• Transactions of The Korea Fluid Power Systems Society
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• v.4 no.2
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• pp.1-6
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• 2007

During the last few decades, excavation automation has been investigated to protect the operator from the hazardous working environment and to relieve the cost of the skilled operator. Therefore, a number of modelling and controller design methods of the hydraulic excavator are proposed in many literatures to realize the excavation automation. In this article, a geometric approach far the multi-body system modeling is adopted to develop the excavator mechanism model that contains 4 kinematic loops and 12 links. Considering a simple soil mechanism model with a number of uncertain soil parameters, an adaptive trajectory tracking control strategy based on the developed excavator model is proposed. The improved performance of the designed controller over the simple PID controller is validated via the simulation study.

• New & Renewable Energy
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• v.3 no.2 s.10
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• pp.17-23
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• 2007

대두유로부터 생산된 바이오디젤과 바이오디젤 혼합 연료유를 대상으로 지방산메틸에스터 함량과 화학적 분석을 통해 산화 특성과 오일의 수명 예측 연구를 수행하였다. 바이오디젤, 경유, BD5, BD20은 산화가 진행될수록 산가(Acid number), 동점도(Kinematic Viscosity) 및 밀도(Density)는 증가하였다. 산가 측정결과의 활용에 의해 임의의 온도조건에서 정확한 사용수명을 예측하기 위하여 화학속도론에 의거하여 각각의 연료에 대한 사용수명식을 도출하였다. 도출된 사용수명식으로부터 바이오디젤이 가장 빠르게 산화가 진행되었고 바이오디젤 혼합량이 증가할수록 사용수명이 단축되는 것을 확인할 수 있었다.

• Journal of the Korean Society of Hazard Mitigation
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• v.6 no.1 s.20
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• pp.83-95
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• 2006

This study aims to analysis of suspended-load concentration in related to those data by measuring vertical sediments distribution with rainfall using the ASM (Argus Surface Meter)- IV at the channel reach of a upstream and a downstream in small river. The watershed, small river basin where had taken for experimental study was selected, which is a drainage area lied at Walha in Yunkee-Gun, Chungnam Province. Measured data of suspended-load concentration consists of two groups with 2,145 data during 1hr 11min 30sec and 1,216 data during 40min 32sec for measuring time of 2 second in the study reaches at river, respectively. In order to analyze of the vertical concentration distribution, using the data sets are selected the measuring time 16 sets one of these data by random in the study reaches. As a results, the Rouse number of a measured and a calculated value show that a rang of $0.00129{\sim}0.02394$, averaged value of 0.01129 md, a rang of $0.00118{\sim}0.00822$, averaged value of 0.00436 in upstream reaches, and also a rang of $0.065115{\sim}0.065295$, averaged value of 0.06521, and a rang of $0.057315{\sim}0.059109$, averaged value of 0.05795 in downstream reaches, respectively. These difference show that measured Rouse number compared with downstream reach errors of less than in upstream reach, but between measured and calculated of the Rouse number compared with downstream reach errors of more than in upstream reach, respectively. It seems to will be included one of the occurrence errors of variable estimations when Rouse number of calculated value to be made computed by the fall velocity with a high temperature of water using equation of empirical kinematic viscosity was derived in this study.

• Korean Journal of Applied Biomechanics
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• v.12 no.2
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• pp.381-392
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• 2002

This study attempted to indentify changeability of the factorial structure of kinematic analysis in bowling. Subjects of group composed of three groups : Higher bowers who are national representative bowers with 200 average point and one pro-bowler. Middle bowlers who are three common persons with 170 average points. Lower bowler who are three common persons with 150 average points. Motion analysis on throw motion in three groups respectively has been made through three-dimension cinematography using DLT method. Two high-speed video camera at operating 180 and 60 frame per secondary. T-test factorial structure analysis has been used to define variable relations. It was concluded that : 1. The difference of x1, x2, x4, x8, x9, x11, x12, x13 where significant between two group. 2. The difference of number of spin and angle of the back-hand where statistically significant between two group(p<.001, p<.05) 3. The correlation over r=.5 between the kinematic data x1, x2, x3, x9, x10, x11. In the rotation loading matrix Factor 1 was x1, x2, x9, x10 and Factor 2 relates to x3, x11. 4. In order to obtain the factor score as follow as ; Factor 1 = (0.248)X1 + (0.265)X2 + (-0.074)X3 + (0.259)X9 + (0.259)X10 + (-0.025)X11 Factor 2=(-0.016)X1 + (-0.055)X2 + (0.84)X3 + (-0.013)X9 + (-0.007)X10 + (0.553)X11.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.634-639
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• 2003

