• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.2005-2010
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• 2004

As robots become more prevalent in human daily life, situations requiring interaction between humans and robots will occur more frequently. Therefore, human-robot interaction (HRI) is becoming increasingly important. Although robotics researchers have made many technical developments in their field, intuitive and easy ways for most common users to interact with robots are still lacking. This paper introduces a new approach to enhance human-robot interaction using a semantic symbol language and proposes a method to acquire the intentions of robot users. In the proposed approach, each semantic symbol represents knowledge about either the environment or an action that a robot can perform. Users'intentions are expressed by symbolized multimodal information. To interpret a users'command, a probabilistic approach is used, which is appropriate for interpreting a freestyle user expression or insufficient input information. Therefore, a first-order Markov model is constructed as a probabilistic model, and a questionnaire is conducted to obtain state transition probabilities for this Markov model. Finally, we evaluated our model to show how well it interprets users'commands.

• Structural Engineering and Mechanics
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• 제57권3호
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• pp.403-423
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• 2016

The challenges involved with fatigue damage assessment of steel catenary riser (SCR) in the touchdown zone (TDZ) are primarily due to the non-linear behaviour of the SCR-seabed interaction, considerable uncertainty in SCR-seabed interaction modelling and geotechnical parameters. The issue of fatigue damage induced by the cyclic movements of the SCR with the seabed has acquired prominence with the touch down point (TDP) interaction in the TDZ. Therefore, the SCR-seabed response is critical for reliable estimation of fatigue life in the TDZ. Various design approaches pertaining to the lateral pipe-soil resistance model are discussed. These techniques have been applied in the finite element model that can be used to analyse the lateral SCR-seabed interaction under hydrodynamic loading. This study investigates the sensitivity of fatigue performance to geotechnical parameters through a parametric study. In this study, global analyses are performed to assess the influence of vertical linear seabed springs, the lateral seabed model and the non-linear seabed model, including trench evolution into seabed, seabed normalised stiffness, re-penetration offset parameter and soil suction resistance ratio, on the fatigue life of SCRs in the TDZ.

• 대한조선학회논문집
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• 제52권6호
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• pp.478-484
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• 2015

Knowledge about ice load distribution along the ship hull due to ship-ice interaction can provide important background information for the development of design codes for ice-going vessels. The objective of this study is to understand ship and ice interaction phenomena and determine the magnitude of ice load acting along a ship hull. The model tests were performed in the ice model basin in Korea Research Institute of Ships and Ocean engineering (KRISO) with the model of icebreaking ship Araon. Self-propulsion tests in level ice were performed with three difference model ship speeds. In the model tests, three tactile sensors were installed to measure the spatial distribution of ice load acting at different locations on a model ship, such as the bow and shoulder areas. Variation in the distribution of ice load acting on a model hull with ship speed is discussed.

• 한국항공우주학회지
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• 제48권4호
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• pp.255-267
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• 2020

SLD 조건은 직경이 50㎛ 이상인 과냉각대형액적의 분포가 지배적인 결빙 환경을 뜻한다. SLD 조건에서는 액적의 큰 크기로 인해 wall-droplet interaction, deformation 등의 물리적 현상이 착빙 과정에 중요한 영향을 미친다. 그에 따라 SLD 효과를 수치적으로 모사하기 위한 다양한 연구가 수행되었고, 부착률을 수정하는 후처리 기법을 통해 wall-droplet interaction 현상을 고려하는 방법이 제안되었다. 그러나 이 방법은 액적이 충돌하는 벽면 특성을 제대로 고려하지 않는 반경험식(Wright Model)을 사용하기 때문에 착빙 영역에서 여전히 부착률과 부착 한계를 과대 예측한다. 이 문제를 해결하기 위해 본 연구에서는 착빙 영역을 세 개의 영역으로 구분하였다. 그리고 벽면 특성을 고려하는 Bai and Gosman rebound 모델을 바탕으로 개발한, 새로운 wall-droplet interaction 모델을 후처리 기법에 도입했다. 그리고 액적의 항력계수를 증가시키는 deformation 현상을 반영하기 위해 3가지 deformation 모델을 비교·분석하여 가장 적합한 모델을 선정했다. 앞의 내용을 바탕으로 개발한 SLD 결빙 예측 코드를 검증하기 위해 실험 데이터를 활용하여 해석을 수행했다. 그 결과 수정된 후처리 기법은 착빙 영역에서 rebound 현상에 의한 부착률 감소를 더욱 크게 예측하였고 부착 한계와 부착률 크기를 예측하는 데 있어 향상된 정확성을 보여줬다. 그리고 deformation에 의한 항력계수의 증가를 가장 크게 결정하는 Wiegand model이 실험과 가장 유사한 것을 확인할 수 있었다.

