• 한국산업융합학회 논문집
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• 제22권3호
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• pp.325-335
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• 2019

In this paper, a novel adaptive gripper with underactuation is presented, which can change its configuration to parallel or power grip mode according to object shapes. Differently from the commercial adaptive gripper by RobotiQ, the proposed gripper includes an actual parallelogram inside a five-bar mechanism, which allows the free selection of actuator locations and can reduce actuation torques effectively. The forward and inverse kinematics for two grip modes and statics analysis have been analyzed. From the comparative design, the proposed gripper has about 20% smaller size, 3.7% larger stroke, and 30.5% smaller average actuation torque than the commercial one.

• 한국정밀공학회지
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• 제10권4호
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• pp.163-169
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• 1993

A flexible manipulator can move in the high speed even with the small driving torque. The dymanic equations of flexible manipulator which include 2 vibrational modes are derived using the clamped-free boundary condition. Simulation results of the 6th order model are well matched with experimental results. The hub angle of the flexible mainpulator can be controlled without vibration of the beam by the feedback of both hub angle and strain. The overshoot of the hub angle in the step response is reduced without sacrificing the rise time using the cycloidal function instead of the step function as the referenmce input.

• 전기학회논문지P
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• 제59권1호
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• pp.77-82
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• 2010

This study evaluated the characteristics and reliability of an auger crane with a built-in hydraulic extender. The field test of the hydraulic extender was performed with the hydraulic lines filled with hydraulic fluid and free of air. The pressure generated during the test was measured with a digital pressure gauge. The crane was considered to have undergone one cycle of the excavation process after it had performed excavation under three conditions at the same location. This process was performed three times in total. From the results of the excavation using the hydraulic extender, it was found that the maximum pressure and torque measured were 19.9 [MPa] and 895.4 [$kgf{\cdot}m$], respectively. The rotation force of the auger crane generated at this time signifies a horizontal force. If the excavation diameter of the auger crane is increased, the rotation speed is reduced causing the circumferential speed to also be reduced. The torsional shear stress of the extendable auger crane was calculated to be approximately 23.5 [MPa]. However, the rotation shaft material used for this system was carbon steel for machine structural use (SM45C). Since the minimum torsional yield stress is greater than 150 [MPa] according to KS D 3752, it means the equipment has secured a safety factor greater than 6. Therefore, it was found that when performing work using the extendable auger crane, it exhibited no problems with the safety and reliability of its shaft.

• 한국습지학회지
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• 제22권2호
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• pp.121-129
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• 2020

본 논문은 자유수면을 가지는 와류유동 내 저낙차에서 마이크로 소수력에 관한 실험 연구이다. 내부 곡선 모서리가 있는 직선, 곡선, 비틀린 블레이드의 와류 높이, 터빈 회전 및 토크를 개수로 유입구의 유량 0.0069 ㎥/s 조건에서 측정하였다. 실험결과로서 최적의 와류 강도는 와류 발생부의 외부직경과 유출구 직경 비율 0.17~18.5 범위에서 발생했다. 직선 블레이드 출력과 효율은 다른 블레이드와 비교하여 높게 나타났다. 가장 높게 생성된 에너지는 12.33 W이고, 토크는 0.91 N·m이다. 유효낙차를 고려한 경우 가장 높은 효율은 29.5 %인 반면 와류 높이를 고려한 가장 높은 효율은 회전수 132 rpm에서 80.5 %이다. 직선 블레이드의 와류 유속은 개수로 유입구의 평균 유속보다 약 2.8배 더 크게 나타난다.

• International Journal of Naval Architecture and Ocean Engineering
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• 제11권2호
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• pp.883-898
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• 2019

This paper employs computational tools to predict power increase (or speed loss) and propulsion performances in waves of KVLCC2. Two-phase unsteady Reynolds averaged Navier-Stokes equations have been solved using finite volume method; and a realizable k-ε model has been applied for the turbulent closure. The free-surface is obtained by solving a VOF equation. Sliding mesh method is applied to simulate the flow around an operating propeller. Towing and self-propulsion computations in calm water are carried out to obtain the towing force, propeller rotating speed, thrust and torque at the self-propulsion point. Towing computations in waves are performed to obtain the added resistance. The regular short head waves of λ/LPP = 0.6 with 4 wave steepness of H/λ = 0.007, 0.017, 0.023 and 0.033 are taken into account. Four methods to predict speed-power relationship in waves are discussed; Taylor expansion, direct powering, load variation, resistance and thrust identity methods. In the load variation method, the revised ITTC-78 method based on the 'thrust identity' is utilized to predict propulsive performances in full scale. The propulsion performances in waves including propeller rotating speed, thrust, torque, thrust deduction and wake fraction, propeller advance coefficient, hull, propeller open water, relative rotative and propulsive efficiencies, and delivered power are investigated.

