• 물과 미래
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• 제27권4호
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• pp.123-133
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• 1994

하천 흐름해석에서 단순화된 운동방정식을 사용한 kinematic 모델과 diffusion 모델이 full dynamic 모델에 비하여 여러 장점을 지니고 있기 때문에 수치모의에 종종 사용된다. 본 논문에서는 kinematic 모델과 diffusion 모델의 적용범위에 대하여 보다 폭넓게 사용될 수 있는 적용한계를 하천의 수로경사 $S_{02}$, 무차원의 상류측 수심증가 수 Gw 및 Froude수 Fr등 3개의 주요한 인자를 기준으로 하여 연구하였다. 이 때 적용범위는 full dynamic 방정식의 시간 가속도항, 공간 가속도항, 압력항, 중력항 및 마찰항의 상대적 크기의 비교를 통하여 도출되었다. 실험모의중에 Courant수는 0.5로 한정되었으며, 하천의 하상경사는 0.00001부터 0.05까지 변하였다. 또한, 0.1, 0.5 및 0.9의 Froude 수가 사용되었다. 본 논문에서는 kinematic 모델의 적용범위는 Froude 수가 증가함에 따라 증가하는 것으로 나타났으나, diffusion 모델의 적용범위는 Froude 수가 증가함에 따라 감소하였다. 최종적으로 kinematic 모델과 diffusion 모델의 적용을 위한 지침으로 사용할 수 있는 9개의 그림이 제안되었으며 이 제안된 그림을 적절하게 활용할 때 하천이나 강에 흐름모의가 보다 효율적으로 이루어질 수 있을 것이다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2737-2742
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• 2003

Kinematic calibration enhances absolute accuracy by compensating for the fabrication tolerances and installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed. While the Cartesian postures are measured completely, all of the geometric parameters can be identified to their true values. With partial pose measurements, however, few geometric parameters may not be identifiable and effectiveness of the calibration results may vary significantly within the workspace. QR decomposition of the identification Jacobian matrix can reveal the non-identifiable parameters. Selecting postures for measurement is also an important issue for efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to find optimum postures. This paper investigates identifiable parameters and optimum postures for four different calibration procedures - measuring postures completely with inverse kinematic residuals, measuring postures completely with forward kinematics residuals, measuring only the three position components, and restraining the mobility of the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel HexaSlide type paralle manipulator, HSM. Results verify that all parameters are identifiable with complete posture measurements. For the case of position measurements, one and for the case of constraint link, three parameters were found non-identifiable. Optimal postures showed the same trend of orienting themselves on the boundaries of the search space.

• 천문학회보
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• 제42권2호
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• pp.72.1-72.1
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• 2017

Energetic ionized gas outflows driven by active galactic nuclei (AGN) have been studied as a key phenomenon related to AGN feedback. To probe the kinematics of the gas in the narrow line region, [O III] ${\lambda}5007$ has been utilized in a number of studies, showing non-virial kinematic properties due to AGN outflows. We statistically investigate whether the $H{\alpha}$ emission line is influenced by AGN driven outflows, by measuring the kinematic properties based on the $H{\alpha}$ line profile, and by comparing them with those of [O III]. Using the spatially integrated spectra of ~37,000 Type 2 AGNs at z < 0.3 selected from the SDSS DR7, we find a non-linear correlation between $H{\alpha}$ velocity dispersion and stellar velocity dispersion, which reveals the presence of the non-gravitational component, especially for AGNs with a wing component in $H{\alpha}$. The large $H{\alpha}$ velocity dispersion and velocity shift of luminous AGNs are clear evidence of AGN outflow impacts on $H{\alpha}$ emitting gas, while relatively smaller kinematic properties compared to those of [O III] imply that the observed outflow effect on the $H{\alpha}$ line is weaker than the case of [O III].

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1476-1481
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• 2003

Kinematic calibration enhances absolute accuracy by compensating for the fabrication tolerances and installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed. This paper investigates identifiable parameters and optimum postures for four different calibration procedures - measuring postures completely with inverse kinematic residuals, measuring postures completely with forward kinematics residuals, measuring only the three position components, and restraining the mobility of the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel HexaSlide type parallel manipulator, HSM. Results verify that all parameters are identifiable with complete posture measurements. For the case of position measurements, one and for the case of constraint link, three parameters were found non-identifiable. Selecting postures for measurement is also an important issue for efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to find optimum postures. Optimal postures showed the same trend of orienting themselves on the boundaries of the search space.

