• 한국운동역학회지
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• 제13권3호
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• pp.327-340
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• 2003

The purpose of this study was to investigate the height of jump, angle of the ankle and knee, the angular velocity of the ankle and knee between two types of ballet shoes during a jump in the 1st position. The subjects were 5 female ballet majors of university in Busan the majors who have been dancing ballet for six years on the average. The conclusions are as follows: 1. The height of jump had no significant difference between two types of ballet shoes, and then the average of the height of jump with point shoes group ($20.24{\pm}4.62\;cm$) was a little higher than ballet shoes group ($17.50{\pm}4.05\;cm$). 2. The angle of the ankle had no significant difference for all events between two types of ballet shoes. The minimum angle of ankle joint was represented to $54.36_{\circ}$ at the E1 of the left ankle angle of the ballet shoes and the maximum value was showed $155.43_{\circ}$ at the E3 of the right ankle angle of the point shoes. 3. The angle of the knee had no significant difference for all events between two types of ballet shoes. The minimum angle of knee joint was represented to $99.54_{\circ}$ at the E1 of the left knee angle of the ballet shoes and the maximum value was showed $174.25_{\circ}$ at the E3 of the right knee angle of the point shoes. 4. The ankle velocity of the ankle had no significant difference for all events between two types of ballet shoes. The minimum angular velocity of the ankle was represented to 4.35 deg/s at the maximum height(E3) of the point shoes and the maximum value was showed 597.81 deg/s at the take-off(E2) of the right ankle angle of the point shoes. 5. The angular velocity of the knee had significant difference between two types of ballet shoes at the event 1(p<.05). The minimum angular velocity of the hee was represented to -1.68 deg/s at the maximum height(E3) of the point shoes and the maximum value was showed 360.25 deg/s at the take-off(E2) of the left knee angle of the ballet shoes. The other events had no significant difference between two types of ballet shoes.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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• pp.238-243
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• 1999

Minimum-fuel and -time orbit transfer are two major goals of the satellite trajectory optimization. In this paper, we consider satellites in two coplanar elliptic orbits when the apsidal lines coincide, and analytically find the conditions for the two-impulse minimum-time transfer orbit using Lambert's theorem. The transfer time is a decreasing function of a variable related to the transfer orbit's semimajor axis in the minimum-time case. In the minimum-time case, there is no unique minimum-time solution, but there is a limiting solution. However, there exists a unique solution in the case of minimum-fuel transfer, fur which we find analytically the necessary and sufficient conditions. As a special case, we consider when the transfer angle is one hundred and eighty degrees. In this case, we show that we obtain the classical fuel-optimal Hohmann transfer orbit. We also derive the Hohmann transfer rime and delta-velocity equations from more general equations, which are obtained using Lambert's theorem. We note the tradeoff between minimum-time and - fuel transfer. An optimal coplanar orbit maneuver algorithm to trade off the minimum-time goal against the minimum-fuel goal is proposed. Finally, the numerical simulation results are given to demonstrate the derived theory and the algorithm.

• 한국해양학회지
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• 제30권6호
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• pp.543-549
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• 1995

연속된 AVHRR/SST 자료를 이용한 표층유속의 추정에 역행렬법이 이용되어 왔다. 본 모델에서 방정식체계는 열방정식과 제한요소로서 가중치가 있는 발산최소화이다. 제한요소는 열방정식의 속도해중에서 null space(Menke, 1984)에 해당하는 해를 구하기 위하여 도입되었으며 이 식들은 격자화한 영역에서 AVHRR/SST의 수온경사에 의해 선형화된다. 실험은 열방정식에 대한 발산최소화의 상대적 중요성을 나타내는 가중치의 크기를 설정하기 위하여 수행하였으며 행렬식은 SVD(Singular Value Decomposion)에 의해 해를 구했다. 실험에서 가상온도분포의 수온경사와 가상유속장의 발산의 크기는 실제해역에 근사시켰다. 열방정식은 착산의 효과를 무시하고 열속이 공간적으로 일정한 것으로 가정하여 구성하였으며 이와같은 가정에 의한 오류를 고려하기 위하여 가상 온도자료에 무작위오류를 도입하였다. 실험결과에 의하면 가중치를 설정하는 기준으로서 상대오차 최소화가 잔차최소화보다 바람직한 것으로 나타났으며 가중치가 $10^{-1}$의 크기일 때 추정유속의 오류가 가장 작은것으로 나타났다.

• Korean Chemical Engineering Research
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• 제46권3호
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• pp.567-570
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• 2008

내경 0.109 m의 유동층에서 다입자경 모래에 대한 압력요동의 표준편차와 유속간의 선형회귀분석을 이용한 최소유동화속도 측정법의 적용성을 조사하였다. 다입자경 모래를 평균입자크기가 같은 Gaussian 분포에서 입자분포의 표준편차에 따른 최소유동화속도를 측정하고, 측정치를 타 연구자들의 식과 비교 검토하였다. 압력요동의 표준편차 값 선형회귀분석법과 층내 압력강하로부터 구한 최소유동화속도를 구하였다. 최소유동화속도 결정에서 유속 범위는 혼합도가 낮은 유속범위와 free bubbling 영역 이상을 제외한 범위값 이어야 하며, 이 유속범위에서 측정위치는 혼합이 양호한 층 중앙이 가장 적절하다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.69-72
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• 1996

