• 한국기계연구소 소보
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• s.19
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• pp.81-92
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• 1989

This paper presents a simple identification method of the actual kinematic parameters for the robot with parallel joints. It is known that Denavit-Hartenberg's coordinate system is not useful for nearly parallel joints. In this paper, the coordinate frames are reassigned to model the kinematic parameter between nearly parallel joints by four parameters. The proposed identification method uses a straight ruler about 1m long. A robot hand is placed by using a teaching pendant at the prescribed points on the ruler, and corresponding error function is defined. The identified kinematic parameters which make the error function zero are obtained by iterative least square error method based on the singular value decomposition. In the compensation of joint angles, only the position is considered because the usual applications of robot do not require a precise orientation control.

• International Journal of Reliability and Applications
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• v.14 no.1
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• pp.27-39
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• 2013

In this article, a new model based on the Rayleigh distribution is introduced. This model is useful and practical in physics, reliability, and life testing. The statistical and reliability properties of this model are presented, including moments, the hazard rate, the reversed hazard rate, and mean residual life functions, among others. In addition, it is shown that the distributions of the new model are ordered regarding the strongest likelihood ratio ordering. Four estimating methods, namely, method of moment, maximum likelihood method, Bayes estimation, and uniformly minimum variance unbiased, are used to estimate the parameters of this model. Simulation is used to calculate the estimates and to study their properties. Finally, the appropriateness of this model for real data sets is shown by using the chi-square goodness of fit test and the Kolmogorov-Smirnov statistic.

• The Journal of the Acoustical Society of Korea
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• v.37 no.6
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• pp.437-442
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• 2018

In this paper, we propose a method for estimating the position of a source in a closed form when a single source has coherently distributed property against a circular array. When a sound source reaches a sensor through multipath environments, it is seen as a distributed source and can be represented by four variables: the nominal azimuth, nominal elevation, azimuth angular spread, elevation angular spread. Therefore, it requires a lot of computation by a search method such as DSPE (Distributed Source Parameter Estimator). In this paper, we propose a method of estimating the nominal azimuth and elevation angle in a closed form using correlation function and least squares method for fast position estimation. In particular, if the source is assumed as Gaussian distribution model, the standard deviation is also estimated in a closed form. In the simulation, the validity of the proposed method is confirmed by comparing with the DSPE.

• Nuclear Engineering and Technology
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• v.52 no.3
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• pp.621-625
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• 2020

Cast austenitic stainless steel (CASS) is used for fabricating different components of the primary reactor coolant system of pressurized water reactors. However, the thermal embrittlement of CASS resulting from long-term operation causes structural safety problems. Ultrasonic testing for flaw detection has been used to assess the thermal embrittlement of CASS; however, the high scattering and attenuation of the ultrasonic wave propagating through CASS make it difficult to accurately quantify the flaw size. In this paper, we present a different approach for evaluating the thermal embrittlement of CASS by assessing changes in the material properties of CASS using a nonlinear ultrasonic technique, which is a potential nondestructive method. For the evaluation, we prepared CF8M specimens that were thermally aged under four different heating conditions. Nonlinear ultrasonic measurements were performed using a contact piezoelectric method to obtain the relative ultrasonic nonlinearity parameter, and a mini-sized tensile test was performed to investigate the correlation of the parameter with material properties. Experimental results showed that the ultrasonic nonlinearity parameter had a correlation with tensile properties such as the tensile strength and elongation. Consequently, we could confirm the applicability of the nonlinear ultrasonic technique to the evaluation of the thermal embrittlement of CASS.

• Bulletin of the Korean Chemical Society
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• v.32 no.4
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• pp.1187-1194
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• 2011

The hydrogen abstraction reaction of $CF_3CH_2CHO$ + OH has been studied theoretically by dual-level direct dynamics method. Two stable conformers, trans- and cis-$CF_3CH_2CHO$, have been located, and there are four distinct OH hydrogen-abstraction channels from t-$CF_3CH_2CHO$ and two channels from c-$CF_3CH_2CHO$. The required potential energy surface information for the kinetic calculation was obtained at the MCG3-MPWB//M06-2X/aug-cc-pVDZ level. The rate constants, which were calculated using improved canonical transitionstate theory with small-curvature tunneling correction (ICVT/SCT) were fitted by a four-parameter Arrhenius equation. It is shown that the reaction proceeds predominantly via the H-abstraction from the -CHO group over the temperature range 200-2000 K. The calculated rate constants were in good agreement with the experimental data between 263 and 358 K.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.53 no.11
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• pp.630-635
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• 2004

Generation companies(Genco) submit the supply functions as a bidding function to a bid market in a competitive electricity market. The profits of Gencos vary in accordance with the bid functions, so the selection of a bidding function plays a key role in increasing their profits. In order to get a profitable bidding function which is usually linear, it is required to modify adequately the intersection and the slope of a linear supply function. This paper presents an analysis of the selection of the supply function from the viewpoint of Nash equilibrium(NE). Four types of bidding function parameters are used for analizing the electricity market. The competition of selecting bidding parameters is modeled as two level games in this research. One is a subgame where a certain type of parameters is given and the players compete to select values of the underlying parameters. The other is an overall game where the players compete to select a profitable type among the four types of parameters. The NEs in both games are computed by an using analytic method and a payoff matrix method. It is verified in case studies for the NE of overall game to satisfy the equilibrium condition.

