• Journal of KIISE:Computer Systems and Theory
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• v.28 no.10
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• pp.499-506
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• 2001

Terrain Following means that a mobile object, such a user's avatar, must follow terrain, remaining in contact with the ground at all times in virtual environments. This makes a virtual environment have the effects of gravity. Terrain Following is often done using collision detection: however this is inefficient, because general collision detection solves a problem that is inherently more complex than merely determining terrain contact points. Many virtual environments avoid the expense by utilizing a flat terrain with a constant altitude everywhere. This makes a terrain following trivial, but lacks realism. This paper provides as algorithm and a data structure for a terrain following using a neighboring area search as a way to search neighboring polygons. Because this algorithm uses a pre-processing step that stores the terrain polygons for calculating, it results in reducing overheads to workstations that is used to construct and maintain a virtual environment. Consequently, workstation can be used to apply not only a terrain following but also other things.

• Environmental Engineering Research
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• v.16 no.3
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• pp.165-173
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• 2011

The equilibrium and kinetic adsorption of arsenic on six different adsorbents were investigated with one synthetic and four natural types (two surface and two ground) of water. The adsorbents tested included magnetic ion exchange resins (MIEX), hydrous ion oxide particles (HIOPs), granular ferric hydroxide (GFH), activated alumina (AA), sulfur modified iron (SMI), and iron oxide-coated microsand (IOC-M), which have different physicochemical properties (shape, charge, surface area, size, and metal content). The results showed that adsorption equilibriums were achieved within a contact period of 20 min. The optimal doses of adsorbents determined for a given equilibrium concentration of $C_{eq}=10\;{\mu}g/L$ were 500 mg/L for AA and GFH, 520-1,300 mg/L for MIEX, 1,200 mg/L for HIOPs, 2,500 mg/L for SMI, and 7,500 mg/L for IOC-M at a contact time of 60 min. At these optimal doses, the rate constants of the adsorbents were 3.9, 2.6, 2.5, 1.9, 1.8, and 1.6 1/hr for HIOPs, AA, GFH, MIEX, SMI, and IOC-M, respectively. The presence of silicate significantly reduced the arsenic removal efficiency of HIOPs, AA, and GFH, presumably due to the decrease in chemical binding affinity of arsenic in the presence of silicate. Additional experiments with natural types of water showed that, with the exception of IOC-M, the adsorbents had lower adsorption capacities in ground water than with surface and deionized water, in which the adsorption capacities decreased by approximately 60-95%.

• Korean Journal of Agricultural Science
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• v.47 no.4
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• pp.1147-1158
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• 2020

The purpose of this study was to measure the engine torque and rotational speed of a 67 kW class agricultural tractor according to tire type during plow tillage and to analyze the gear strength of the driving shift for the tractor. A field test was performed under the condition with a single tire (Test A) and dual tires (Test B) to increase the ground width of the rear tires. A load monitoring system was developed, and the engine torque and rotational speed were measured using controller area network (CAN) communication. The engine torque and rotational speed during plow tillage were calculated as the equivalent torque and speed using Palmgren Miner's rule. As a result, the equivalent torque and speed in Test A and Test B were 181.0 Nm and 1,913 rpm and 206.1 Nm and 2,130 rpm, respectively. As the ground width of the rear tire was increased, the bending stress in Test B was about 9.9 to 10.5% higher than that of the Test A, and the contact stress was about 4.6 to 4.9% higher than that of the Test A. Under all conditions, the safety factor for the bending and contact stress was 1 or more. Thus, the driving shift gears for the dual tire type are considered safe.

• The Journal of Korea Robotics Society
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• v.11 no.3
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• pp.183-192
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• 2016

Generating motion of center of mass for biped robots is a challenging issue since biped robots can easily lose balance due to limited contact area between foot and ground. In this paper, we propose force control method to generate high-speed motion of the center of mass for horizontal direction without losing balancing condition. Contact consistent multi-body dynamics of the robot is used to calculate force for horizontal direction of the center of mass considering balance. The calculated force is applied for acceleration or deceleration of the center of mass to generate high speed motion. The linear inverted pendulum model is used to estimate motion of the center of mass and the estimated motion is used to select either maximum or minimum force to stop at goal position. The proposed method is verified by experiments using 12-DOF torque controlled human sized legged robot.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.25 no.6
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• pp.108-114
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• 2011

In order to mitigate the possible hazards from electric shock due to the touch and step voltages, the high resistivity material such as gravel is often spread on the earth's surface in substations. When the grounding electrode is installed in two-layer soil structures, the surface layer soil resistivity is different with the resistivity of the soil contacted with the grounding electrodes. The design of large-sized grounding systems is fundamentally based on assuring safety from dangerous voltages within a grounding grid area. The performance of the grounding system is evaluated by tolerable touch and step voltages. Since the floor surface conditions near equipment to be grounded are changed after a grounding system has been constructed, it may be difficult to determine the tolerable touch and step voltage criteria. In this paper, to propose an accurate and convenient method for evaluating the protective performance of grounding systems, the propriety of the method for evaluating the current flowing through the human body around on a counterpoise buried in two-layer soils is presented. As a result, it is reasonable that the grounding system performance would be evaluated by measuring and analyzing the current flowing through the human body based on dangerous voltages such as the touch or step voltages and the contact resistance between the ground surface and feet.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.9
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• pp.752-759
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• 2012

