• 융복합기술연구소 논문집
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• 제6권2호
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• pp.9-13
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• 2016

Robot usually requires spline motion to move through multiple knots. In this paper, catmull-rom spline method is applied to the trajectory planning of industrial robot in task space. Centripetal catmull-rom is selected to avoid self-intersection and slow motion which can be occurred in uniform and chordal spline. The method to set two control points are proposed to satisfy velocity conditions of initial and final knots. To optimize robot motion, time scaling method is presented to minimize margin between real robot value and maximum value in velocity and acceleration. The simulation results show that the proposed methods are applied to trajectory planning and robot can follow the planned trajectory while robot motion does not exceed maximum value of velocity and acceleration.

• 설비공학논문집
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• 제14권3호
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• pp.206-213
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• 2002

In this paper, the flow characteristics of an axial fan spraying isothermal compact jet in a confined space were investigated by the experimental methods, the numerical method, and the free jet theory According to the results, the numerical result and the experimental result are agreed well qualitatively and different quantitatively within $\pm1.0%$ for the centerline velocity, the entrainment ratio, and the maximum throw. However, the free jet theory can reasonably predict the centerline velocity except the entrainment ratio and the maximum throw. In other words, the entrainment ratio and the maximum throw by 1.he free jet theory are hard to estimate the characteristics of jet because of restriction of c confined space.

• 대한기계학회논문집A
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• 제21권2호
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• pp.352-360
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• 1997

An inverse dynamic procedure for spatial multibody systems containing flexible bodies is developed in the relative joint coordinate space. Constraint acceleration equations are derived in terms of relative coordinates using the velocity transformation technique. An inverse velocity transformation operator, which transforms the Cartesian velocities to the relative velocities, is derived systematically corresponding to the types of kinematic joints connecting the bodies and the system reference matrix. Using the resulting matrix, the joint reaction forces and moments are analyzed in the Cartesian coordinate space. The formulation is illustrated by means of two numerical examples.

• 한국연소학회:학술대회논문집
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• 한국연소학회 2006년도 제32회 KOSCO SYMPOSIUM 논문집
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• pp.49-54
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• 2006

The present study conducted a numerical modeling on the diesel SCR (selective catalytic reduction) system using ammonia as a reductant over vanadium-based catalysts $(V_2O_5-WO_3/TiO_2)$. Transient modeling for ammonia adsorption/desorption on the catalyst surface was firstly carried out, and then the SCR reaction was modeled considering for it. In the current catalytic reaction model, we extended the pure chemical kinetic model based on laboratory-scale powdered-phase catalyst experiments to the chemico-physical one applicable to realistic commercial SCR reactors. To simulate multi-dimensional heat and mass transfer phenomena, the SCR reactor was modeled in two dimensional, axisymmetric domain using porous medium approach. Also, since diesel engines operate in transient mode, the present study employed an unsteady model. In addition, throughout simulations using the developed code, effects of space velocity on the DeNOx performance were investigated.

• 천문학논총
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• 제24권1호
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• pp.35-41
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• 2009

We present a method to improve the RV (radial velocity) measurements accuracy by using telluric lines. Telluric lines are used to estimate the wavelength scale drift over the detector of the spectrograph. In the case of BOES, the Echelle spectrograph at BOAO (Bohyunsan Optical Astronomical Observatory), the wavelength scale drift can be several hundreds m/s over 24 hours. Due to the wavelength scale drift, the RV measurements accuracy of BOES is limited to several hundreds m/s. By estimating the wavelength scale drift by telluric lines, we can remove its effect to improve the RV measurements accuracy to about 40 m/s.

• 설비공학논문집
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• 제10권5호
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• pp.640-648
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• 1998

A numerical study has been conducted to investigate the effect of inflow supply air temperature and velocity on ventilation effectiveness in an underfloor air conditioning space. A low Reynolds number k-$\varepsilon$ model is implemented to calculate steady state turbulent velocity distributions. A step-down injection method is used to calculate local and room mean ages from transient concentrations based on the concept of the age of air. Results show that there is a significant effect of Archimedes number on ventilation effectiveness especially for cooling conditions. Reynolds number shows relatively minor effect on velocity distribution and ventilation effectiveness especially for isothermal and heating conditions. It can be concluded that underfloor air conditioning system provides good ventilation characteristics for cooling conditions because of temperature stratification in the space.

• Bulletin of the Korean Chemical Society
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• 제28권11호
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• pp.2075-2078
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• 2007

Oligomerization of isobutene has been investigated using a few solid acid catalysts in order to produce efficiently triisobutenes that are useful chemical feedstocks for heavy alkylates and neo-acids. Several reaction conditions such as space velocity and isobutene concentration are evaluated, and a few cation exchange resins with various acid capacities were compared in the reaction. High trimers selectivity and high conversion can be obtained over a catalyst containing high acid capacity at low space velocity and relatively low isobutene concentration. The stability of a catalyst for the reaction is high when the acid capacity of the catalyst is high (for example Amberlyst-35).

• 한국가시화정보학회:학술대회논문집
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• 한국가시화정보학회 2006년도 추계학술대회 논문집
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• pp.42-47
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• 2006

The flow around a rotating circular cylinder near a plane wall is investigated by the measurement of the lift acting on the cylinder and by the flow visualization using the hydrogen bubble technique in the circulating water tank. The experimental parameters are the rotating direction of the cylinder, the space ratios H/D$(H/D=0.05\sim0.5)$ between cylinder and plane wall and the velocity ratios $\alpha(\alpha=0\sim{\pm}2.0)$. In the case of clockwise, the lift on the rotating circular cylinder was increased with the reduction of the space ratios and with the velocity ratios, the upper separation point was more shifted in the rotating direction with them. In the case of anticlockwise, the absolute value of the lift on the rotating circular cylinder was increased with the space ratios and with the velocity ratios, the lower separation point was more shifted in the rotating direction with them.

• Structural Engineering and Mechanics
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• 제69권2호
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• pp.121-129
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• 2019

The present study investigates the propagation of shear waves in a composite structure comprised of imperfectly bonded piezoelectric layer with a micropolar half space. Piezoelectric layer is considered to be initially stressed. Micropolar theory of elasticity has been employed which is most suitable to explain the size effects on small length scale. The general dispersion equations for the existence of waves in the coupled structure are obtained analytically in the closed form. Some particular cases have been discussed and in one particular case the dispersion relation is in well agreement to the classical-Love wave equation. The effects of various parameters viz. initial stress, interfacial imperfection and micropolarity on the phase velocity are obtained for electrically open and mechanically free system. Numerical computations are carried out and results are depicted graphically to illustrate the utility of the problem. The phase velocity of the shear waves is found to be influenced by initial stress, interface imperfection and the presence of micropolarity in the elastic half space. The theoretical results obtained are useful for the design of high performance surface acoustic devices.

• 천문학회보
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• 제44권2호
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• pp.52.3-52.3
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• 2019

We present our first attempt at understanding the dual impact of the large-scale density and velocity environment on the formation of very first astrophysical objects in the Universe. Following the recently developed quasi-linear perturbation theory on this effect, we introduce the publicly available initial condition generator of ours, BCCOMICS (Baryon Cold dark matter COsMological Inital Condition generator for Small scales), which provides so far the most self-consistent treatment of this physics beyond the usual linear perturbation theory. From a suite of uniform-grid simulations of N-body+hydro+BCCOMICS, we find that the formation of first astrophysical objects is strongly affected by both the density and velocity environment. Overdensity and streming-velocity (of baryon against cold dark matter) are found to give positive and negative impact on the formation of astrophysical objects, which we quantify in terms of various physical variables.