• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.438-443
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• 2003

In this paper, we propose a control algorithm for two-wheel mobile robot that can move the rider to his or her command and autonomously keep its balance. The control algorithm is based on a mixed $H_2/H_{\infty}$ control scheme. In this control problem the main issue is to move the rider while keeping its balance in the presence of disturbances and parameter uncertainties. The disturbance force caused by uneven road surfaces and the uncertainty due to different rider's heights are considered. To this end we first consider a state feedback controller as a basic framework. Secondly, we obtain the state feedback gain $K_2$ minimizing the $H_2$ norm and the state feedback gain $K_{\infty}$ minimizing the $H_{\infty}$ norm over the whole range of parameter uncertainty. Finally, we select mixed $H_2$/$H_{\infty}$ state feedback controller K as the geometric mean of $K_2$ and $K_{\infty}$. Simulation results show that the mixed $H_2/H_{\infty}$ state feedback controller combines the effects of the optimal $H_2$ state feedback controller and robust $H_{\infty}$ controller state feedback controller efficiently in the presence of disturbance and parameter uncertainty.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.11 no.5
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• pp.97-102
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• 2012

In this paper, each electrical length and harmonics of the multi-stage SIR are calculated by using the input impedance for the variable application of SIR in the microwave systems. The size reduced ratio of the SIR is slightly reduced as increasing of the number of stage. The impedance ratio between lower and higher impedance of the SIR has the dominant effect on the size reduced ratio and harmonic characteristics. Also the equivalent impedance of the SIR is a geometric mean between lower and higher impedance and the quality factor of the SIR is similar to the half-wavelength resonator's.

• Earthquakes and Structures
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• v.11 no.2
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• pp.245-264
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• 2016

A suitable ground motion intensity measure (IM) plays a crucial role in the seismic performance assessment of a structure. In this paper, we introduce a scalar IM for use in evaluating the seismic response of single-layer reticulated domes. This IM is defined as the weighted geometric mean of the spectral acceleration ordinates at the periods of the dominant vibration modes of the structure considered, and the modal strain energy ratio of each dominant vibration mode is the corresponding weight. Its applicability and superiority to 11 other existing IMs are firstly investigated in terms of correlation with the nonlinear seismic response, efficiency and sufficiency using the results of incremental dynamic analyses which are performed for a typical single-layer reticulated dome. The hazard computability of this newly proposed IM is also briefly discussed and illustrated. A conclusion is drawn that this dominant vibration mode-based scalar IM has the characteristics of strong correlation, high efficiency, good sufficiency as well as hazard computability, and thereby is appropriate for use in the prediction of seismic response of single-layer reticulated domes.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.27 no.12
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• pp.1734-1743
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• 2003

Aerosol generator using an electrically heated tube furnace is a stable apparatus to supply nanometer sized aerosols by using the evaporation and condensation processes. Using this method, we can generate highly concentrated polydisperse aerosols with relatively narrow size distribution. In this work, characteristics of particle size distribution, generated from a tube furnace, were experimentally investigated. We evaluated effects of several operation parameters on particle generation: temperature in the tube furnace, air flow rates through the tube, size of boat containing solid sodium chloride(NaCl). As the temperature increased, the geometric mean diameter increased and the total number concentration also increased. Dilution with air affected the size distribution of the particles due to coagulation. A smaller sized boat, which has small surface area to contact with air, brings smaller particles of narrow size distribution in comparison of that of a larger boat. Finally, we changed the electrical mobility diameter of aggregate sodium chloride particles by varying relative humidity of dilution air, and obtained non-aggregate sodium chloride particles, which are easy to generate exact monodisperse particles.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.21 no.3
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• pp.380-391
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• 1997

A numerical study has been done on the evolution of particle size distribution in particle laden high temperature jet flows undergoing convection, diffusion, thermophoresis and coagulation. The dynamic behavior of these particles have been modelled by approximating the particle size distribution by a lognormal function throughout the process and the moments of the particle size distribution have been used to solve the general dynamic equation. The size distributions of spherical particles in the radial and axial direction have been obtained including the effect of buoyancy. Of particular interests are the variations of geometric mean diameter, number concentration and polydispersity. Results show that buoyancy significantly alters the size distribution in both axial and radial direction. One dimensional analysis for non-spherical particles has also been done and the results have been compared with the existing experimental data.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.6
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• pp.1510-1517
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• 1995

