• Journal of Institute of Control, Robotics and Systems
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• v.15 no.6
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• pp.619-625
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• 2009

FastSLAM which uses the Rao-Blackwellized particle filter is one of the famous solutions to SLAM (Simultaneous Localization and Mapping) problem that estimates concurrently a robot's pose and surrounding environment. However, the particle depletion problem arises from the loss of the particle diversity in the resampling process of FastSLAM. Then, the performance of FastSLAM degenerates over the time. In this work, DIR (Density Information-based Resampling) technique is proposed to solve the particle depletion problem. First, the cluster is constructed based on the density of each particle, and the density of each cluster is computed. After that, the number of particles to be reserved in each cluster is determined using a linear method based on the distance between the highest density cluster and each cluster. Finally, the resampling process is performed by rejecting the particles which are not selected to be reserved in each cluster. The performance of the DIR proposed to solve the particle depletion problem in FastSLAM was verified in computer simulations, which significantly reduced both the RMS position error and the feature error.

• Journal of Korean Society for Atmospheric Environment
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• v.23 no.6
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• pp.752-759
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• 2007

For an accurate measurement of aerosol particle size distribution using a differential mobility analyser (DMA), a new calculation process, capable of predicting the masses for the various kinds of water cluster ions generated from a bipolar ionizer, was prepared by improving the previous process. The masses for the 5 kinds of positive and negative water cluster ions produced from a SMAC ionizer were predicted by the improved calculation process. The aerosol particle charging ratios calculated by applying the predicted ion masses to particle charging equations were in good accordance with the experimentally measured ones, indicating that the improved calculation process are more reasonable than the previous one in a mass prediction of bipolar water cluster ions.

• Journal of Industrial Technology
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• v.21 no.B
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• pp.149-153
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• 2001

A study on the particle growth in $TEOS/O_2$ plasma was performed, and particle size and its distribution was measured by the electrical aerosol analyzer (EAA), light scattering particle size analyzer and the particle size was also determined by SEM. The effects of process variables such as total gas flow rate, reactor pressure, supplied power and initial reactant concentration on the particle growth were investigated. From the EAA results, the particle size distribution is divided into three groups of the cluster size and the small and large size particles. The particle size distribution measured by the light scattering particle size analyzer becomes bimodal, because the cluster size particles smaller than 20 nm in diameter cannot be detected by the light scattering particle size analyzer. The size of particles measured by the light scattering particle size analyzer is in good agreements with those by the SEM. Also we could understand that the particle formation is very sensitive to the changes of reactor pressure and reactant concentration. As the total gas flow rate increases, the particle size decreases because of the shorter residence time. As the reactor pressure, or the reactant concentration increases, the particle concentration increases and the particles grow more quickly by the faster coagulation between particles.

• Journal of the Korean Vacuum Society
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• v.10 no.3
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• pp.283-288
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• 2001

We have investigated aluminum cluster deposition using a classical molecular dynamics simulations. We studied the variations of the cluster momentum and the impulse force during collisions, and found that the close-packed cluster impact has some of properties of the single particle collision and the linear atomic chain collisions. We also simulated the series of energetic cluster deposition with energy Per atom. When energy Per atom in cluster has some eV rather than very low, the intermixing occurred easily in growth film and we can obtain a good film without subsequent annealing process.

• Journal of Korean Tunnelling and Underground Space Association
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• v.14 no.4
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• pp.293-308
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• 2012

The shear behavior at the particle/surface interface such as rock joint can determine the mechanical behavior of whole structure. Therefore, a fundamental understanding of the mechanisms governing its behavior and accurately estimation of the interface strength is essential. In this paper, PFC, a numerical analysis program of discrete element method was used to investigate the effects of the surface roughness on interface strength. The surface roughness was characterized by smooth, intermediate, and rough surface, respectively. In order to investigate the effects of particle shape and crushing on particle/surface interface behavior, one ball, clump, and cluster models were created and their results were compared. The shape of particle was characterized by circle, triangle, square, and rectangle, respectively. The results showed that as the surface roughness increases, interface strength and friction angle increase and the void ratio increases. The one ball model with smooth surface shows lower interface strength and friction angle than the clump model with irregular surface. In addition, a cluster model has less interface strength and friction angle than the clump model. The failure envelope of the cluster model shows non-linear characteristic. From these findings, it is verified that the surface roughness and particle shape effect on the particle/surface interface shear behavior.

