• Journal of Biomedical Engineering Research
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• v.37 no.3
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• pp.105-111
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• 2016

Introduction: Surgical robot is the alternative instrument that substitutes the difficult and precise surgical operation; should have intuitiveness operationally to transfer natural motions. There are limitations of hand motion derived from contacting mechanical handle in the surgical robot master interface such as mechanical singularity, isotropy, coupling problems. In this paper, we will confirm and verify the feasibility of intuitive Non-restraint master interface which tracking the hand motion using infra-red camera and only 3 reflective markers without the hardware handle for the surgical robot master interface. Materials & methods: We configured S/W and H/W system; arranged 6 infra-red cameras and attached 3 reflective markers on hands for measuring 3 dimensional coordinate then we find the 7 motions of grasp, yaw, pitch, roll, px, py, pz. And we connected Virtual-Master to the slave surgical robot(Laparobot) and observed the feasibility. To verify the result of motion, we compare the result of Non-restraint master and that of clinometer (and protractor) through measuring 0~180 degree, 10degree interval, 1000 samples and recorded standard deviation stands for error rate of the value. Results: We confirmed that the average angle values of Non-restraint master interface is accurately corresponds to the result of clinometer (and protractor) and have low error rates during motion. Investigation & Conclusion: In this paper, we confirmed the feasibility and accuracy of 3D Non-restraint master interface that can offer the intuitive motion of non-contact hardware handle. As a result, we can expect the high intuitiveness, dexterousness of surgical robot.

• Korean Journal of Computational Design and Engineering
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• v.19 no.4
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• pp.324-331
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• 2014

In the design of a combat vehicle, various performances such as firepower, mobility and survivability, etc., should be considered. Furthermore, since these performances relate to each other, design framework which can treat an integrated system should be employed to design the combat vehicle. In this paper, we use empirical interior ballistic and 3D combat vehicle analyses for predicting firepower and mobility performances which are developed in previous study (1) integrated performance modeling. In firepower performance, pitch and roll angle by sequential firing are considered. In mobility performance, vertical acceleration after passing through a bump is regarded. However, since there are many design variables such as mass of vehicle, mass of suspension, spring and damping coefficient of suspension and tire, geometric variables of vehicle, etc., for firepower and mobility performance, we utilize analysis of variance and quality function deployment to reduce the number of design variables. Finally, integrated design optimization is carried out for integrated performance such as firepower and mobility.

• Journal of Ocean Engineering and Technology
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• v.26 no.6
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• pp.53-58
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• 2012

An experimental study on the hydrodynamic performance of a backward bent duct buoy (BBDB) was performed in a 2D wave tank. The BBDB is one of the promising oscillating water column (OWC) types of floating wave energy converters. Two different corner-shaped BBDBs (sharp-corner and round-corner) were used to measure the maximum chamber surface elevations and body motions for various incident wave conditions, and their hydrodynamic characteristics were compared. In order to investigate the effect of the pneumatic pressure inside the chamber, the heave and pitch angle interacted with elevations were compared for both open chamber and partially open chamber BBDBs. From the comparison study, the deviation in the chamber surface elevations between the two shapes of BBDBs was found to be significant near the resonance period, which may be explained by viscous energy loss. It was also found that the pneumatic pressure noticeably affected the chamber surface elevation and body motions.

• Journal of Navigation and Port Research
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• v.33 no.5
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• pp.323-330
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• 2009

We have been developing an underwater robot for harbour construction using a parallel mechanism The robot is attached to the rope of a crane, which curries a large stone into the undersea The robot's yaw and pitch are controlled by hydraulic cylinders but its roll is uncontrollable. We mount propellers in both side of the robot to generate the roll motion This paper studies on the control for the roll motion of a underwater robot. A gyro-sensor is used to measure the angle in a roll motion We develop the dynamic model to describe the robot's roll motion by a second order non-linear system and identify the model parameters by recursive least square and adaptive identifier. PD control, recursive model based control and adaptive model based control are applied with the dynamic model which computes the control input to compensate disturbances. This paper introduces the underwater robot system and presents the simulated and experimental results of the proposed controller.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2010.11a
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• pp.648-651
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• 2010

Propeller shall have high efficiency and improved aerodynamic characteristics to get the thrust to fly at high speed for the FAR25 turboprop aircraft. That is way Clark-Y airfoil which is used to conventional turboprop aircraft propeller is selected as a blade airfoil. Javaprop program based on the Adkins method is used for aerodynamic design and analysis of propeller, Adkins method is based on the vortex-blade element theory which design the propeller to satisfy the condition for minimum energy loss. Slipstream displacement don't change and consider a rigid body. High efficiency propeller geometry is generated by varying chord length and pitch angle at design point of FAR25 turboprop aircraft. The propeller design results indicate that could be applied to the FAR25 turboprop aircraft, through analysis of propeller aerodynamic characteristics using the CFD(Computational Fluid Dynamic).