• Structural Engineering and Mechanics
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• 제44권6호
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• pp.775-799
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• 2012

This work approaches the structural performance of masonry arches that have a small ratio between number of vossoirs and span length. The aim of this research is to compare and validate three different methods of analysis (funicular limit analysis F.L.A., kinematic limit analysis K.L.A. and plane stress Finite Element Analysis F.E.A.) with an experimental campaign. 18 failure tests with arches of different shapes and boundary conditions have been performed. The basic failure mechanism was the formation of enough hinges in the geometry. Nevertheless, in few cases, sliding between vossoirs also played a relevant influence. Moreover, few arches didn't reach the collapse. The FLA and KLA didn't find a solution close to the experimental values for some of the tests. The low number of vossoirs and joints become a drawback for an agreement between kinematic mechanism, equilibrium of forces and geometry constraints. FLA finds a lower bound whereas KLA finds an upper bound of the ultimate load of the arch. FEA is the most reliable and robust method and it can reproduce most of the mechanism and ultimate loads. However, special care is required in the definition of boundary conditions for FEA analysis. Scientific justification of the more suitability of numerical methods in front of classic methods at calculating arches with a few vossoirs is the main original contribution of the paper.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2005년도 창립60주년 기념 추계 학술대회
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• pp.9.2-9.2
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• 2005

• Korean Journal of Hydrosciences
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• 제1권
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• pp.15-25
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• 1990

Spatially varied unsteady flow in a groave-like channel of a sloping roof is analyzed by numerical solution of Saint Venant equations. Depth variations are discussed with different slopes and bed roughness of the channel. Time to equilibrium is found to be inversely proportional to the kinematic flow number. The design of roof drainage system by different schemes is included.

• 융합신호처리학회논문지
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• 제2권3호
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• pp.79-85
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• 2001

본 논문에서는 퍼지 보상기와 자기구성 신경회로망을 이용하여 3축 매니퓰레이터의 역 기구학 해를 구하는 방법을 제안한다. 가우시안 위치 함수를 활성화 함수로 사용하는 자기구성 신경회로망은 학습 시작시 1개의 은닉층 노드를 가지고 학습을 하면서 점차적으로 은닉층의 노드수를 증가시킴으로서 최적의 노드수를 얻을 수 있으며, 퍼지 보상기는 신경회로망의 양호한 학습비를 얻는다. 이와 같이 시스템을 구성하여 빠른 학습속도와 학습비의 개선 그리고 빠른 정상상태로의 수렴을 확인하였다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.455-458
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• 2006

The Real Time Kinematic (RTK) technique is the most productive and accurate GPS positioning method today, as it can be determinate position within few centimeters instantly. This method is widely used for applications such as surveying, structure monitoring and machine guidance etc. In order to perform RTK processing for large scale systems (i.e. precise vehicle monitoring with many rovers), many expensive RTK receivers and same number of bidirectional communication units have to be installed to collect observation data communicate with the reference site and monitor its RTK solutions. Moreover, if applications require remote control or apply sensing instruments, we have to install computers at each rover. To limit expense and complexity of system management with a large number of rovers, we have developed server based RTK processing platform to share RTK function for all rovers. The system can be process many GPS stations with a single personal computer. we have also developed a specialized dual frequency GPS receiver unit without on-board RTK processing capability to reduce receiver cost in order to demonstrate the advantage of our server based RTK platform. This paper describes the concept of our server based RTK platform and specialized GPS receiver unit with existing applications in Japan.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1771-1776
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• 2003

In mobile robot navigation, one of the key problems is the pose estimation of the mobile robot. Although the odometry can be used to describe the motions of the mobile robots quite simple and accurately, the validities of the models are limited by a number of error sources contaminating the encoder outputs so that applying the conventional extended Kalman filter to these nominal model does not yield the satisfactory performance. As a remedy for this problem, we consider the uncertain nonlinear kinematic model of the mobile robot that contains the norm bounded uncertainties and also propose a new robust extended Kalman filter based on the Krein space approach. The proposed robust filter has the same recursive structure as the conventional extended Kalman filter and can hence be readily designed to effectively account for the uncertainties. The computer simulations will be given to verify the robustness against the parameter variation as well as the reliable performance of the proposed robust filter.