This paper considers a global resolution of kinematic redundancy under inequality constraints as a constrained optimal control. In this formulation, joint limits and obstacles are regarded as state variable inequality constraints, and joint velocity limits as control variable inequality constraints. Necessary and sufficient conditions are derived by using Pontryagin's minimum principle and penalty function method. These conditions leads to a two-point boundary-value problem (TPBVP) with natural, periodic and inequality boundary conditions. In order to solve the TPBVP and to find a global minimum, a numerical algorithm, named two-stage algorithm, is presented. Given initial joint pose, the first stage finds the optimal joint trajectory and its corresponding minimum performance cost. The second stage searches for the optimal initial joint pose with globally minimum cost in the self-motion manifold. The effectiveness of the proposed algorithm is demonstrated through a simulation with a 3-dof planar redundant manipulator.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집D
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• pp.175-180
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• 2001

In this study, the minimum heat flux conditions are experimentally investigated for the spray cooling of hot plate. The hot plates are cooled down from the initial temperature of about $900^{\circ}C$, and the local heat flux and surface temperatures are calculated from the measured temperature-time history. The results show that the minimum heat flux point temperatures increase linearly resulting from the propagation of wetting front with the increase of the distance from the stagnation point of spray flow. However, in the wall region, the minimum heat flux point temperature becomes independent of the distance. Also, the experimental results show that the velocity of wetting front increases with the increase of the droplet flow rate.

• 한국정밀공학회지
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• 제18권10호
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• pp.116-126
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• 2001

This paper suggests a numerical method to find optimal geometric path and minimum-time motion for a spatial 6-link manipulator arm (PUMA 560 type). To find a minimum-time motion, the optimal geometric paths minimizing 2 different dynamic performance indices are searched first, and the minimum-time motions are searched on these optimal paths. In the algorithm to find optimal geometric paths, the objective functions (performance indices) are selected to minimize joint velocities, actuator forces or the combinations of them as well as to avoid one static obstacle. In the minimum-time algorithm the traveling time is expressed by the power series including 21 terms. The coefficients of the series are obtained using nonlinear programming to minimize the total traveling time subject to the constraints of velocity-dependent actuator forces.

• 설비공학논문집
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• 제13권10호
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• pp.974-981
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• 2001

In this study, the minimum heat flux conditions are experimentally investigated for the spray cooling of hot plate. The hot plates are cooled down from the initial temperature of about$ 900^{\circ}C$, and the local heat flux and surface temperatures are calculated from the measured temperature-time history. The results show that the minimum heat flux point temperatures increase linearly resulting from the propagation of wetting front with the increase of the distance from the stagnation point of spray flow. However, in the wall region, the minimum heat flux point temperature becomes independent of the distance. Also, the velocity of wetting front increases with the increase of the droplet flow rate.

• 콘크리트학회논문집
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• 제16권6호
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• pp.833-840
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• 2004

비파괴 검사에 의한 콘크리트 압축강도 시험법 중에서 반발도법과 초음파 속도법은 가장 널리 사용되는 방법이다. 그러나 국내에서 사용되고 있는 비파괴 강도 시험법은 대부분이 외국의 시험법을 적용하고 있어서 국내의 콘크리트 구조물에 직접 적용하는 데는 무리가 따른다고 할 수 있다. 반발도법의 경우, 일본건축학회 등의 제안에 자라 20개의 타격점을 표준으로 채택하고 있으나 표준편차에 대한 고려를 하지 않고 있는 실정이다. 또한, 초음파 속도법에 의한 시험은 압축강도를 추정하는데 필요한 측정횟수의 규정이 없다 따라서 본 연구에서는 카이검증을 이용하여 비파괴 검사법에 의한 콘크리트 압축강도의 타격횟수의 신뢰도를 검토하고 최소시험 횟수를 제안하였다. 그 결과, 반발도법과 초음파 속도법으로 추정한 콘크리트 압축강도 값이 만족할 만한 신뢰범위에 들기 위한 최소시험횟수는 각각 11회와 7회로 분석되었다. 다만, 실구조물의 품질변동을 고려하여 이상치의 결측처리와 시험군의 격자 배열을 전제로 한다면, 반발도법은 국내의 관행에 따라 20회로, 음파 속도법은 9회로 규정하는 것이 바람직하다고 판단된다.

• 한국해양공학회지
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• 제17권1호
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• pp.55-60
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• 2003

The effect of size and volume fraction of ceramic particles, with sliding velocity on the wear properties were investigated for the metal matrix composites fabricated by the pressureless infiltration process. The metal matrix composites exhibited about 5.5 - 6 times the wear resistance compared with AC8A alloy at high sliding velocity, and by increasing the particle size and decreasing the volume fraction, the wear resistance was improved. The wear resistance of metal matrix composites and AC8A alloy exhibited different aspects. Wear loss of AC8A alloy increased with sliding velocity, linearly : whereas, metal matrix composites indicated more wear loss than AC8A alloy at the slow velocity region. However, a transition point of wear loss was found at the middle velocity region, which shows the minimum wear loss. Further, wear loss at the high velocity region exhibited nearly the same value as the slow velocity region. In terms of wear mechanism, the metal matrix composites generally exhibited abrasive wear at slow to high sliding velocity； however, AC8A alloy showed abrasive wear at low sliding velocity and adhesive and melt wear at high sliding velocity.