• Journal of Electrical Engineering and Technology
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• 제11권3호
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• pp.733-740
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• 2016

To achieve bipedal walking in real human environments, a bipedal robot should be capable of modifiable walking both on uneven terrain with different heights and on flat terrain. In this paper, a novel walking pattern generator based on a 3-D linear inverted pendulum model (LIPM) is proposed to achieve this objective. By adopting a zero moment point (ZMP) variation scheme in real time, it is possible to change the center-of-mass (COM) position and the velocity of the 3-D LIPM throughout the single support phase. Consequently, the proposed method offers the ability to generate a modifiable pattern for walking on uneven terrain without the necessity for any extra footsteps to adjust the COM motion. In addition, a control strategy for bipedal walking on uneven terrain with unknown height is developed. The torques and ground reaction force are measured through force-sensing resisters (FSRs) on each foot and the foot of the robot is modeled as three virtual spring-damper models for the disturbance compensation. The methods for generating the foot and vertical COM of 3-D LIPM trajectories are proposed to achieve modifiable bipedal walking on uneven terrain without any information regarding the height of the terrain. The effectiveness of the proposed method is confirmed through dynamic simulations.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계학술대회논문집
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• pp.963-966
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• 2005

Model updating method is known to the area to correct finite element models by the results of the experimental modal analysis. Most common methods in model updating depend on a parametric model of the structure. In this case, the number of parameters is normally smaller than that of modal data obtained from an experiment. In order to overcome this limitation, many researchers are trying to get modal data as many as possible to date. 1 want to name this method multiple modified-system generation method. These Methods consist of direct system modification method and feedback controller method. The direct system modification Is to add a mass or stiffness on the original structure or perturb the boundary conditions. The feedback controller method is to make the closed food system with sensor and actuator so as to get the closed loop modal data. In this paper, we need to focus on the feedback controller method because of its simplicity. Several methods related the feedback controller methods are virtual passive controller (VPC) sensitivity enhancement controller (SEC) and mode decoupling controller (MDC). Among them, we will apply MDC to the model updating problem. MDC has various advantages compared with other controllers, such as VPC and SEC. To begin with, only the target mode can be changed without changing modal property of non-target modes. In addition, it is possible to fix any modes if the number of sensors is equal to that of the system modes. Finally, the required control power to achieve desired change of target mode is always lower than those of other methods such as VPC. However, MDC can make the closed loop system unstable when using incomplete modal data. So we need to take action to avoid undesirable instability from incomplete modal data. In this paper, we address the method to design the unique and robust MDD obtained from incomplete modal data. The associated simulation will be Incorporated to demonstrate the usefulness of this method.

• 한국산학기술학회논문지
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• 제15권4호
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• pp.1813-1818
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• 2014

햅틱 시스템에는 사용자인 인간이 항상 포함되므로, 인간 임피던스에 의한 시스템 안정성 분석이 필요하다. 특히, 일차 홀드 방식의 햅틱 시스템에 대한 인간 임피던스의 안정성 영향 분석이 미진하다. 본 논문에서는 선형 2차 시스템으로 모델화된 인간의 임피던스 모델을 포함하는, 일차 홀드 방식의 햅틱 시스템에 대한 안정성을 루드-후르비쯔 (Routh-Hurwitz)안정성 판별법을 이용하여 해석했다. 가상 벽 모델인 가상 스프링 상수 ($K_w$)의 안정성 영역과 인간 임피던스의 질량 ($M_h$), 댐핑 ($B_h$),그리고 스프링 상수 ($K_h$)와의 관계를 루드-후르비쯔 안정성 판별법을 이용하여 분석한 결과, 스프링 상수 ($K_h$)가 일정할 때 가상 스프링 상수 ($K_w$)는 인간 임피던스의 질량 ($M_h$)과 댐핑 ($B_h$)의 제곱근에 비례했다. 또한 인간 임피던스의 질량 ($M_h$)또는 댐핑 ($B_h$)가 일정할 때 가상 스프링 상수 ($K_w$)는 스프링 상수 ($K_h$)의 0.48배만큼 감소했다. 이를 종합하여 $K_w{\leq}54413{\sqrt{(M_h+M_d)(B_h+B_d)}}-0.486K_h$의 모델을 제안했고, 이론 값들과 제시된 모델로부터 계산된 값을 비교한 결과 평균적인 상대오차가 0.5%로 작게 나타났다. 제시된 모델이 인간 임피던스 모델과 가상 스프링 상수와의 관계를 비교적 잘 표현하고 있다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2008년도 추계학술대회논문집
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• pp.329-330
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• 2008

