• 대한수학회보
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• 제59권6호
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• pp.1387-1408
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• 2022

Let R be a commutative ring with a non-zero identity, S be a multiplicatively closed subset of R and M be a unital R-module. In this paper, we define a submodule N of M with (N :_R M)∩S = ∅ to be weakly S-prime if there exists s ∈ S such that whenever a ∈ R and m ∈ M with 0 ≠ am ∈ N, then either sa ∈ (N :_R M) or sm ∈ N. Many properties, examples and characterizations of weakly S-prime submodules are introduced, especially in multiplication modules. Moreover, we investigate the behavior of this structure under module homomorphisms, localizations, quotient modules, cartesian product and idealizations. Finally, we define two kinds of submodules of the amalgamation module along an ideal and investigate conditions under which they are weakly S-prime.

• 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.

• 대한기계학회논문집B
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• 제21권9호
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• pp.1149-1164
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• 1997

In this study, the applicability of the RNG k-.epsilon. model to the analysis of the complex flows is studied. The governing equations based on a non-orthogonal coordinate formulation with Cartesian velocity components are used and discretized by the finite volume method with non-staggered variable arrangements. The predicted results using the RNG k-.epsilon. model of three complex flows, i.e., the flow over a backward-facing step and a blunt flat plate, the flow around a 2D model car are compared to these from the standard k-.epsilon. model and experimental data. That of the unsteady axisymmetric turbulent flow within a cylinder of reciprocating model engine including port/valve assembly and the spray characteristics within a chamber of direct injection model engine are compared to these from the standard k-.epsilon. model and experimental data. The results of reattachment length, separated eddy size, average surface pressure distribution using the RNG k-.epsilon. model show more reasonable trends comparing with the experimental data than those using the modified k-.epsilon. model. Although the predicted rms velocity using the modified k-.epsilon. model is lower considerably than the experimental data in incylinder flow with poppet valve, predicted axial and radial velocity distributions at the valve exit and in-cylinder region show good agreements with the experimental data. The spray tip penetration predicted using the RNG k-.epsilon. model is more close to the experimental data than that using the modified k-.epsilon. model. The application of the RNG k-.epsilon. model seems to have some potential for the simulations of the unsteady turbulent flow within a port/valve-cylinder assembly and the spray characteristics over the modified k-.epsilon. model.

• 한국실내디자인학회논문집
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• 제19권2호
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• pp.90-98
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• 2010

The concepts of laws like regularity or persistence or recurrence those are discovered in nature, became the essential elements in speculative philosophy, study and scientific technology. Western civilization was spread out by these natural laws. As this background, this study is aimed to research the theories of natural laws and the development of geometry as the descriptive tools and the development aspects of the concepts of space. According to Whitehead's four theories on the natural laws, the result of this study that aimed like that as follows. First, the theories on the immanence and imposition of the natural laws were the predominant ideas from ancient Greek to before the scientific revolution, the theory on the simple description like the positivism made the Newton-Cartesian mechanism and an absolutist world view. The theory on the conventional interpretation made the organicism and relativism world view according to non-Euclidean geometry. Second, the geometrical composition of ancient Greek architecture was an aesthetics that represented the immanence of natural laws. Third, in the basic symbol of medieval times, the numeral symbol was the frame of thought and was an important principal of architecture. Fourth, during the Renaissance, architecture was regarded as mathematics that made the order of universe to visible things and the geometry was regarded as an important architectural principal. Fifth, according to the non-Euclidean geometry, it was possible to present the natural phenomena and the universe. Sixth, topology made to lapse the division of traditional floor, wall and ceiling in contemporary architecture and made to build the continuous space. Seventy, the new nature was explained by fractal concepts not by Euclidean shapes, fractal presented that the essence of nature had not mechanical and linear characteristic but organic and non-linear characteristic.

• 전자공학회논문지SC
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• 제42권5호
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• pp.1-12
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• 2005

이동로봇과 작업로봇의 직결연결 형태인 이동매니퓰레이터는 원자로 내부와 같은 위험한 작업환경에서 다양한 일한 처리하기위해 유용한 시스템이라 할 수 있다. 하부의 이동로봇은 non-holonomic 시스템이고 상부의 작업로봇의 결합으로 인하여 기구학적 잉여자유도를 갖고 있다. 그러나 주행 중 작업공간 확보로 인하여 고정식 매니퓰레이터보다 더 효율적인 작업이 가능 하다고 할 수 있다. 본 논문에서는 영상정보에 의한 물체인식 및 최적주행을 수행하기 위하여 이동로봇에 장착된 능동카메라에 인식된 영상과 실제 물체간의 기하학적 관계를 이용하여 직교좌표상의 물체의 위치를 추정할 수 있도록 하였다. 두 번째로 시스템의 위치변위 및 영상정보를 이용하여 물체위치를 추정하고 동차행렬을 이용하여 이동매니퓰레이터의 현 위치와 물체간의 최적경로를 결정하는 방법을 제시하였다. 제시한 방법을 시뮬레이션과 이동매니퓰레이터를 이용한 실험데이터분석을 통하여 유효성을 제시하였다.