It has been studied the flow near a rotating disk with surface topography. The system Ekman number is assumed very small, i.e., $E[{\equiv}\frac{\nu}{{\Omega}^{\ast}L^{\ast2}}]<<1$ in which $L^{\ast}$ denotes a disk radius, ${\nu}$ kinematic viscosity of the fluid and ${\Omega}^{\ast}$ angular velocity of the basic state. Disk surface has a sinusoidal topographic variation along radial coordinate, i.e., $z={\delta}cos(2{\pi}{\omega}r)$, where ${\delta}$ and ${\omega}$ are, respectively, nondimensional amplitude and wave number of the disk surface. Analytic solutions, being useful over the parametric ranges of ${\delta}{\sim}O$( $E^{1/2}$ ) and ${\omega}{\leq}O$ ( $E^{1/2}$ ), are secured in a series-function form of Fourier-Bessel type. An asymptotic behavior, when $E{\rightarrow}0$, is clarified as : for a disk with surface roughness, in contrast to the case of a flat disk, the azimuthal velocity increases in magnitude, together with the thickening boundary layer. The radial velocity, however, decreases in magnitude as the amplitude of surface waviness increases. Consequently, the overall Ekman pumping at the edge of the boundary layer remains unchanged, maintaining the constant value equal to that of the flat disk.

• Ocean Systems Engineering
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• v.6 no.3
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• pp.245-264
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• 2016

The iterative boundary element method (IBEM) developed originally before for cavitating two-dimensional (2-D) and three-dimensional (3-D) hydrofoils moving under free surface is modified and applied to the case of 2-D (two-dimensional) airfoils and 3-D (three-dimensional) wings over water. The calculation of the steady-state flow characteristics of an inviscid, incompressible fluid past 2-D airfoils and 3-D wings above free water surface is of practical importance for air-assisted marine vehicles such as some racing boats including catamarans with hydrofoils and WIG (Wing-In-Ground) effect crafts. In the present paper, the effects of free surface both on 2-D airfoils and 3-D wings moving steadily over free water surface are investigated in detail. The iterative numerical method (IBEM) based on the Green's theorem allows separating the airfoil or wing problems and the free surface problem. Both the 2-D airfoil surface (or 3-D wing surface) and the free surface are modeled with constant strength dipole and constant strength source panels. While the kinematic boundary condition is applied on the airfoil surface or on the wing surface, the linearized kinematic-dynamic combined condition is applied on the free surface. The source strengths on the free surface are expressed in terms of perturbation potential by applying the linearized free surface conditions. No radiation condition is enforced for downstream boundary in 2-D airfoil and 3-D wing cases and transverse boundaries in only 3-D wing case. The method is first applied to 2-D NACA0004 airfoil with angle of attack of four degrees to validate the method. The effects of height of 2-D airfoil from free surface and Froude number on lift and drag coefficients are investigated. The method is also applied to NACA0015 airfoil for another validation with experiments in case of ground effect. The lift coefficient with different clearance values are compared with those of experiments. The numerical method is then applied to NACA0012 airfoil with the angle of attack of five degrees and the effects of Froude number and clearance on the lift and drag coefficients are discussed. The method is lastly applied to a rectangular 3-D wing and the effects of Froude number on wing performance have been investigated. The numerical results for wing moving under free surface have also been compared with those of the same wing moving above free surface. It has been found that the free surface can affect the wing performance significantly.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.27 no.1
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• pp.693-700
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• 2009

For real-time precise GPS data processing such as a long baseline network RTK (Real-Time Kinematic) survey, PPP (Precise Point Positioning) and monitoring of ionospheric/tropospheric delays, it is necessary to guarantee accuracy comparable to IGS (International GNSS Service) precise orbit with no latency. As a preliminary study for determining near real-time satellite orbits, the general procedures of satellite orbit determination, especially the dynamic approach, were studied. In addition, the transformation between terrestrial and inertial reference frames was tested to integrate acceleration. The IAU 1976/1980 precession/nutation model showed a consistency of 0.05 mas with IAU 2000A model. Since the IAU 2000A model has a large number of nutation components, it took more time to compute the transformation matrix. The classical method with IAU 2000A model was two times faster than the NRO (non-rotating origin) approach, while there is no practical difference between two transformation matrices.