• 한국전산유체공학회:학술대회논문집
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• 2006.10a
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• pp.26-27
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• 2006

Characteristics of spatial structure of particle clusters are investigated by using the flow field data obtained from three-dimensional numerical simulations. Eulerian/Lagrangian approach with two-way coupling is applied and individual particle-particle collisions are taken into account by using the hard-sphere model. More than 16 million particles are traced in the maximum case. The results show that the cluster is consisted from the multiple-spatial scale components while the low wave-number, hence the large-scale structure, is dominant. Three-dimensional structure reconstructed from the low-pass filtered data enables us to investigate the essential dynamics of particle clusters in detail.

• Proceedings of the IEEK Conference
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• 2001.06b
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• pp.21-24
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• 2001

We studied aluminum cluster deposition using molecular dynamics simulation. We investigated the variations of the cluster momentum and the impulse force during collisions, and found that the close-packed cluster impact has some of properties of the single particle collision and the linear chain collisions. We also simulated the series of energetic cluster deposition with energy Per atom. When energy Per atom in cluster has some eV rather than very low, the intermixing occurred easily in growth film and we can obtain a good film without subsequent annealing process.

• Journal of the Korean Geosynthetics Society
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• v.9 no.1
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• pp.47-57
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• 2010

Granular soils having a large particle size have been used as a filling material in the construction of foundation, harbor, dam, and so on. Consequently, the shear behavior of this granular soil plays a key role in respect of stability of structures. For example, soil particle crushing occurring at the interface between structure and soil and/or within soil mass can cause a disturbance of ground characteristics and consequently induce issues in respect of stability of structures. In order to investigate the shear behavior according to an existence and nonexistence of particle crushing, numerical analyses were conducted by using the DEM (Discrete Element Method)-based software program PFC2D (Particle Flow Code). By dividing soil particle bonding model into crushing model and noncrushing model, total four particle bonding models were simulated and their results were compared. Noncrushing model included one ball model and clump model, and crushing model included cluster model and Lobo-crushing model. The combinations of soil particle followed the research results of Lobo-Guerrero and Vallejo (2005) which were composed of eight circles. The results showed that the friction angle was in order of clump model > cluster model > one ball model. The particle bonding model compared to one ball model and noncrushing model compared to crushing model showed higher shear strength. It was also concluded that the model suggested by Lobo-Guerrero and Vallejo (2005) is not appropriate to simulate the soil particle crushing.

• Journal of the Korean Geotechnical Society
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• v.25 no.10
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• pp.41-53
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• 2009

In order to analyze the influence of particle shape on evolution of particle crushing and characteristic of shear behavior of granular soil, direct shear test was simulated by using DEM (Discrete Element Method). Six particle shapes were generated by clump and cluster model built in PFC (Particle Flow Code). The results of direct shear test for six particle shapes were compared and analyzed with those for circular particle shape. The results of numerical tests showed a good agreement with those of experimental tests, thus the appropriateness of numerical modelling set in this study was proved. As for particle shape, more angular and rougher particle induced larger internal friction angle and more particle crushing than relatively round and smooth particle. When particles were crushed, crushing was concentrated on the shear band adjacent to the shear plane. Finally, it can be concluded that the numerical models suggested in this study can be used extensively for other studies concerning the shear behavior of granular soil including soil crushing.

• Composites Research
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• v.13 no.1
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• pp.50-60
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• 2000

This paper presents an analytical method considering tensile strength enhancement in hybrid $Al_2O_3$ fiber/particle/aluminum composites(MMCs). The tensile strength and elastic modulus of the hybrid MMCs are even 20% higher than those of the fiber reinforced MMCs with same volume fraction of reinforcements. This phenomenon is explained by the cluster model which is newly proposed in this research, and the strengthening mechanisms by a cluster is analyzed using simple modified rule of mixtures. From the analysis, it is observed that cluster structure in hybrid MMCs increase the fiber efficiency factor for the tensile strength and the orientation factor for the elastic modulus. The present theory is then compared with experimental results which was performed using squeeze infiltrated hybrid MMCs made of hybrid $Al_2O_3$ short fiber/particle preform and AC8A alloy as base metal, and the agreement is found to be satisfactory.