• Journal of the Society of Disaster Information
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• v.15 no.2
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• pp.259-267
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• 2019

Purpose: In this paper adhesive-bonded cylindrical lap joints are analyzed by assuming that the adherends are elastic and the adhesive is linearly viscoelastic. Method: The distribution of the stresses in the adhensive is evaluated using the Finite Element Method. Nuverical examples for identical and different adherends bonded through a four parameter viscoelastic solid adhesive are illustrated. Results: The stress distribution in the adhesive layer with respect to time is shown. The stress distribution in the adhesive layer with respect to time is shown. The results are also shown that adherend thickness and elastic modulus give effect on the normalized stress. Conclusion: In this study, the stress distribution of the adhesive layer of the wrapped cylindrical body considering the viscoelasticity of the adhesive layer was numerically analyzed by using a four - element elastomer model.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.1
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• pp.22-31
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• 1997

The grain boundary etching method as a method for assessing degradation of structural materials has received much attention because it is simple, inexpensive and easy to apply to real components. In this study, the effectiveness of the method is verified by successfully applying the technique to in-service components of aged fossil power plants such as main steam pipes, boiler headers an turbine rotors. A new degradation parameter, intersecting number ratio (N$_{1}$/N$_{0}$), is employed. The intersecting number ratio (N$_{1}$/N$_{0}$) is defined as the ratio of intersection number (N$_{1}$) obtained from 5-minute picric acid etched surface to the number (N$_{0}$) obtained from nital etched surface. Two kinds of test materials, 2.25Cr-1Mo steel and 1Cr-1Mo-0.25V steel, were artificially thermal-aged at 630.deg. C in different levels of degradation., (N$_{1}$/N$_{0}$) were measured. And, correlations between the measured values and LMP values calculated from aging temperature and aging time were sought. To check the validity of the correlations obtained in laboratory, similar data were measured from service components in four old Korean fossil power plants. These on-site measurement data were in good correlation with those obtained in the laboratory.oratory.

• Nuclear Engineering and Technology
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• v.53 no.7
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• pp.2377-2386
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• 2021

To model the atmospheric dispersion of radionuclides released from nuclear accident is very important for nuclear emergency. But the uncertainty of model parameters, such as source term and meteorological data, may significantly affect the prediction accuracy. Data assimilation (DA) is usually used to improve the model prediction with the measurements. The paper proposed a parameter bias transformation method combined with Lagrangian puff model to perform DA. The method uses the transformation of coordinates to approximate the effect of parameters bias. The uncertainty of four model parameters is considered in the paper: release rate, wind speed, wind direction and plume height. And particle swarm optimization is used for searching the optimal parameters. Twin experiment and Kincaid experiment are used to evaluate the performance of the proposed method. The results show that the proposed method can effectively increase the reliability of model prediction and estimate the parameters. It has the advantage of clear concept and simple calculation. It will be useful for improving the result of atmospheric dispersion model at the early stage of nuclear emergency.

• Journal of Biomedical Engineering Research
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• v.35 no.6
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• pp.234-241
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• 2014

This study was designed to investigate the effects of stimulation intensity and inter-electrode distance on the parameters of the measured sensory nerve signal. 30 healthy subjects participated in this study. Sensory nerve signals were elicited by four different pulse amplitudes, i.e., 3, 6, 9, 12 mA, with the pulse width fixed at $500{\mu}s$. The sensory nerve signals elicited by the four different pulse amplitudes were measured by four different inter-electrode distances (20, 30, 40, and 50 mm). We extracted four parameters (pulse amplitude, pulse width, pulse area, and latency time from stimulation) from the sensory nerve signals. The measured pulse amplitude and pulse width were increased when the measuring inter-electrode distance was increased while the stimulating pulse amplitude was fixed. The measured pulse amplitude was saturated with the stimulating pulse amplitudes of over 6 mA while measuring inter-electrode distance. Under the same condition, measured pulse width was increased, and sensory nerve signal was initiated early. Sensory nerve signals, specially those of pulse amplitude, were distorted by a differential amplification method that commonly measures the human body signal. The experimental results indicate that the differential amplification method is required to be replaced when measuring nerve signals. Our observations suggested that the hyperpolarization of the action potential of the sensory nerve signal for preventing distortion could be used to clarify the correlation between the parameters of the sensory nerve signals and quantification of sensations.