• Journal of the Korean Data and Information Science Society
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• 제25권1호
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• pp.177-185
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• 2014

로지스틱회귀모형에서 설명변수만으로는 충분히 설명이 되지 못하고 설명변수의 변환된 형태인 이차항 또는 교호작용항이 필요한 경우가 있다. 설명변수가 두 개이고 조건부 분포가 이변량 정규분포를 따르는 경우 로지스틱회귀모형에서는 기본적으로 이차항과 교호작용항이 모형에 포함되어야 한다. 하지만 조건부 분포의 분산과 상관계수에 따라 이차항과 교호작용항이 필요하지 않게 되는 경우도 있다. 분산이나 상관계수에 대한 정보는 산점도를 보고 대체적인 판단이 가능하지만 교호작용항의 필요성을 판단하기가 쉽지 않다. 본 논문에서는 3차원 잔차산점도를 이용한 교호작용의 탐색방법을 제시하고 이 방법을 실제 자료에 적용시켜본다.

• 신재생에너지
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• 제1권1호
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• pp.54-63
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• 2005

A critical issue in the field of the rotor aerodynamics is the treatment of the wake. The wake is of primary importance in determining overall aerodynamic behavior, especially, a wind turbine blade includes the unsteady airloads problem. In this study, the wake generated by blades are depicted by a free wake model to analyse unsteady loading on blade and a new free wake model named Finite Vortex Element(FVE hereafter) is devised in order to include a wake-tower interaction. In this new free wake model, blade-wake-tower interaction is described by cutting a vortex filament when the filament collides with a tower. This FVE model is compared with a conventional free wake model and verified by a comparison with NRELand SNU wind tunnel model. A comparison with NREL and SNU data shows validity and effectiveness of devised FVE free wake model and an efficient.

• 환경생물
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• 제26권1호
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• pp.1-7
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• 2008

A mathematical model for the synergistic interaction of physical and chemical environmental agents was suggested for quantitative prediction of irreversibly damaged cells after combined exposures. The model took into account the synergistic interaction of agents and was based on the supposition that additional effective damages responsible for the synergy are irreversible and originated from an interaction of ineffective sublesions. The experimental results regarding the irreversible component of radiation damage of diploid yeast cells simultaneous exposed to heat with ionizing radiation ($^{60}Co$) or UV light (254 nm) are presented. It was shown that the cell ability of the liquid holding recovery decreased with an increase in the temperature, at which the exposure was occurred. A good correspondence between experimental results and model prediction was demonstrated. The importance of the results obtained for the interpretation of the mechanism of synergistic interaction of various environmental factors is discussed.

• 한국해양공학회지
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• 제16권1호
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• pp.27-35
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• 2002

The interaction of grounded ice ridges with underlying seabed is one of the major considerations in the design of Arctic pipeline system. Previously several ice scour models were developed by researchers to describe the ice scour-seabed interaction mechanism. In view of possible improvements, a comparative study of those ice scour models is performed and their limitation in modeling is discussed. Simple laboratory tests are carried out and then the shape pattern of deposited soil around the ice model is newly defined. Unlike the rectangular idealization of an ice block, in this modified ice scour model, trapezoidal cross sections are assumed to represent the typical shape of an ice ridge based on the field observation data. With the horizontal and vertical motion of ice model, the ice scour depth and soil reacting forces on seabed are calculated with varying the keel angle of an ice ridge.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 춘계학술대회논문집
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• pp.959-963
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• 2006

A three-dimensional elastic blood vessel model with internal diameter variation is considered to investigate internal flow characteristics and effects of structural deformation. Also, computational analyses for both the rigid model and the fully-coupled FSI model have been conducted in order to compare the shear stress, pressure distribution, and flow velocity in detail. A 70% narrowing area of asymmetric blood vessel model was especially investigated to show the versatility of fluid-structure interaction phenomenon. The results reveal that effect of fluid-structure interaction is very important to accurately investigate the flow characteristics of the blood vessel.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2004년도 추계학술대회 논문집
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• pp.357-362
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• 2004

Maglev vehicles, which are levitated and propelled by electromagnets, often run on elevated guideways comprised of steel, aluminum and concrete. Therefore, an analysis .of the dynamic interaction between the Maglev vehicle and the guideway is needed in the design of the critical speed, ride, controller design and weight reduction of the guideway. This study proposes a dynamic interaction simulation technique using a flexible beam model based on multi-body dynamics. The vehicle and the elevated guideway are represented as a multi-body dynamics model and a two-dimensional flexible beam, respectively. The proposed model was applied to an urban transit Maglev vehicle, UTM01, which is undergoing test drive. As a result of the proposed method, we concluded that it is possible to analyze the dynamic interaction between the Maglev vehicle and the guideway.