• 대한기계학회논문집A
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• 제27권8호
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• pp.1303-1308
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• 2003

This research proposes an implementation method of linearized equations of motion for multibody systems with closed loops. The null space of the constraint Jacobian is first pre-multiplied to the equations of motion to eliminate the Lagrange multiplier and the equations of motion are reduced down to a minimum set of ordinary differential equations. The resulting differential equations are functions of ail relative coordinates, velocities, and accelerations. Since the coordinates, velocities, and accelerations are tightly coupled by the position, velocity, and acceleration level constraints, direct substitution of the relationships among these variables yields very complicated equations to be implemented. As a consequence, the reduced equations of motion are perturbed with respect to the variations of all coordinates, velocities, and accelerations, which are coupled by the constraints. The position, velocity and acceleration level constraints are also perturbed to obtain the relationships between the variations of all relative coordinates, velocities, and accelerations and variations of the independent ones. The perturbed constraint equations are then simultaneously solved for variations of all coordinates, velocities, and accelerations only in terms of the variations of the independent coordinates, velocities, and accelerations. Finally, the relationships between the variations of all coordinates, velocities, accelerations and these of the independent ones are substituted into the variational equations of motion to obtain the linearized equations of motion only in terms of the independent coordinate, velocity, and acceleration variations.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 춘계학술대회
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• pp.893-898
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• 2004

This research proposes an implementation method of linearized equations of motion for multibody systems with closed loops. The null space of the constraint Jacobian is first pre multiplied to the equations of motion to eliminate the Lagrange multiplier and the equations of motion are reduced down to a minimum set of ordinary differential equations. The resulting differential equations are functions of all relative coordinates, velocities, and accelerations. Since the coordinates, velocities, and accelerations are tightly coupled by the position, velocity, and acceleration level constraints, direct substitution of the relationships among these variables yields very complicated equations to be implemented. As a consequence, the reduced equations of motion are perturbed with respect to the variations of all coordinates, velocities, and accelerations, which are coupled by the constraints. The position, velocity and acceleration level constraints are also perturbed to obtain the relationships between the variations of all relative coordinates, velocities, and accelerations and variations of the independent ones. The perturbed constraint equations are then simultaneously solved for variations of all coordinates, velocities, and accelerations only in terms of the variations of the independent coordinates, velocities, and accelerations. Finally, the relationships between the variations of all coordinates, velocities, accelerations and these of the independent ones are substituted into the variational equations of motion to obtain the linearized equations of motion only in terms of the independent coordinate, velocity, and acceleration variations.

• 설비공학논문집
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• 제17권4호
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• pp.355-363
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• 2005

A novel method for simultaneously measuring the fluid velocity and the large particle velocity in a particle-containing fluid flow is developed in this study. In this method, the fluid velocity and the large particle velocity are measured by PIV and PTV, respectively. The PIV and PTV images are obtained from the same flow images. Since a PIV result represents the average displacement of all particles in an interrogation area, it will include an error caused by the relative displacement between the large particles and the fluid. In order to reduce the false influence of large particles on the PIV calculation, the mean brightness of small PIV particle images is substituted to the locations of large particles in the PIV images. The simulation results showed that the new method significantly reduces the PIV error caused by the large particles even at the case where the large particles occupy area fraction as large as $20\%$ of the full image.

• Structural Engineering and Mechanics
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• 제14권4호
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• pp.491-504
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• 2002

A state-space method is proposed to analyze the aerodynamically coupled flutter problems of long-span bridges based on the modal coordinates of structure. The theory about complex modes is applied in this paper. The general governing equation of the system is converted into a complex standard characteristic equation in a state space format, which contains only two variables. The proposed method is a single-parameter searching method about reduced velocity, and it need not choose the participating modes beforehand and has no requirement for the form of structure damping matrix. The information about variations of system characteristics with reduced velocity and wind velocity can be provided. The method is able to find automatically the lowest critical flutter velocity and give relative amplitudes, phases and energy ratios of the participating modes in the flutter motion. Moreover, the flutter analysis of Jiangyin Yangtse suspension bridge with 1385 m main span is performed. The proposed method has proved reliable in its methodology and efficient in its use.

• 융합신호처리학회논문지
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• 제8권2호
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• pp.98-105
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• 2007

본 논문은 주행 차량의 차선 변경 시, 위험 여부를 판단하는 방법을 제안하고 시스템을 구현한다. 차선 변경의 위험 여부를 판단하기 위해서 첫째, 변경하고자 하는 차선에 관심 영역(ROI)을 설정해야 하고 둘째, 변경할 차선으로 자차가 이동할 때 자차에 위험이 될 차량을 정확하게 추출해야 하며 셋째, 추출된 차량의 방향과 상대 속도, 상대 거리를 계산하여 운전자에게 위험 경보를 울릴지에 대한 여부를 판단해야 한다. ROI를 설정하기 위해서 영역의 한 축이 되는 차선을 잡고 이를 기준으로 영역을 확장시켰는데 좌표 변환 기법을 이용하여 정확성을 높였다. 변경 차선의 정확한 차량 추출을 위하여 적응 배경화면 갱신 모델 기법과 주행 도로의 특징을 이용한 영상의 영상 분할 방법을 이용하였다. 위험 차량으로 추출된 물체는 자차(自車)와의 상대거리, 상대 속도를 계산하고 픽셀 좌표 이동을 일정시간 평균을 내어 방향을 알아내어 위험으로 판단 시 경보를 울리도록 하였다. 제안한 알고리즘은 영역을 최소화하고 도로와 차량의 특징을 이용함으로써 정확도를 높이고 계산량을 줄여 빠른 연산을 요구하는 주행 차량의 영상에서 안정적인 결과를 얻을 수 있었다.