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2010.05a
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• pp.304-310
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• 2010

Heat transfer coefficients in a dimpled channel, a ribbed channel, and a rip-dimple compound channel were measured by the transient liquid crystal technique. The channel aspect ratio, the rib height, the rip pitch, and the rib angle were 4:1, 6 mm, 60 mm and $60^{\circ}$, respectively. The dimple diameter and the center-to-center distance were 6mm and 7.2 mm, respectively, and the Reynolds number range was 30,000-50,000. Results showed that the heat transfer coefficients were increased by the angled rib. For the dimple-rib compound cooling cases, the heat transfer coefficients were further augmented and the thermal performance factor for the case was the highest.

• Journal of the Korean Solar Energy Society
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• v.39 no.6
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• pp.83-91
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• 2019

Photovoltaic thermal (PVT) collectors are devices that simultaneously produce electricity and heat. Research on conventional air-type PVT collector focuses on installing baffles to enhance the collector's thermal performance. However, the baffles have pressure drop inside the collector which degrades the thermal performance. Thus, it is necessary to design baffles to smoothen the flow inside the air-type PVT collector. Alternatively, installing perforated baffles in air-type PVT collectors can reduce the collector weight, but parameters such as the diameter of the perforated holes and the height of the perforated plates should be considered. Therefore, the main aim of this study was to analyze thermal characteristics of each variable of perforated baffles installed inside air-type PVT collector. For this purpose, the uniformity of air flow in the collector was compared through NX program, and the resultant heat gain and thermal efficiency of the air-type PVT collector were compared and analyzed. Therefore, the main aim of this study was to analyze thermal characteristics of each variable (Baffle angle, length, height, pitch, perforated ratio) of perforated baffles installed inside air-type PVT collector. For this purpose, the uniformity of air flow in the collector was compared through CFD program, and the resultant heat gain and thermal efficiency of the air-type PVT collector were compared and analyzed. As a result, the maximum outlet temperature was increased by 1.45 times and the heat gain was increased by 193.8 Wth, depending on the perforated baffle plate, compared to the collector without the baffle. The heat transfer performance showed that the maximum internal velocity was 1.61 times higher and the Reynolds number was 1.06 times higher depending on the parameters of the baffle plate.

• The Bulletin of The Korean Astronomical Society
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• v.37 no.2
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• pp.117.1-117.1
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• 2012

Energetic neutral atoms (ENAs) are emitted by charge exchange collisions between energetic ions and cold neutral atoms. ENAs can be used as an alternative measure of the energetic ions in the source region because they maintain the energy and pitch angle of the source energetic ions. In the present study we present simulation results of the ENA emissions during a magnetic storm to be measured by the STEIN instrument onboard the CINEMA/TRIO satellites. The CINEMA/TRIO mission consists of three identical cubesats with low-altitude orbits. The STEIN instrument onboard each cubesat can measure ENAs with energies from ~4 keV to ~20 keV as well as suprathermal electrons and ions. The measurement of ENA emissions from ring current by STEIN is simulated using the models for energetic ring current ions and geocoronal neutral atoms. Especially we will discuss about the energy spectrum of the ENAs and the effect of transient variations of the ring current.

• The Bulletin of The Korean Astronomical Society
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• v.37 no.2
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• pp.122-122
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• 2012

Geosynchronous electron flux dropouts are most likely due to fast drift loss of the particles to the magnetopause (or equivalently, the "magnetopause shadowing effect"). A possible effect related to the drift loss is the radial diffusion of PSD due to gradient of PSD set by the drift loss effect at an outer L region. This possibly implies that the drift loss can affect the flux levels even inside the trapping boundary. We recently investigated the details of such diffusion process by solving the diffusion equation with a set of initial and boundary conditions set by the drift loss. Motivated by the simulation work, we have examined observationally the energy spectrum and pitch angle distribution near trapping boundary during the geosynchronous flux dropouts. For this work, we have first identified a list of geosynchronous flux dropout events for 2007-2010 from GOES satellite electron measurements and solar wind pressures observed by ACE satellite. We have then used the electron data from the Time History of Events and Macroscale Interactions during Substorms (THEMIS) spacecraft measurements to investigate the particle fluxes. The five THEMIS spacecraft sufficiently cover the inner magnetospheric regions near the equatorial plane and thus provide us with data of much higher spatial resolution. In this paper, we report some case studies showing energy dependence during magnetopause shadowing effect.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.10
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• pp.975-983
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• 2009

This paper presents the work being carried out in order to deduce hover performance of a small-scale single rotor blade as a preliminary study of a small coaxial rotor helicopter development. As an initial research, a test stand capable of measuring thrust and torque of a small-scale rotor blade in hover state was constructed and fabricated. The test stand consists of three parts; a rotating device, a load measuring sensor and a data acquisition system. Thrust and torque were measured with varying collective pitch angle at fixed RPM. Through this research, hover performance tests were conducted for a small-scale single rotor blade operating in low Reynolds number ($Re\;{\approx}3{\times}10^5$), as well as for verifying the test stand itself for acquiring hover performance.