• 반도체디스플레이기술학회지
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• 제17권3호
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• pp.65-69
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• 2018

In this paper, we have developed a multi-attitude monitoring system for running farm robots for field farming. There are many agricultural robots that can select work modules for various tasks. In order to control the stable attitude of agricultural robots connected to each other, we developed a system for monitoring the roll angle and pitch angle difference by fusing the information of the attitude monitoring system mounted on the robot mainframe and the work module. The developed attitude monitoring system showed resolution below 1 degree. In this paper, roll angle difference of 20 degrees and 60 degrees is measured with a multi - attitude monitoring system.

• 한국콘텐츠학회논문지
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• 제11권12호
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• pp.800-806
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• 2011

본 연구는 요추 지지대가 노인의 머리와 목 자세에 미치는 영향을 분석하고자 하였다. 20명의 신체 건강한 노인(평균 나이 71.32세)을 대상으로 측정하였으며, 앉은 자세에서 모니터를 시청하는 동안 요추만곡을 요추 지지대 사용 유무에 따라 조절하였다. 측정은 측면에서 사진을 촬영하였다. NIH ImageJ 1.32 프로그램을 사용하여 상부경추 굴곡 각도와 하부경추 굴곡 각도를 측정하였고 분석은 대응 t 검정을 사용하였다. 그 결과, 상부경추 굴곡 각도와 하부경추 굴곡 각도는 요추 지지대 적용 여부에 따라 유의한 차이가 있었다. 상부경추 평균 굴곡 각도는 요추 지지대 적용할 때가 적용하지 않을 때보다 약 $2.83^{\circ}$ 증가하였다(p<0.005). 하부경추 평균 굴곡 각도 역시 요추 지지대를 적용할 때 약 $4.44^{\circ}$ 증가되었다(p<0.0001). 이는 요추 지지대를 적용하였을 때 상부경추와 하부경추 굴곡을 증가시킴으로 머리와 목 자세에 좋은 영향을 주는 것을 의미한다. 따라서 노인의 머리와 목 자세 개선시 요추만곡 조절을 고려해야 할 것이다.

• Journal of Advanced Research in Ocean Engineering
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• 제1권3호
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• pp.168-175
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• 2015

This study consists of an experimental investigation of the reduction of the second-order roll motion of a semi-submersible platform in head sea conditions by adding hull damping. The second-order heave drift force and roll drift moment are known to be the main triggers that induce the list angle (Hong et al., 2010). Hong et al. (2013) used numerical calculations to show the possibility of reducing the list angle by changing the pontoon shape and adding a damping device on the hull. One of their findings was that the reduction in the list angle due to the increase in pontoon surface damping was significant. A series of model tests were carried out with a 1:50 scaled model of semi-submersible at the KRISO wave basin. The experiments indicated that adding damping on the hull surface effectively suppressed the list angle.

• 제어로봇시스템학회논문지
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• 제9권11호
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• pp.925-936
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• 2003

The manipulability analysis of the parallel-type rolling mill proposed in Hong et al. [1] is re-visited. The parallel rolling mill uses two Stewart platforms in opposite direction for the generation of 6 degree-of-freedom motions of each roll. The objective of this new parallel rolling mill is to permit an integrated control of the strip thickness, strip shape, pair crossing angle, uniform wear of rolls, and tension of the strip. New forward/inverse kinematics problems, in contrast with [1], are formulated. The forward kinematics problem is defined as the problem of finding the roll-gap and the pair-crossing angle of two work rolls for given lengths of twelve legs. On the other hand, the inverse kinematics problem is defined as the problem of finding the lengths of twelve legs when the roll-gap, the pair-crossing angle, and the position and orientation of one work roll are given. The method of manipulability analysis used in this paper follows the spirit of [1]. But, because the rolling force and moment exerted from both upper and lower rolls have been included in the manipulability analysis, more accurate results than the use of a single platform can be achieved. Two. kinematic parameters, the radius of the base and the angle between two neighboring joints, are optimally designed by maximizing the global manipulability measure in the entire workspace.

• Wind and Structures
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• 제35권2호
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• pp.83-92
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• 2022

When the rolling stocks run on the curve, the external rail has to be lifted to a certain level to balance the centrifugal force acting on the train body. Under such a situation, passengers may feel uncomfortable, and the slanted vehicle has the potential overturning risks at high speed. This paper conducted a wind tunnel test in an annular wind tunnel with φ=3.2 m based on a 1/20^th scaled high-speed train (HST) model. The sensitivity of Reynolds effects ranging from Re = 0.37×10⁶ to Re = 1.45×106 was tested based on the incoming wind from U=30 m/s to U=113 m/s. The wind speed covers the range from incompressible to compressible. The impact of roll angle ranging from γ=0° to γ=4° on train aerodynamics was tested. In addition, the boundary layer development was also analyzed under different wind speeds. The results indicate that drag and lift aerodynamic coefficients gradually stabilized and converged over U=70 m/s, which could be regeared as the self-similarity region. Similarly, the thickness of the boundary layer on the floor gradually decreased with the wind speed increase, and little changed over U=80 m/s. The rolling moment of the head and tail cars increased with the roll angle from γ=0° to γ=4°. However, the potential overturning risks of the head car are higher than the tail car with the increase of the roll angle. This study is significant in providing a reference for the overturning assessment of HST.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 Asia Navigation Conference
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• pp.134-143
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• 2006