A theoretical method is described to simulate the propagation of turbulent premixed flames in a closed vessel. The objective is to develop and test an efficient technique to predict the propagation speed of flame as well as the geometric structure of the flame surfaces. Flame is advected by the statistically generated turbulent flow field and propagates as a wave by solving twodimensional Hamilton-Jacobi equation. In the simulation of the unburned gas flow field, following turbulence properties were satisfied: mean velocity field, turbulence intensities, spatial and temporal correlations of velocity fluctuations. It is assumed that these properties are not affected by the expansion of the burned gas region. Predictions were compared with existing experimental data for flames propagating in a closed vessel charged with hydrogen/air mixture with various turbulence intensities and Reynolds numbers. Comparisons were made in flame radius growth rate, rms flame radius fluctuations, and average perimeter and fractal dimensions of the flame boundaries. Two dimensional time dependent simulation resulted in correct trends of the measured flame data. The reasonable behavior and high efficiency proves the usefulness of this method in difficult problems of flame propagation such as in internal combustion engines.

• Journal of architectural history
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• v.14 no.2 s.42
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• pp.71-88
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• 2005

This study aims at clarifying the spatial generative process of Borromini's architecture. The close examination of his sketches and the analysis of his major four works such as San Carlo alle Quattro Fontane (1634-1667), Sant'Ivo della Sapienza (1642-1660), Santa Maria dei Sette Dolori, Chapel (1643-1646), Collegio di Propaganda Fide, Chapel (1652-1667) show common features in the generation of space as follow. 1) The spatial generative process of Borromini's architecture is dominated by the plan of main space which is formulated from simple geometric elements into complexly folded space by mean of union, addition, copy and warping. 2) Borromini made various kinds of annexed space around the main space to create long and continuous circulation. 3) Borromini's architecture has a tendency to divide interior elevation into two parts, wall part and roof part by thick entablature. Moreover the entablature play important role to copy the figure of the plan of main space three-dimensionally. 4) Borromini tried to create the sense of depth through perspectival distortion and multi-focal space through the ceiling pattern.

• Journal of Korean Association for Spatial Structures
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• v.13 no.1
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• pp.97-104
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• 2013

Recent tall buildings tend to have unconventional shapes as a prevailing, which is effective for suppressing across-wind responses. Suppression of across-wind responses is a major factor in tall building projects, and the so called aerodynamic modification method is comprehensively used. The purpose of the present study is to investigate the pressure fluctuations on tapered and setback tall buildings, including peak pressures, power spectra and coherences through the synchronous multi-pressure sensing system techniques. And flow measurements around the models were conducted to investigate the condition of vortex shedding. The results show that by tapering and setback, different distributions of mean pressure coefficients at leeward surface were found, which is caused by the geometric characteristics of the models. And the power spectra of wind pressures at sideward surface become wideband and the peak frequencies are different depending on heights, which makes the correlation near the Strouhal component low or even negative. The differences in shedding frequencies were also confirmed by the flow fields around the models.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.26 no.6
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• pp.795-804
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• 2002

The optimal design code of an axial flow pump has been developed to determine geometric and fluid dynamic variables under hydrodynamic as well as mechanical design constraints. The design code includes the optimization of the complete radial distribution of the geometry by determining the coefficients of 2$^{nd}$ order polynomials to represent the three-dimensional geometry. The optimization problem has been formulated with a nonlinear multivariable objective function, maximizing the efficiency and stall margin, while minimizing the net positive suction head required. Calculation of the objective function is based on the mean streamline analysis and through-flow analysis using the present state-of-the-art model. The optimal solution is calculated using the penalty function method in which the genetic optimizer is employed. The optimized efficiency and design variables are presented in this paper as a function of non-dimensional specific speed in the range, 2$\leq$ $n_{s}$ $\leq$10. The results can be used in preliminary design of axial flow pumps.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.23 no.8
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• pp.997-1009
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• 1999

Silica particle formation and growth process including chemical reaction, coagulation and sintering was studied in a counterflow diffusion flame burner. The counterflow geometry provides a one dimensional flow field, along the stagnation point streamline, which greatly simplifies interpretation of the particle growth characteristics. $SiCl_4$ has been used as the source of silicon in hydrogen/oxygen/argon flames. The temperature profiles obtained by calculation showed a good agreement with experiment data. Using one and two dimensional sectional method, aerosol dynamics equation in a flame was solved, and these two results were compared. The two dimensional section method can consider sintering effect and growth of primary particle during synthesis, thus it showed evolution of morphology of non-spherical particles (aggregates) using surface fractal dimension. The effects of flame temperature and chemical loading on particle dynamics were studied. Geometric mean diameter based on surface area and total number concentration followed the trend of experiment results, especially, the change of diameters showed the sintering effect in high temperature environment.