• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1527-1530
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• 1996

Telerobot system is being developed for the application to nuclear power plants by Korea Atomic Energy Research Institute. Human-machine interaction and interface are very important elements of telerobotic systems. The main purpose of this study is developing a control system based on 3-D graphic techniques for the easy user interface and realistic visual I information supply. This system possesses the abilities for (1) virtual work, environment modelling and simulation, (2) kinematic animation include redundant behavior (3) interfacing with a real robot system, (4) transformation between real and virtual mode within the same graphics system. This system is especially focused on enhancing the overall efficiency and reliably of nozzle dam installation task inside water chamber of steam generator in nuclear power plant.

• The Bulletin of The Korean Astronomical Society
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• v.39 no.2
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• pp.55.2-55.2
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• 2014

Role of environments is one of today's most widely discussed and debated topic in the field of extra-galactic astronomy. Extreme morphology-density relations found in low-mass galaxies are considered to be the result of an effective role played by environment in the evolution of these galaxies. I will present the results from our dedicated study of early-type dwarf galaxies (dEs) in different environments using imaging and spectroscopic data. We find that Virgo cluster dEs have a variety of structural and kinematic properties. A significant fraction of dEs possesses disk features, such as spiral arm and bar, while a central nucleus seems to be universal in these low mass galaxies. We also find that a majority of dEs are fast rotator and their rotation curves are much steeper than that of spiral galaxies of similar mass. Finally I will discuss how the different environmental mechanisms, i.e., gas-stripping or tidal interaction, can contribute to form heterogeneous dEs in Virgo cluster.

• Journal of computational fluids engineering
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• v.11 no.4 s.35
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• pp.90-100
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• 2006

A digital wave tank (DWT) simulation technique has been developed by authors to investigate the interactions of fully nonlinear waves with 3D marine structures. A finite-difference/volume method and a modified marker-and-cell (MAC) algorithm have been used, which are based on the Navier-Stokes (NS) and continuity equations. The fully nonlinear kinematic free-surface condition is implemented by the marker-density function (MDF) technique or the Level-Set (LS) technique developed for one or two fluid layers. In this paper, some applications for various engineering problems with free-surface are introduced and discussed. It includes numerical simulation of marine environments by simulation equipments, fully nonlinear wave motions around offshore structures, nonlinear ship waves, ship motions in waves and marine flow simulation with free-surface. From the presented simulations, it seems that the developed DWT simulation technique can handle various engineering problems with free-surface and reliably predict hydrodynamic features due to the fully-nonlinear wave motions interacting with such marine structures.

• Smart Structures and Systems
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• v.13 no.4
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• pp.517-546
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• 2014

This paper proposes a refined electro-mechanical beam formulation. Lagrange-type polynomials are used to interpolate the unknowns over the beam cross section. Three- (L3), four- (L4), and nine-point(L9) polynomials are considered which lead to linear, bi-linear, and quadratic displacement field approximations over the beam cross-section. Finite elements are obtained by employing the principle of virtual displacements in conjunction with the Carrera Unified Formulation (CUF). The finite element matrices and vectors are expressed in terms of fundamental nuclei whose forms do not depend on the assumptions made. Additional refined beam models are implemented by introducing further discretizations, over the beam cross-section. Some assessments from bibliography have been solved in order to validate the electro-mechanical formulation. The investigations conducted show that the present formulation is able to detect the electro-mechanical interaction.

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.4
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• pp.24-31
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• 1998

In this study, a procedure is presented for the dynamic analysis of a multibody tracked vehicle system. The planar vehicle model used in this investigation is assumed to consist of two kinematically decoupled subsystems. i.e., the chassis subsystem and track subsystem. The chassis subsystem includes the chassis frame, sprocket, idler and rollers, while the track subsystem is represented as a closed kinematic chain consisting of rigid links interconnected by revolute joints. The nonlinear contact force modules describing the interaction between track links, and sprocket, idler, rollers and ground will be developed.

• Geomechanics and Engineering
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• v.8 no.2
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• pp.257-282
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• 2015

In this study, the authors present a coupled fluid-structures-seabed interaction analysis of a monopile type of wind turbine foundations in liquefiable soils. A two dimensional analysis is performed with a nonlinear stiffness degradation model incorporated in the finite difference program Fast Lagrangian Analysis of Continua (FLAC), which captured the fundamental mechanisms of the monopiles in saturated granular soil. The effects of inertia and the kinematic flow of soil are investigated separately, to highlight the importance of considering the combined effect of these phenomena on the seismic design of offshore monopiles. Different seismic loads, such as those experienced in the Kobe, Santa Cruz, Loma Prieta, Kocaeli, and Morgan Hill earthquakes, are analyzed. The pore water pressure development, relative displacements, soil skeleton deformation and monopile bending moment are obtained for different predominant frequencies and peak accelerations. The findings are verified with results in the liter.