Out of all types of motions the critical motions leading to capsize is roll. The dynamic amplification in case of roll motion may be large for ships as roll natural frequency generally falls within the frequency range of wave energy spectrum typical used for estimation of motion spectrum. Roll motion is highly non-linear in nature. Den are various representations of non-linear damping and restoring available in literature. In this paper an uncoupled non-linear roll equations with three representation of damping and cubic restoring term is solved using a perturbation technique. Damping moment representations are linear plus quadratic velocity damping, angle dependant damping and linear plus cubic velocity dependant damping. Numerical value of linear damping coefficient is almost same for all types but non-linear damping is different. Linear and non-linear damping coefficients are obtained form free roll decay tests. External rolling moment is assumed as deterministic with sinusoidal form. Maximum roll amplitude of non-linear roll equation with various representations of damping is calculated using analytical procedure and compared with experimental results, which are obtained form forced tests in regular waves by varying frequency with three wave heights. Experiments indicate influence of non-linearity at resonance frequency. Both experiment and analytical results indicates increase in maximum roll amplitude with wave slope at resonance. Analytical results are compared with experiment results which indicate maximum roll amplitude analytically obtained with angle dependent and cubic velocity damping are equal and difference from experiments with these damping are less compared to non-linear equation with quadratic velocity damping.

• 유공압시스템학회:학술대회논문집
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• 유공압시스템학회 2010년도 춘계학술대회
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• pp.70-73
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• 2010

In order to provide theoretical analysis for the active roll stabilizer (ARS), the simulation model based on AMESim is developed in the paper. The simplified vehicle rolling motion model is derived firstly, and then the entire ARS control system model is constructed. Furthermore, the simulation is implemented to confirm the roll control effect. The simulation results show that the derived model can be used as theoretical analysis for developing components of ARS control system.

• 수산해양기술연구
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• 제47권1호
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• pp.37-45
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• 2011

Reduction of ship's rolling is the most important performance requirement for improving the safety of the crew on board and preventing damage to cargo as well as improving the comfort of the ride. It is a common experience for mariners, to see that steering with a rudder generally induces rolling of the ship, though the original aim of the rudder is to keep the ship's heading to the required course. At the first stage, when a rudder is steered, usually a ship heels in an inward direction, due to the roll moment acting on the rudder. At the next stage in steering, the main heel may change to an outward. This coupling between rudder and roll motion has become an attractive problem from the point of view of roll stabilization using the rudder, because it is a natural in sight that if the rudder action is skillfully related to the change of roll as well as to the course deviation, the roll can be reduced to a certain degree. The main aim of this paper is to discuss the results of the actual full-scale sea trials carried out on steer gear No.1 and No.1 2, the individual quartermaster and to make clear their statistical properties, using the actual data which included measurement of roll angle, roll rate and the comparative tests were carried out immediately after each other, in order to minimize any statistical variation in sea conditions. It can be concluded that the steer gear No. 1 2 reduced the roll motion on average by about 21% in comparison with the No.1 and confirmed the some difference as per a ability of quarter-master's maneuver.

• 반도체디스플레이기술학회지
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• 제9권2호
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• pp.103-109
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• 2010

An ink transfer is modeled and experimentally verified using roll-to-roll electric direct gravure printing process. The ink transfer model based on the physical mechanism for the maximum ink transfer rate is proposed, and experimented by the electric printing machine in FDRC for the relations of the maximum ink transfer rates to the printing pressure, the operating speed, the operating tension, the surface roughness of substrates, and the contact angle between substrate and silver ink. The free ink split coefficient and immobilized ink under the maximum ink transfer rate are calculated by the physical parameter in a printing process and contact angle between substrates and ink. Numerical simulations and experimental studies were carried out to verify performances of the proposed ink transfer model. Results showed that the proposed ink transfer model was effective for the prediction of the amount of transferred ink to the substrate in a direct gravure printing systems.

• 풍력에너지저널
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• 제9권4호
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• pp.9-15
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• 2018

In a previous study, a technique for measuring wind speed and direction by using a roll-rotating three-axis ultrasonic anemometer was proposed and verified by wind tunnel tests. In the tests, instead of a roll sensor, roll angle was trimmed to make no up flow in the transformed wind speeds. Verification was done in point of the residual error of the rotation effect treatment. In this study, roll angle was measured from the roll motor encoder and the transformed wind speed and direction on the test section axis were compared with the ones provided to the test section. As a result, up to yaw $20^{\circ}$ at a wind speed of 12 m/sec or over, the RMS error of wind speed was within the double of the ultrasonic anemometer error. But at yaw $30^{\circ}$, it was over the double of the ultrasonic anemometer error. Regardless of wind speed, at yaw $20^{\circ}$ and $30^{\circ}$, the direction error was within the double of the ultrasonic anemometer error. But at yaw $10^{\circ}$ or less, it was within the error of the ultrasonic anemometer itself. This is a very favorable characteristic to be used for wind turbine yaw control.