• Korean Journal of Applied Biomechanics
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• v.23 no.4
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• pp.369-376
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• 2013

The purposes of this study were to assess dynamic stability toward pelvis-spine column distortion during running and to compare the typical three-dimensional angular kinematics of the trunk motion; cervical, thoracic, lumbar segment spine and the pelvis from the multi-segmental spine model between exercise group and non-exercise group. Subjects were recruited as exercise healthy women on regular basis (group A, n=10) and non-exercise idiopathic scoliosis women (group B, n=10). Data was collected by using a vicon motion capture system (MX-T40, UK). The pelvis, spine segments column and lower limbs analysiaed through the 3D kinematic angular ROM pattern. There were significant differences in the time-space variables, the rotation motion of knee joint in lower limbs and the pelvis variables; obliquity in side bending, inter/outer rotation in twisting during running leg movement. There were significant differences in the spinal column that is lower-lumbar, upper-lumbar, upper-thoracic, mid-upper thoracic, mid-lower thoracic, lower thoracic and cervical spine at inclination, lateral bending and twist rotation between group A and group B (<.05, <.01 and <.001). As a results, group B had more restrictive motion than group A in the spinal column and leg movement behaved like a 'shock absorber". And the number of asymmetry index (AI) showed that group B was much lager unbalance than group A. In conclusion, non-exercise group was known to much more influence the dynamic stability of equilibrium for bilateral balance. These finding suggested that dynamic stability aimed at increasing balance of the trunk ROM must involve methods and strategies intended to reduce left/right asymmetry and the exercise injury.

• Journal of Electrical Engineering and Technology
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• v.10 no.3
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• pp.1114-1123
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• 2015

Bushing is the key link to connect outer and inner insulating systems and also the essential electric accessory in electric power system, especially in the high voltage engineering (AC 1000kV, DC 800kV). This paper presented the experimental research of thermal aging characteristic of oil-paper insulation used in bushing. A thermally accelerated aging experiment at 90℃ was performed. The bushing models containing five layers of paper were sealed into the aging vessels and further aged for 250 days. Then several important parameters associated with the aging were observed and evaluated. The results showed that the degree of polymerization (DP) of papers gradually decreased. The DP values of outermost layer and middle layer fit well into the second-order kinematic model and first-order kinematic model, respectively. Less deterioration speed of the inter-layer paper than outer layer was confirmed by the variation of DP. Hydrolysis was considered as the main cause to this phenomenon. In addition, the logarithm of the furfural concentrations in insulation oil was found to have good linear relationship with DP of papers. Interestingly, when the aging time is about 250 days and DP is 419, the aging process reaches an inflection point at which the DP approaches the leveling off degree of polymerization (LODP) value. Both tanδ and acid number of oils increased, while surface and volume resistivity of papers decreased. The obtained results demonstrated that thermal aging and moisture absorbed in papers brought great influence to the degradation of insulating paper, leading to rapid decrease of DP and increase of the tanδ. Thus, the bushing should be avoided from damp and real-time monitoring to the variation of tanδ and DP values of paper is an effective way to evaluate the insulation status of bushing.

• Korean Journal of Applied Biomechanics
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• v.14 no.1
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• pp.145-160
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• 2004

The purposes of this study to provide quantitative data in necessary to advance techniques kinematic analysis of Cucarachas which is an action of Rumba. Then, this study is performed on 5 female players who have won within the third prize at a national athletic meeting. When whole foot reached to floor, Displacement of right-left hip joint (until $E1{\sim}E3$ average moved 15.15cm)is found at right-left direction since the hip joint is turned to right back. On the other side, large displacement is shown because Rumba Cucaracha Movement is expressed by maximum shift of hip joint to right and left direction. Displacement of right hip joint(E3$57.40{\pm}7.46$) is found in front and in rear direction since hip joint is moved in rear and in front to turn the hip joint. It may be stated that this is ideal displacement expressed by movement of whole body with artistic poise and presentation because role of hip joint is very important in technical and artistic side. Angle of right shoulder joint E2($105.44{\pm}9.64$) is got wider. It may be stated that player shifts up and abduct elbow joint to right since center of gravity of player is exceedingly shifted to right in this motion of Cucarachas. On the other hand, since this motion is abducted right elbow and shrunk external abdominal oblique to him center of body to left front of hip joint, the angle becomes narrow. It is shown that angle of knee in right knee joint E4($75.44{\pm}2.61$) is large since right leg and hip joint is turned by foot using reaction of ground and so center of body is shifted to left. Large angle of ankle E4($134.40{\pm}10.50$) in Cucaracha Movement is shown by the action of twist force using narrow part of foot and compression force against ground with adduction speed of arm. The various kinematic analyses associated with motions of dance sport have not been sufficiently peformed so far, and thus a number of research projects for dance sport should be proposed and performed to be continuous.