• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.8
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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.

• Proceedings of the KSME Conference
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• 2004.04a
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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.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.12 no.6
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• pp.69-76
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• 2013

This paper presents the development of the FCF method for the manufacturing of final products using numbers related to the minimum amount of work. The utilized product is a drum clutch, which is part of the transmission of an automobile. A double acting press is secured first and a prediction of the forming load on the practical material is made through an experiment with a plasticine model. Also, a finite element simulation using product shape and properties is performed, as well as a press experiment. A double acting press is manufactured that is suitable for a double acting experiment with a conventional hydraulic press(200 tons). A peripheral device for the press is additionally designed for experimental purposes. And, the press has as its essential points the drive speed, stroke control, etc., all of which influence the forming and is modified. Especially, a laser system is used for velocity measurement of two punches. The forming load of a practical material is predicted in order to derive a forming load formula for cold conditions on the basis of approximate similarity theory. Finite element analysis of the relative velocity ratio(RVR), etc., for most suitable flow defect(unfilling, etc.) prevention is achieved as well. The results are verified through a press experiment.

• Journal of Mechanical Science and Technology
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• v.19 no.6
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• pp.1253-1267
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• 2005

Misalignment can be an important problem in the integration of GPS/INS. Observability analysis of the alignment errors in the integration of low-grade inertial sensors and multi-antenna GPS is presented in this paper. A control-theoretic approach is adopted to study the observability of time-varying error dynamics models. The relationship between vehicle motions and the observability of the errors in the lever arm and relative attitude between GPS antenna array and IMU is given. It is shown that alignment errors can be made observable through maneuvering. The change of acceleration makes the components of the relative attitude error that are orthogonal to the direction of the acceleration change observable. The change of angular velocity makes the components of the lever arm error that are orthogonal to the direction of the angular velocity observable. The motion of constant angular velocity has no influence on the estimation of the lever arm.

• Journal of Korean Society on Water Environment
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• v.21 no.1
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• pp.79-83
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• 2005

Foraging behaviour of false dace, Pseudorasbora parva, was investigated in water flowing at various velocities with the existence of a cavity for rest. The pursuit comprised three succeeding processes such as, approaching, chasing and attacking. Angles between the fish body and the water flow direction and swimming speeds increased in the latter stages of approaching, chasing and attacking. All pursuit angles, swimming speeds and distances increased with flow velocity and peaked at the flow velocity of 7 cm/sec. At higher velocities, however, the fish avoided the use of much energy against the large drag force. The probability of capture and the feeding rate steadily decreased with increasing flow velocity. Under the fast flow, the fish adjusted their swimming speed to get the optimum velocity relative to the flowing water for the energetic budget. Fish spent more time in the cavity as flow velocity increased to avoid the energy expenditure necessitated by the high velocity.

• The Korean Journal of Applied Statistics
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• v.22 no.3
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• pp.515-530
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• 2009

Evaporation from surface water bodies is influenced by a number of meteorological parameters. The rate of evaporation is primarily controlled by incoming solar radiation, air and water temperature and wind speed and relative humidity. In the present study, influence of weekly meteorological variables such as air temperature, relative humidity, bright sunshine hours, wind speed, wind velocity, rainfall on rate of evaporation has been examined using 35 years(1971-2005) of meteorological data. Statistical analysis was carried out employing linear regression models. The developed regression models were tested for goodness of fit, multicollinearity along with normality test and constant variance test. These regression models were subsequently validated using the observed and predicted parameter estimates with the meteorological data of the year 2005. Further these models were checked with time order sequence of residual plots to identify the trend of the scatter plot and then new standardized regression models were developed using standardized equations. The highest significant positive correlation was observed between pan evaporation and maximum air temperature. Mean air temperature and wind velocity have highly significant influence on pan evaporation whereas minimum air temperature, relative humidity and wind direction have no such significant influence.

• Ocean and Polar Research
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• v.21 no.2
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• pp.99-108
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• 1999

With sectional data obtained in September of 1987, 1988 and 1989 by quadrireciprocal ADCP measurement and CTD cast, the current structure, volume transport and vorticity in the Western Channel of the Korea Strait were studied. The characteristics of Tsushima Current water persisted throughout the summer especially in the homogeneous water of temperature $14-16^{\circ}C$ located at the depth of 50-100m below seasonal termocline. Thickness and velocity of the homogeneous layer are about 10-170m and 20-60cm/s. and the relative vorticity for this layer is shown to be nearly constant and it is smaller than the planetary vorticity. Potential vorticity of $2.70-7.10{\times}10^{-6}m^{-1}s^{-1}$ is found to be dependent mainly on planetary rather than on the relative vorticities. The Tsushima Current water represented by the homogeneous layer R14-16^{\circ}C$ may keep the potential vorticity at the area of strong current in the Strait. The ADCP current structure is similar to geostrophic current and the core of the current with the speed of 30-50cm/s is situated in the middle layer over the deep trough. With large tidal fluctuation the volume transport has mean value of 1.17sv which was about 40% larger than that of geostrophic calculation.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.7 no.4
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• pp.329-339
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• 1995

To clarify the surface drift velocity in gravity waves. experimental data measured in a two-dimensional wave flume were compared with theoretical values predicted by the Stokes 2nd- and 5th- order theories as well as by the conduction solution or Longuet-Hinggins (1953). Relative water depth and wave height ranged 0.040.13. For a closed flume condition, Stokes 2nd-order theory gives lower values than the experimental data, and the differences increase as both relative water depth and wave height increase. Based on the observed data of the surface drift velocities, a modified Parabolic model of the return current velocity Profile has been suggested, which is Proved to fit better to the existing experimental data of mass transport velocity profiles in a closed wave flume than the models of Longuet-Hinggins (1953) and Stokes wave theories do.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.6
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• pp.852-862
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• 2013

This paper proposes a target tracking control method for wheeled mobile robots with nonholonomic constraints by using a backstepping-like feedback linearization. For the target tracking, we apply a vision system to mobile robots to obtain the relative posture information between the mobile robot and the target. The robots do not use the sensors to obtain the velocity information in this paper and therefore assumed the unknown velocities of both mobile robot and target. Instead, the proposed method uses only the maximum velocity information of the mobile robot and target. First, the pseudo command for the forward linear velocity and the heading direction angle are designed based on the kinematics by using the obtained image information. Then, the actual control inputs are designed to make the actual forward linear velocity and the heading direction angle follow the pseudo commands. Through simulations and experiments for the mobile robot we have confirmed that the proposed control method is able to track target even when the velocity sensors are not used at all.

• Journal of Advanced Marine Engineering and Technology
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• v.34 no.5
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• pp.725-734
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• 2010

This study conducted hydraulic testing to assess the stability of two types of pyramid-shaped artificial reefs (ARs) constructed to promote the growth of shellfish and seaweed. Previous theoretical and hydraulic experimental studies have clearly demonstrated Froude similitude. The results of this study revealed that some dimensionless design parameters affected the stability of both types of artificial reefs under various wave and current field conditions (e.g., surf similarity parameters, water particle velocity, wave pressure). In the fixed bed condition, the dimensionless water particle velocity based on the surf similarity parameter was large (about 0.4), and in the moveable bed condition, the relative water depth based on the dimensionless wave pressure was low (about 0.11). In addition, horizontal wave pressure and uplift pressure varied by relative water depth, demonstrating the tendency for wave pressure to decrease linearly with increased relative depth. These findings indicate that the development of more stable design technology forartificial reefs should be based on long-term data and additional study of sliding due to wave action. The findings also highlight the importance of hydraulic experiments in solving problems that have emerged in the design and construction of artificial reefs.