• 대한기계학회논문집
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• 제18권1호
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• pp.139-149
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• 1994

A numerical simulation of unsteady axisymmetric turbulent flow was performed for a reciprocating engine including port/valve assembly. The governing equations based on a nonorthogonal coordinate formulation with Cartesian velocity components were used and discretised by the finite volume method with non-staggered variable arrangements. The modified $\kappa-\xi$. turbulence model which included the effect of compressibility was used. The results of twodimensional transient calculation for the axisymmetric configuration were compared with the experimental data. Although slightly low rms velocity was predicted compared to the experimental data, predicted velocity distributions at the valve exit and in-cylinder region showed good agreements with the experimental data. The flow at the valve exit was separated at the same valve lift position with the experimental data. Two vortices incylinder region were generated during the initial intake process. The clockwise main vortex became strong and moved upward to the top wall. The counter-clockwise second vortex became weak and stick to the upper left corner of the cylinder. After middle intake process, new vortex adjacent to upper cylinder wall appeared by the piston motion and therefore, the in-cylinder flow was formed into three vortices. The cylinder pressure just before bottom dead center of piston was higher than inlet pressure and then the reverse flow occured at the valve exit. The in-cylinder flow characteristics were strongly dependent on piston motion, but insensitive to valve motion.

• International Journal of Aeronautical and Space Sciences
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• 제16권2호
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• pp.295-310
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• 2015

In the present study, an unstructured mixed mesh flow solver was used to conduct a numerical prediction of the aerodynamic performance of the S-76 rotor in hover. For the present mixed mesh methodology, the near-body flow domain was modeled by using body-fitted prismatic/tetrahedral cells while Cartesian mesh cells were filled in the off-body region. A high-order accurate weighted essentially non-oscillatory (WENO) scheme was employed to better resolve the flow characteristics in the off-body flow region. An overset mesh technique was adopted to transfer the flow variables between the two different mesh regions, and computations were carried out for three different blade configurations including swept-taper, rectangular, and swept-taper-anhedral tip shapes. The results of the simulation were compared against experimental data, and the computations were also made to investigate the effect of the blade tip Mach number. The detailed flow characteristics were also examined, including the tip-vortex trajectory, vortex core size, and first-passing tip vortex position that depended on the tip shape.

• 한국해양공학회지
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• 제25권4호
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• pp.36-41
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• 2011

In the present paper, a direct forcing/fictitious domain (DF/FD) level set method is proposed to simulate the FSI (fluid-solid interaction) in two-phase flow. The main idea is to combine the direct-forcing/fictitious domain (DF/FD) method with the level set method in the Cartesian coordinates. The DF/FD method is a non-Lagrange-multiplier version of a distributed Lagrange multiplier/fictitious domain (DLM/FD) method. This method does not sacrifice the accuracy and robustness by employing a discrete ${\delta}$ (Dirac delta) function to transfer quantities between the Eulerian nodes and Lagrangian points explicitly as the immersed boundary method. The advantages of this approach are the simple concept, easy implementation, and utilization of the original governing equation without modification. Simulations of various water-entry problems have been conducted to validate the capability and accuracy of the present method in solving the FSI in two-phase flow. Consequently, the present results are found to be in good agreement with those of previous studies.

• Journal of applied mathematics & informatics
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• 제13권1_2호
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• pp.53-65
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• 2003

Here we present a study of small-amplitude, shallow water waves on sloping beds. The beds considered in this analysis are linear and quadratic in nature. First we start with stating the relevant governing equations and boundary conditions for the theory of water waves. Once the complete prescription of the water-wave problem is available based on some assumptions (like inviscid, irrotational flow), we normalize it by introducing a suitable set of non-dimensional variables and then we scale the variables with respect to the amplitude parameter. This helps us to characterize the various types of approximation. In the process, a summary of equations that represent different approximations of the water-wave problem is stated. All the relevant equations are presented in rectangular Cartesian coordinates. Then we derive the equations and boundary conditions for small-amplitude and shallow water waves. Two specific types of bed are considered for our calculations. One is a bed with constant slope and the other bed has a quadratic form of surface. These are solved by using separation of variables method.

• 한국추진공학회지
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• 제1권2호
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• pp.22-31
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• 1997

비직교 일반좌표계를 사용하는 범용 연소유동해석 프로그램을 개발하여 재순환영역을 가지는 연소유동 등을 해석하였다. 본 프로그램은 유한체적법에 근간을 둔 비엇갈림격자계를 사용하며 직교좌표 속도성분을 종속변수로 하였다. 연소모델은 무한반응속도의 1단계 비가역 반응을 고려하였으며, 밀도가중평균된 지배방정식을 고려하였다. Conserved Scalar의 확률밀도함수를 clipped gauss 분포로 가정하였다 본 프로그램을 사용하여 재순환영역을 가지는 난류확산화염을 계산하였다. 계산결과는 실험결과와 마찬가지로 두개의 재순환영역을 보였으며, 속도, 난류운동에너지, 온도 및 농도 등이 실험결과와 양호하게 일치하는 결과를 얻을 수 있었다.