• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.718-721
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• 1996

In this work, an effective stiffness generated by internal loading for a planar 3 degrees of freedom RCC mechanism is investigated. For this purpose, the internal kinematic analysis and antagonistic stiffness modeling for this mechanism are performed. It is shown that the antagonistic stiffness could be effectively created at the center of the mechanism in its symmetric configuration.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.492-496
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• 1988

Usually the first three joint variables (major link) and the next three joint variables (minor link) are used to determine the position and the orientation, respectively, of 6 degrees-of-freedom robot manipulators. In this paper, the Jacobians of 20 major links and 6 minor links are calculated to find the positional maneuverability matrices and orientational maneuverability matrices. Then the kinematic characteristics of the major and minor links are examined. Also we gave the measures of maneuverability and the controllability of the links for the figure of merits of robot manipulator design.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.119-124
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• 1988

In this paper, we developed an environment for the analysis of kinematic characteristics of a quadruped robot using animation with simple task planning in SUN3 workstation. The projection method and related graphic utilities are developed, and we considered user interface with mouse. The legs with pantograph mechanism are mathmatically modelled and they will be used for the simulation of algorithms to be develped in the graphic monitor.

• 한국공간정보시스템학회:학술대회논문집
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• 한국공간정보시스템학회 2004년도 춘계 학술발표회 논문집 제1권1호(통권1호)
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• pp.37-42
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• 2004

The primary objective of this paper is to trace the post-buckling behavior of space trusses in the inelastic range. Modeled member material behavior characteristics of struts in the post-critical elasto-plastic stage are determined and three types of idealized hardening rules are described. To perform this analysis, the present work is used the current stiffness parameter method combined with the cylinderical arc-length method. Numerical examples are presented to illustrate the accuracy and the application of the numerical solutions introduced above.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.258-262
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• 1990

Several optimum control algorithms have been proposed to minimize the robot cycle time by velocity scheduling. Most of these algorithms assume that the dynamic and kinematic characteristics of a manipulator are fixed. This paper presents the study of a minimum-time optimum control for robotic manipulators considering parameter changes. A complete set of solutions for parameter identification of the robot dynamics has been developed. The minimum-time control algorithm has been revised to be updated using estimated parameters from measurements.

• Korean Journal of Hydrosciences
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• 제1권
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• pp.1-14
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• 1990

The analytical diffusion model is first formulated and its characteristics are critically reviewed. The flood events during the 1985-1986 flood seasons in the IHP Pyungchang Representative Basin are routed by this model and are compared with those routed by the kinematic wave model. The present model is proven to be an excellent means of taking the backwater effects due to lateral inflow or downstream river stage variations into consideration in channel routing of flood flows. It also requires much less effort and computing time at a desired station compared to any other reliable flood routing methods.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2003년도 춘계 학술발표회논문집
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• pp.294-301
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• 2003

The energy concept has been applied to the reported experimental results of six different structural steel connections to investigate the characteristics of system-dependent energy curve and energy absorption efficiency. For this the concept o( static and kinematic energy absorption efficiency has been defined. The present paper closes with the implication of the necessity of further investigation to extend the energy concept to reach the engineering practice.

• Journal of Advanced Marine Engineering and Technology
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• 제36권5호
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• pp.609-617
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• 2012

The flow characteristics of polluted air are analysed by comparing the results obtained from PIV(Particle Image Velocimetry) experiment and CFD(Computational Fluid Dynamics) commercial code. In order to simulate the polluted air flow, the olive oil has been used as tracer particles with the kinematic viscosity of air, $1.51{\times}10^{-5}m^2/s$. The investigation has done in the range of Reynolds numbers of 870, 1730 and 2890 due to the inlet flow velocities of 0.3, 0.6, and 1.0 m/s, respectively. The average velocity and the pressure distributions are comparatively discussed with respect to the three different Reynolds numbers. The results show that the outlet flow rates at three different Reynolds numbers are equivalent of 165 to 167 percent of the inlet ones. The pressure drop occurs in the model closed at both end sides and the highest pressures at each Reynolds number are positioned at the top of the tunnel between the inlet and outlet.

• 한국산업융합학회 논문집
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• 제11권2호
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• pp.71-82
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• 2008

In this study, 3 dimensional non-linear race car vehicle model including Chassis, steering and suspension systems were modeled by using Multi-Body Dynamics Simulation Program, DADS 9.5(Dynamic Analysis and Design System),which was used in kinematic and dynamic analysis. A full race car vehicle dynamics model using DADS program was presented and analysis was carried out to estimate the handling characteristics that may be very useful to design a race car in early design stage. The simulation of vehicle handling behavior for step steering input was simulated and compared with different design parameters: torsional stiffness of the front and rear anti roll bars, the motion ratio of the front and rear suspension system, the location of the tie rod joint, in multibody dynamic model. Therefore this simulation model before race car construction in early design step will be helpful for race car designer to save time and limited budget.

• Structural Engineering and Mechanics
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• 제13권6호
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• pp.653-670
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• 2002

In order to ensure the structural dynamic stability of moving liquid-storage containers, the flow motion of interior liquid should be appropriately suppressed by means of mechanical devices such as the disc-type elastic baffle. In practice, the design of a suitable baffle requires a priori the parametric dynamic characteristics of storage containers, with respect to the design parameters of baffle, such as the installation location and inner-hole size, the baffle number, and so on. In this paper, we intend to investigate the parametric effect of the baffle parameters on the transient dynamic behavior of a cylindrical fuel-storage tank in an abrupt vertical acceleration motion. For this goal, we employ the ALE (arbitrary Lagrangian-Eulerian) kinematic description method incorporated with the finite element method.