• Proceedings of the KAIS Fall Conference
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• 2004.11a
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• pp.166-169
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• 2004

In this paper show how to design a redundant robot which is suitable for the multiple task without any constraints on the workspace. The implementation is possible by the rigid connection of a mobile robot and a task robot. Use a five joint articulated robot as the task robot; designed the 3 joint mobile robot for this usage. For a task execution assigned to the redundant robot, not only the task robot but the mobile robot should work in the coordinated way. therefore, a kinematic connection of the two robots should be cleary represented in a frame. And, also the dynamic interaction between the two robots needs to be analyzed. Clarified these issues considering the control of the redundant robot. Finally, demonstrate away of utilization of the redundancy as the cooperation between the mobile robot and the task robot to execute a common task.

• Journal of the Korean Society of Visualization
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• v.21 no.1
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• pp.40-46
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• 2023

For application to drag-based propulsion system, the dynamics of a segmented structure with multiple hinges undergoing oscillatory motion are investigated. The side flaps are connected to a centre rod with elastic plates acting as hinges. The hinges bend to only one direction so that the structure behave asymmetrically between the power stroke and the recovery stroke. An analytical model is proposed, which estimates the asymmetric deformation of the segmented structure coupled with hinges. Using the proposed model, the effects of key geometric and kinematic parameters on the dynamics of the structure are analyzed.

• Geotechnical Engineering
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• v.9 no.1
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• pp.7-20
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• 1993

The first Korean earthquake resistant design code was enacted in 1988. In the code, the soil factor which takes into account both the soil amplification factor and the soil -structare interaction effect is divided into three groups : soil factor, 5 : 1.0, 1.2 and 1.5. In order to assist in choosing the soil factors appropriately in the earthquake resistant design, the local site effects on the based shear force induced by earthquakes are considered in depth for typical soil conditions in Korea. The depth of the alluvial and/or weathered zone is usually not deep and the fresh rock is found at depth shallower than 20 meters, and even at about 10 meters around Seoul. One dimensional wave propagation theory and the elastic half space method are used to obtain the soil -structure interaction effect as well as the soil amplification effect. The kinematic interaction effect due to scattering of waves by pile foundation is also considered. Finally, the soil factor is recommended for each soil condition from loose state to dense, and also from shallow soil depth to deep, so that the designer can choose the factor with-out difficulty.

• The Bulletin of The Korean Astronomical Society
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• v.42 no.2
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• pp.39.2-39.2
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• 2017

Over the last decade, deep studies of nearby galaxies have led to the discovery of vast stellar envelopes that are often rich in substructure. These components are naturally predicted in models of hierarchical galaxy assembly, and their observed properties place important constraints on the amount, nature, and history of satellite accretion. One of the most effective ways of mapping the peripheral regions of galaxies is through resolved star studies. Using wide-field cameras equipped to 8 m class telescopes, it has recently become possible to extend these studies to systems beyond the Local Group. Located at a distance of 3.6 Mpc, M81 is a prime target for wide-field mapping of its resolved stellar content. In this talk, we present the detailed results from our deep wide-field imaging survey of the M81 group with the Hyper Suprime-Cam (HSC), on the Subaru Telescope. We report on the analysis of the structures, stellar populations, and metallicities of old dwarf galaxies such as NGC3077, IKN, KDG061, as well as young stellar systems such as Arp's Loop and Holmberg IX. Several candidates for yet-undiscovered faint dwarf galaxies and young stellar clumps in the M81 group will also be introduced. The peculiar galaxy NGC3077 has been classified as the irregular galaxy. Okamoto et al. (2015, ApJ 809, L1) discovered an extended halo structure with S-shape elongated tails, obvious feature of tidal interaction. With a help of numerical simulation by Penarrubia et al. (2009, ApJ 698, 222), we will demonstrate that this tidal feature was formed during the latest close encounters between M81, M82, and NGC 3077, which induced star formation in tidally stripped gas far from the main bodies of galaxies. It is not clear whether the latest tidal interaction was the first close encounters of three galaxies. If NGC3077 is still surrounded by the dark matter halo, it implies that NGC3077 has undergone the first tidal stripping by larger companions. Kinematic studies of inter galactic globular clusters and planetary nebulae would tell us the past history of tidal interaction in this group of galaxies.