• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.5
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• pp.570-576
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• 2012

In this research a moving platform for a mobile robot which can run with upright posture is proposed. It is able to stand with standing arms and run uprightly based on an inverted pendulum mechanism. Conventional mobile robots generally may equip 4 wheels or 3 wheels including a caster and have good statistic stability. They need a steering mechanism to choose which way to go since they have a square or rectangular configuration with multiple wheels. When a mobile robot meets a sharply perpendicular and narrow crossroad, it may need a special steering scheme such as going forward and backward repeatedly or it sometimes cannot even pass through the crossroad because of its size. The proposed moving platform for a mobile robot changes to a upright posture which has a small planar area and is able to pass through the crossroad. We propose a moving platform for a mobile robot with a inverted pendulum mechanism and standing arms which can make the mobile robot upright.

• Proceedings of the Korean Society of Disaster Information Conference
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• 2016.11a
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• pp.311-313
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• 2016

본 연구는 지진격리장치가 적용된 파이핑 시스템에서 빌딩과 같은 구조요소의 상호작용에 의한 동적 거동을 분석하고자 기존 복층구조 파이핑 시스템과 빌딩시스템에 triple friction pendulum이 적용된 격리장치를 적용 하였다. 파이핑 시스템의 시간이력해석에 의한 동적거동 평가를 위해 OpenSees를 이용하여 지진격리된 빌딩 및 파이핑시스템의 수치해석모델을 구축하였으며, 또한 파이핑시스템의 경우 ceiling system and supporting system 등과 같은 요소로 구분하여 유한요소모델을 구축하였다. 결과적으로 지진격리장치가 적용된 빌딩-파이핑 시스템의 경우 각층의 drift 및 변위가 일정한 반면 비 적용된 시스템의 경우 층 가속도에 의한 구조물의 변위가 빌딩층에 따라 상당히 증가함을 볼 수 있다.

• Current Research on Agriculture and Life Sciences
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• v.32 no.2
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• pp.79-84
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• 2014

The precision aerial application of agricultural unmanned helicopters has become a new paradigm for small farms with orchards, paddy, and upland fields. The needs of agricultural applications require easy and affordable control systems. Recent developments of MEMS technology based on inertial sensors and high speed DSP have enabled the fabrication of low-cost attitude system. Therefore, this study evaluates inertial MEMS sensors for estimating the attitude of an agricultural unmanned helicopter. The accuracies and errors of gyro and acceleration sensors were verified using a pendulum system. The true motion values were calculated using a theoretical estimation and absolute encoder measurement of the pendulum, and then the sensor output was compared with reference values. When comparing the sensor measurements and true values, the errors were determined to be 4.32~5.72%, 3.53~6.74%, and 3.91~4.16% for the gyro rate and x-, z- accelerations, respectively. Thus, the measurement results confirmed that the inertial sensors are effective for establishing an attitude and heading reference system (AHRES). The sensors would be constructed in gimbals for the estimating and proving attitude measurements in the following paper.

• Journal of Power System Engineering
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• v.16 no.4
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• pp.12-16
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• 2012

In this paper, the equations of motions for planar multibody dynamics are established for considering the parallel programming based on GPU. Cartesian coordinates are used to formulate the equations of motion and implicit integration method called HHT-alpha is employed. Open chain multibody system is considered for computer simulation. CUDA toolkit is employed for establishing the GPU parallel programming. The exactness of the analysis is verified from the comparison with ADAMS. The results from parallel computing based on GPU are compared with the results from the sequential programming based on CPU in terms of calculation time. The multiple pendulum with bodies and joints is employed for the computer simulation. In the pendulum system that has 290 bodies, the parallel program indicates an improved efficiency of about 25.5 second(15.5% improvement). It is noted that the larger the size of system is, the time efficiency is better.

• Journal of Engineering Education Research
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• v.23 no.3
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• pp.32-40
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• 2020

A new moment of inertia experiment apparatus different from the existing one has been developed, which does not require deformation of a sample in order to fix it to the apparatus. This new experiment apparatus was able to experiment with constant-shaped objects that did not deform the samples, so that it enabled them for conducting an experiment which is close to an ideal rigid model dealt in the general physics course. The new experimental apparatus was easy and accurate in measuring the physical quantity by using the experimental principle of physical pendulum. In the results of the measurement of the moments of inertia of the six samples, all measurements were made to be accurate enough to measure with very small errors within 1%. In addition, it has been found to be useful as an experiment apparatus to understand the concept of the moment of inertia and to prove the formula for moment of inertia. Therefore, if the new moment of inertia experiment apparatus developed in this study is used in students' experiments, it is expected that students will be able to greatly increase their understanding of the concept of moment of inertia.