• 대한물리의학회지
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• 제4권3호
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• pp.175-182
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• 2009

Purpose：The purpose of this study is to investigate the effects of Taekwondo training causing leg-muscular strength for elementary school children. Methods：The subjects were Taekwondo group (n=20) and non-Taekwondo group (n=20) from 5-6 graders of elementary school. The Tkd group exercised Taekwondo and the non-Taekwondo group exercised free gymnastics. The subjects were measured 3 times(pre, mid and after)during the 8weeks program. The leg muscular strength peak torque and average power were measured. And the extension-flection of angular speed 60 deg/sec and 180 deg/sec was measured. Results：The results of this study can be summarized as follows: 1. Compared with the Tkd group, the non-Tkd group showed no significant difference in tests statistically in case of right-left of pre-4weeks. The leg muscle's peak torque did not show significant difference in the extension angular 60 deg/sec(p>.05). 2. The score of flection angular speed 60deg/sec was not different in tests leg strength of right-left to pre-4weeks(p<.05), but the muscle was increased according to the amount of time spent in case of the 4-8weeks. 3. Compared with the Tkd group, the non-Tkd group showed no significant difference in tests statistically in case of right-left of pre-4weeks. The leg muscle's peak torque did not show significant difference in the extension angular 180deg/sec(p>.05). The right leg muscular strength was increased in case of the 4-8weeks. The left leg showed no difference. 4. Leg muscular strength was increased in the case of the pre-4weeks in the right of flection angular speed 180deg/sec. The left did not show difference. The right leg muscle in case of the 4-8weeks showed no difference. The left showed significant difference. Conclusion：Taekwondo training is effective for leg-muscular strengthing for elementary school children.

• 한국산학기술학회논문지
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• 제18권2호
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• pp.71-76
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• 2017

선박 및 해양구조물 설계에 있어 롤댐핑에 관한 문제는 유체점성과 현상자체의 비선형성으로 인해 공학자들에게 있어 난제로 남아있다. 본 연구에서는 강제동요방법을 이용하여 원형실린더의 점성 롤감쇠에 관한 연구를 수행하였다. 토크 센서를 이용하여 강제동요 시 발생하는 롤모멘트(roll moment)를 강제동요 주기별로 계측하였고 이를 실험식(empirical formula)과 비교 검토 하였다. 점성에 의한 전단력으로부터 계측된 토크의 크기가 상대적으로 작은 값임에도 불구하고 실험식으로부터 얻어진 계산값들과 정성적으로 유사한 결과를 보였고, 일부 주기에서는 정량적으로도 잘 일치하는 결과를 보였다. 또한, PIV 계측기법을 통해 원형실린더 벽면주위의 유동을 면밀히 관찰하였으며, 유체점성으로 인해 원형실린더 벽면근처에서 경계층이 형성되고 자유수면에서 원형실린더의 주기적인 강제회전동요로 인해 미소한 크기의 파가 생성(wave making)됨을 PIV 계측결과의 분석을 통해 확인하였다. 본 연구에서는 점성 롤감쇠로 인한 실험식의 적합성을 모형시험을 통해 확인하였고, PIV 계측기법을 통해 벽면주위의 유체점성으로 인한 조파현상을 입증하였다.

• Geomechanics and Engineering
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• 제23권2호
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• pp.93-102
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• 2020

The excavation broken zones (EBZ) of gateways is a significant factor in determining the stability of man-made opening. The EBZ of 55 gateways with variety geological conditions were measured using Ground Penetrating Radar (GPR). The results found that the greatly depth of EBZ, the smallest is 1.5 m and the deepest is 3.5 m. Experimental investigations were carried out in the laboratory and in the coal mine fields for applying the combined arch support theory to large EBZ. The studies found that resin bolts with high tensile strength and good bond force could provide high pretension force with bolt extensible anchorage method in the field. Furthermore, the recently invented torque amplifier could greatly improve the bolt pretension force in poor lithology. The FLAC3D numerical simulation found that the main diffusion sphere of pretension force was only in the free segment zone of the surrounding rock. Further analysis found that the initial load-bearing zone thickness of the combined arch structure in large EBZ could be expressed by the free segment length of bolt. The using of high mechanical property bolts and steel with high pretension force will clearly putting forward the bolt length selection rule based on the combined arch support theory.

• 한국유체기계학회 논문집
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• 제17권5호
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• pp.67-71
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• 2014

Recently, the cross flow turbine attracts more and more attention for its good performance over a large operating regime at off design point. This study adopts a very low head cross flow turbine that has barely been studied before, and investigates the effect of air layer on the performance of the cross flow turbine. As open duct is applied in this study and free surface model is used between the air layer and water, an engineering definition of efficiency, instead of traditional definition of efficiency, is used. As torque at the runner fluctuates up and down at a reasonable limit, statistical method is used. Pressure and water volume fraction contours are shown to present the characteristics of air-water flow. With constant air suction in the runner chamber, the water level gradually drops below the runner and efficiency of the turbine can be raised by 10 percent. All considered, the effect of air layer on the performance of turbine is considerable.

• 한국신재생에너지학회:학술대회논문집
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• 한국신재생에너지학회 2010년도 춘계학술대회 초록집
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• pp.237.2-237.2
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• 2010

Although oscillating water column type wave energy devices are nearing the stage of commercial exploitation, there is still much to be learnt about many facets of their hydrodynamic performance. The techniques of Computational Fluid Dynamics (CFD) are applied to simulate a wave energy conversion device in free surface such as waves. This research uses the commercially available ANSYS CFX computational fluid dynamics flow solver to model a complete oscillating water column system with savonius turbine incorporated at the rear bottom of the OWC chamber in a three dimensional numerical wave tank. The purpose of the present study is to investigate the effect of an average wave condition on the performance and internal flow of a newly developed direct drive turbine (DDT) model for wave energy conversion numerically. The effects of blade angle and front lip shape on the hydrodynamic efficiency are investigated. The results indicated that the developed models are suitable to analyze the water flow characteristics both in the chamber and in the turbine. For the turbine, the numerical results of torque were compared for the all cases. The results of the testing have also illustrated that simple changes to the front wall aperture shape can provide marked improvements in the efficiency of energy capture for OWC type devices.