristics of wave exciting forces acting on the submerged plate. Firstly, we have carried out the extensive experiments to understand the characteristics of the wave exciting forces. Then we have performed the numerical simulations by applying the Marker and Cell method and compare with the experimental results. We discuss the validity of MAC method and the effects of the submerged plate on the motion of VLFS.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.12
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• pp.45-56
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• 2002

A pneumatic servo system requiring a fine gap control in a photo-electric sensor which is used for a LCD array detection device is introduced. The gap controlled by the pneumatic servo system remains within around 50~80 ${\mu}{\textrm}{m}$, and the system possesses an effect to eliminate undesirable particles on the LCD plate by blowing air out. The air flow rate is initially controlled by a servo valve and expanded by a booster valve, thus the controlled air pressure contributes to maintaining an appropriate gap between the LCD plate and photo-electric sensor An air floating plate of two degrees of freedom is designed and fabricated, and a fine tilting motion control is also implemented by assigning different gap commands. The pressure control and direct gap control are proposed, and each performance is verified experimentally.

• Journal of Ocean Engineering and Technology
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• v.13 no.3B
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• pp.65-72
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• 1999

A deep-ocean mining riser pipe is subjected to floating vessel motion as well as environmental forces arising from currents and waves. The dynamic analysis is carried out for a deep-ocean mining riser pipe by using a finite element method. The vortex shedding which excites risers in a direction perpendicular to the flow and induces transverse response is considered. It is demonstrated that transverse displacements due to vortex shedding is greatly increased in lock-in regions. The result of this study is compared with other results having good agreements.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.242-249
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• 2001

In this paper, the open-loop state response of the two-time-scale systems by unified approach using the $\delta$-operator is presented with an example of the aircraft longitudinal dynamics. First, the $\delta$-operator system unifies both the continuous system and the discrete system simultaneously, and the $\delta$-operator approach improves the finite word-length characteristics. This saves more computing time than that of the discrete system. Second, the singular perturbation method by block diagonalization reduces the sizes and orders of the systems. This also reduces the floating-point operations (flops). The advantage of those two approaches is shown by comparing our results with the earlier ones in the illustrative example of the longitudinal motion of F-8 aircraft.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.06a
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• pp.1174-1179
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• 2000

In recent years, the structural shock response to underwater explosion has been studied as much, or more, through numerical simulations than through testing for several reasons. Very high costs and sensitive environmental concerns have kept destructive underwater explosion testing to a minimum. Increase of simulation capabilities and sophisticated simulation tools has made numerical simulations more efficient analysis methods as well as more reliable testing aids. For the simulation of underwater explosions against, surface ships or submerged structures one has to include the effects of the explosive shock wave, the motion of the gaseous reactive products, the local cavitation collapse, the different nonlinear structural properties and the complex fluid-structure interaction phenomena. In this study, as benchmark step for the validation of hydrocode LS/DYNA3D and of technology of fluid-structure interaction problems, two kinds of cavitation problems are analyzed and structural shock response of floating ship model are compared with experimental result.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.217-225
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• 2016

Dynamic Positioning (DP) is used to automatically maintain the position and heading of a floating structure subjected to environmental disturbances. A DP control system is composed of a motion controller to compute the desired force and moment and a thrust allocator to distribute the computed force and moment to multiple thrusters considering mechanical and operational constraints. Among various thruster configurations, azimuth thrusters or propeller/rudder pairs tend to make the allocation problem difficult to solve, because these types of propulsion systems include nonlinear constraints. In this paper, a dynamic positioning strategy for a twin-thruster ship that is propelled by two azimuthing thrusters is addressed, and a thrust allocation method which does not require a numerical optimization solver is proposed. The applicability of the proposed method is demonstrated with an experiment using an autonomous boat.

• Transactions of the Korean Society of Automotive Engineers
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• v.8 no.5
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• pp.114-120
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• 2000

Friction forces of piston rings for a typical SI engine were independently measured while excluding the effects of cylinder pressure, oil starvation and piston secondary motion using a floating liner system. Friction patterns, represented by the measured friction forces, were classified into five frictional modes with regard to the combination of predominant lubrication regimes(boundary, mixed and hydrodynamic lubrication) and stroke regions(mid-stroke and dead centers). The modes were identified on the Stribeck diagram of the dimensionless bearing parameter and friction coefficients which were evaluated at the mid-stroke and at the dead centers. And the frictional modes were estimated to the full operation range. The compression rings behave in the mode where hydrodynamic lubrication is dominant at the mid-stroke and mixed lubrication is dominant at the dead centers under steady operating conditions. However, the oil control ring behave in the mode where mixed lubrication is dominant throughout the entire stroke.

• Transactions of the Korean Society of Automotive Engineers
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• v.8 no.3
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• pp.56-64
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• 2000

A friction force measurement system using the floating liner method was developed to study the frictional behavior of piston rings. The measurement system was carefully designed to control the effect of the piston secondary motion and the temperature of cylinder wall and oil. The friction force between the barrel shaped piston ring and the cylinder liner, was measured under the condition of flooded oil supply. The measured friction forces were classified into five frictional modes with regard to the combination of predominant lubrication regimes(boundary, mixed and hydrodynamic lubrication) and stroke regions(midstroke and dead centers). The modes could be identified on the Stribeck diagram of the friction coefficients and the dimensionless number of ㎼/p, where the friction coefficients are evaluated at near the midstroke and dead centers.