• Journal of Korean Association for Spatial Structures
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• v.8 no.2
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• pp.73-84
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• 2008

The various systems as the seismic resistance systems are used to reduce the seismic response of structure. And the seismic isolation system among them is the system that reduces the seismic vibration to be transmitted from foundation to upper structure. The purpose of isolation system is to lengthen the period of structure and make its period shift from the dominant period of earthquake. In this study, the seismic behavior of arch structure with lead rubber bearing(LRB) and friction pendulum system(FPS) is analyzed. The arch structure is the simplest structure and has the basic dynamic characteristics among large spatial structures. Also, Large spatial structures have large vertical response by horizontal seismic vibration, unlike seismic behavior of normal rahmen structures. When horizontal seismic load is applied to the large spatial structure with isolation systems, the horizontal acceleration response of the large spatial structure is reduced and the vertical seismic response is remarkably reduced.

• Journal of the Society of Disaster Information
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• v.14 no.4
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• pp.450-457
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• 2018

Purpose: The evaluation of seismic performance of critical structures has been emerging a key issue in Korea, since a magnitude 5.8 earthquake, the worst in Koran history, struck Gyeongju, southern area in Korea on september 12th, 2016. In particular, the catastrophic failure of nonstructural components such as sprinkler piping systems can cause significant economic loss or loss of life during and after an earthquake. The nonstructural components can be more fragile than structural components in seismic behavior. Method: This study presents the seismic performance evaluation of fire protection piping system, using coupled building-piping system installed with Triple Friction Pendulum Bearings (TPBs). Kobe (Japan), Kocaeli (Turkey), and GyeongJu (Korea) were selected to consider the uncertainty of ground motions in this study. Result: In the simulation results, it was observed that the reduction of maximum displacements of the piping system with the TPBs' system was significant: Kobe, Kocaeli, and Gyeongju cases were 49%, 14.4% and 21.5%, respectively. Conclusion: Therefore, using seismically isolated system in a building-piping system can be more effective to reduce the seismic risk than a normally installed building-piping systems without TPBs in strong earthquakes.

• Journal of Navigation and Port Research
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• v.41 no.6
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• pp.365-372
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• 2017

The rolling motion of a floating body makes crews and passengers exhausted and/or applies forces to the structure to cause damage; it might even upset the body. Therefore, almost all ships are equipped with bilge keels for anti-rolling; in special cases, an anti-rolling tank(ART) or fin stabilizer or gyroscope could be installed. But an ART requires a large capacity to install it, and a fin stabilizer and gyroscope need great costs to install and also many expenses to operate. The authors suggest the use of an anti-rolling pendulum(ARP), and they showed that the ARP is effective to reduce rolling by experiments and via a Runge-Kutta analysis. This paper introduces the linearized 2 degrees of freedom with a viscous damping system for a ship equipped with ARP; it also shows the validation of the linearized analysis for the ship's roll motion. The paper proposes an optimum ARP on the basis of the justified model. The case of the 7.7kg model with ship 20g ARP of a mass ratio of 0.26%, is the most effective for reducing roll motion. The paper shows the ARPs with various mass ratios are effective for reducing the roll motion of a ship by free decaying roll experiments.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.28 no.4
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• pp.250-255
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• 2016

Ocean environmental data such as tide, wind, significant wave height etc. along the expected route were collected and analyzed to secure the safe towing and installation of floating pendulum wave energy converter(FPWEC) at planned sea area. Data from Korea Meteorological Administration(KMA) and Korea Hydrographic and Oceanographic Agency(KHOA) were reviewed and those were used to estimate the external forces exerting on the FPWEC during the towing operation. ANSYS system was used for the structural analysis of the FPWEC which is subject to complex environmental load to confirm the safety.

• Journal of Aerospace System Engineering
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• v.17 no.2
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• pp.86-93
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• 2023

Pyrotechnic separation devices have been widely used as holding and release mechanism for deployable appendage. However, pyro-shock can cause temporal or permanent damage on shock sensitive components such as electronics, mechanism, and brittle components. This study proposed a low-stiffness blade based passive shock absorber using a multi-layered stiffener laminated with viscoelastic acrylic tapes for reducing transmitted pyro-shock upon explosion of pyrotechnic separation devices. The multi-layered structure with viscoelastic tape has high-damping characteristics to effectively secure structural integrity of low-stiffness blades under the launch environment. The design effectiveness was verified through a shock test by dropping a pendulum. The structural integrity of the shock absorber under a launch environment was evaluated through structural analysis under load conditions with a deployable payload.