• 제어로봇시스템학회논문지
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• 제22권7호
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• pp.562-569
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• 2016

This paper proposes a navigation system with a robust localization method for an underwater unmanned vehicle. For robust localization with IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and depth sensors, the EKF (Extended Kalman Filter) has been utilized to fuse multiple nonlinear data. Note that the GPS (Global Positioning System), which can obtain the absolute coordinates of the vehicle, cannot be used in the water. Additionally, the DVL has been used for measuring the relative velocity of the underwater vehicle. The DVL sensor measures the velocity of an object by using Doppler effects, which cause sound frequency changes from the relative velocity between a sound source and an observer. When the vehicle is moving, the motion trajectory to a target position can be recorded by the sensors attached to the vehicle. The performance of the proposed navigation system has been verified through real experiments in which an underwater unmanned vehicle reached a target position by using an IMU as a primary sensor and a DVL as the secondary sensor.

• 한국안전학회지
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• 제10권3호
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• pp.68-80
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• 1995

A series of parametric calculations have been performed in order to investigate the short-term and short-range plume and puff behavior of toxic gaseous and solid pollutant dispersion in an open atmosphere. The simulation is made by the use of the computer program developed by this laboratory, in which a control-volume based finite-difference method is used together with the SIMPLEC algorithm for the resolution of the pressure-velocity coupling appeared In Wavier-Stokes equation. The Reynolds stresses are solved by the standard two-equation k-$\varepsilon$ model modified for buoyancy together with the RNG(Renormalization Group) k-$\varepsilon$ model. The major parameters considered in this calculation are pollutant gas density and temperature, the relative velocity of pollutants to that of the surrounding atmospheric air, and particulate size and density together with the height released. The flow field is typically characterized by the formation of a strong recirculation region for the case of the low density gases such as $CH_4$ and air due to the strong buoyancy, while the flow is simply declining pattern toward the downstream ground for the case of heavy molecule like the $CH_2C1_2$and $CCl_4$, even for the high temperature, $200^{\circ}C$. The effect of gas temperature and velocity on the flow field together with the particle trajectory are presented and discussed in detail. In general, the results are physically acceptable and consistent.

• 한국정밀공학회지
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• 제14권6호
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• pp.142-148
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• 1997

In this paper, forging of internal triangular and involute serrations are analyzed by upper bound method. Kinematically admissible velocity fields for half pitch of the serration were proposed. It was assumed that the shape flow surface during forging is a straight line perpendicular to plane of symmetry. Using the suggested velocity fields, forging loads and relative pressures were calculated by numerical method. Experiments were carride out with commercial AI 2024 aluminium alloy. As a result, the calculated solutions are good agreement with experimental results, so it is useful to predict the loads for forging of internal serrations.

• 지구물리와물리탐사
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• 제21권1호
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• pp.26-32
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• 2018

중국 만주지역은 백두산이라는 거대한 화산이 존재하는 지질학적, 지구물리학적으로 중요한 곳이다. 백두산은 전 세계에서 규모가 가장 큰 화산 중 하나이며, 최근 분화 조짐이 보이면서 사람들의 관심이 집중되어 있다. 본 연구는 중국 만주지역의 하부 깊이 약 100 ~ 600 km 사이의 속도구조를 파악하기 위해 S파 상대주시 토모그래피를 수행하였다. 연구에는 IRIS (Incorporated Research Institutions for Seismology)에서 제공하는 Necess Array (North East China Extended SeiSmic Array)에 기록된 2009 ~ 2011년 기간 동안 진앙거리 $30^{\circ}$ 이상 $90^{\circ}$ 미만의 지진 자료를 사용하였다. 획득한 자료들에 다중채널 상호상관법(multi-channel cross-correlation method)을 적용함으로써 상대주시를 계산하였다. 그 결과 중국 만주 지역에 분포하는 화산지대와 토모그래피 이미지에서 나타나는 저속도 이상체의 위치가 동일함을 관측하였다. 백두산 하부 100 ~ 600 km 사이에 저속도 이상이 발견되었으며 이 저속도 이상체는 백두산의 마그마 공급과 연관이 있을 것으로 판단된다. 서쪽에 다통 화산지대 동쪽 하부 300 km 부근까지, 북쪽에 우달리안치 화산지대의 경우 하부 200 km 부근 까지 저속도 이상이 발견되었다. 이 저속도 이상체는 백두산의 형성과 생성원인이 다르며, 다통 화산지대 동쪽 저속도 이상의 경우 깊은 맨틀에서의 상승류에 의해 생성되었을 가능성이 있으며, 우달리안치 화산의 경우 연약권에 상승류에 의해 생성된 것으로 판단된다.

• 한국안전학회지
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• 제7권4호
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• pp.85-94
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• 1992

This paper, discribes analysis of theree - dimensional extrusion with the use of dual stream functions, By this method admissible velocity fields for the extrusion of three- dimensional flow was newly derived kinematically. For square section the extrusion pressure was calculated by numerical solution program which was based on the upper bound analysis. The relationship between relative extrusion pressure and reduction of area, relative die length and constant friction factors were successfully calculated which was newly developed in this study. The results could be applied to design extrusion die.