This paper presents a mission orbit design method for spacecraft which use the sun-synchronous and ground repeat orbits. In this work, we have proposed a new design procedure, "Nonlinear simulation-based numerical optimization technique" using the commercial S/W's such as STK (Satellite Tool kit) and Matlab, which are widely adopted S/W's in the area of orbital mechanics and engineering analysis. Inclusion of all the perturbation effects on the spacecraft not only can more precisely satisfy the mission requirements for sun-synchronicity and repeated ground track, and also operational requirements such as minimum change in the S/C local time, maximization of the contact time with a specified ground station, etc. can be appropriately considered. Design examples for LEO sun-synchronous mission are presented to demonstrate the usefulness of the proposed method in this paper.

• Journal of the Korean GEO-environmental Society
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• v.19 no.9
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• pp.5-12
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• 2018

The foundation of the multi-span greenhouse structures is designed with small shallow concrete foundation considering mainly the vertical load. However, recently, due to an abnormal climate such as strong wind, horizontal load and up-lift load over design strength are applied to the foundation, causing safety problems of the greenhouse foundation. In order to reasonably evaluate the safety of greenhouse foundations, rotational and pullout stiffness expressed by the ground-foundation interaction should be evaluated, which also affects the safety of the upper structural members. In this study, three representative basic foundation types were selected by classifying greenhouse standards in Korea according to the shape, and the horizontal loading tests and theoretical calculation were performed for each foundation type. As a result of the comparison and analysis of the test and calculation, it was found that rotational resistance of the foundation is different according to the ratio of the contact area between the foundation and ground when the conditions of the foundation - ground contact surface and the mechanical properties of the ground are the same.

• Journal of the Korean Geotechnical Society
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• v.38 no.7
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• pp.49-62
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• 2022

The hollow modular concrete block reinforced foundation method is one of the ground reinforcement foundation methods that uses hexagonal honeycomb-shaped concrete blocks with mixed crushed rock to reinforce soft grounds. It then forms an artificial layered ground that increases bearing capacity and reduces settlement. The hollow modular honeycomb-shaped concrete block is a geometrically economical, stable structure that distributes forces in a balanced way. However, the behavioral characteristics of hollow modular concrete block reinforced foundations are not yet fully understood. In this study, a bearing capacity test is performed to analyze the reinforcement effectiveness of the hollow modular concrete block through the laboratory model tests. From the load-settlement curve, punching shear failure occurs under the unfilled sand condition (A-1-N). However, the filled sand condition (A-1-F) shows a linear curve without yielding, confirming the reinforcement effect is three times higher than that of unreinforced ground. The bearing capacity equation is proposed for the parts that have contact pressure under concrete, vertical stress of hollow blocks, and the inner skin friction force from horizontal stress by confining effect based on the schematic diagram of confining effect inside a hollow modular concrete block. As a result of calculating the bearing capacity, the percentage of load distribution for contact force on the area of concrete is about 65%, vertical force on the area of hollow is 16.5% and inner skin friction force of area of the inner wall is about 18.5%. When the surcharge load is applied to the concrete part, the vertical stress occurs on the area of the hollow part by confining effect first. Then, in the filled sand in the hollow where the horizontal direction is constrained, the inner skin friction force occurs by the horizontal stress on the inner wall of the hollow modular concrete block. The inner skin friction force suppresses the punching of the concrete part and reduces contact pressure.

• The Journal of Korea Robotics Society
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• v.4 no.4
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• pp.265-272
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• 2009

IVarious driving mechanisms to adapt to uneven environment have been developed for many urban search and rescue (USAR) missions. A tracked mechanism has been widely used to maintain the stability of robot's pose and to produce large traction force on uneven terrain in this research area. However, it has a drawback of low energy efficiency due to friction force when rotating. Moreover, single tracked mechanism can be in trouble when the body gets caught with high projections, so the track doesn't contact on the ground. A transformable tracked mechanism is proposed to solve these problems. The mechanism is designed with several articulations surrounded by tracks, used to generate an attack angle when the robot comes near obstacles. The stair climbing ability of proposed robot was analyzed since stairs are one of the most difficult obstacles in USAR mission. Stair climbing process is divided into four separate static analysis phases. Design parameters are optimized according to geometric limitations from the static analysis. The proposed mechanism was produced from optimized design parameters, and demonstrated in artificially constructed uneven environment and the actual stairway.

• Journal of Korean Society of Water and Wastewater
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• v.25 no.5
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• pp.651-658
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• 2011

Nitrate is a common contaminant in industrial wastewater and ground water. The maximum contaminant level set by EPA for nitrate of 10 mg/L as N. In this study, nitrate was removed using bipolar ZVI packed bed electrolytic cell that maximized the contact area between each electrode and contaminants under 600 V. Also this study investigates the simultaneously deals with removal of ammonia by operating air stripping tower. In addition to the air stripping also helped to precipitate iron ions to the form of iron oxides. Bipolar ZVI packed bed electrolytic cell was also effective in removing coliform by electrical power. In the continuous experiments for the simulated wastewater (initial nitrate for 25 mg/L as N), maximum 96.3% removal of nitrate was achieved in the applied 600 V at the flow rate of 6 mL/min.