The 181,000 DWT Bulk Carrier has a different deck house type, which is not typical for previous bulk carriers, to meet the new international rules for bulk carriers. This new deck house has much smaller transverse breadth than the hull's transverse breath, resulting in large levels of the transverse response of the deck house. In addition, the longitudinal response of the funnel showed rather a large magnitude of vibration, which are excited by the ship's main excitations such as the main engine H-moment and the propeller surface forte when the ship operates at the NCR and the MCR speeds In the ballast condition. To solve these issues, the global forced vibration analysis has been performed for the ship and the ship structure has been modified to reduce the vibration level by increasing the girder depth and adjusting the engine room tank arrangement.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.785-791
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• 2005

Reconfigurability of machine tools is one of the critical factors to realize the responsive manufacturing systems to satisfy the mass-customization production. This paper presents the methods to model and simulate the machine tools on Internet in response to change in the machining requirements. Specifically, a set of module combination rules and a modeling method of the structure of machine tools using connectivity graph are developed. In response to the user requirements, kinematic relations and structures of machine tools can be derived using the module combination rules and connectivity graph relationships. Internet-based simulator of machine tools is implemented and presented. The developed machine tool simulator can be used to verify the structure of machine tools derived from the user requirements.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2005년도 제25회 추계학술대회논문집
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• pp.86-89
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• 2005

2단식 경가스총으로 부터 발사된 발사체의 공기역학적 특성을 연구하기 위해 이동 경계 수치계산법을 축대칭 비정상 압축성 오일러 방정식에 적용하였다. 본 연구로 얻어진 결과는 초음속으로 발사된 발사체로 인한 충격파와 폭발파사이 간섭현상, 와류와 barrel 충격파사이의 간섭현상, 정상 부족팽창 제트을 관찰할 수 있었으며, 발사체 질량 변화에 따른 발사체의 속도, 가속도, 항력 선도를 예측하였다.

• 한국정밀공학회지
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• 제19권9호
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• pp.74-81
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• 2002

Recently tube hydroforming has been widely applied to the automotive industries due to its several advantages over conventional methods. In this paper, attention is paid to comparison of an implicit and an explicit finite element method widely used for numerical simulation of a hydroforming process. For an explicit FEM, a huge amount of computational time is required because of the very small time increment to solve a quasi-static problem. Hence, when an explicit FEM is used fDr a hydroforming process, it is general to convert the real problem to a virtual problem with a different processing time and mass density by appropriate scaling factor. However it is difficult to figure out how large the scaling should be adopted enough to ignore the dynamic effects and maintain the desired accuracy. In this paper, the comparison of the results obtained from both methods focus on the accuracy of the predicted geometrical shape and the stress with various scaling factors which are applied to analyze hydroforming process of an automobile lower arm.

• 한국추진공학회지
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• 제6권2호
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• pp.65-74
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• 2002

전압력 회복율을 최대로 하기 위한 IRR형 램젯 공기 흡입구 초음속 확산부의 최적형상 설계를 수행하였다. 질량유량을 제약조건으로 고려하고 외부램프에서의 두 번째 경사충격파와 카울립 형상, 그리고 흡입구 목의 단면적을 설계변수로 선택하였다. 효율적인 최적화를 위해 설계변수 변환을 통한 개선된 반응면 기법을 사용하였으며 설계반복을 통해 높은 신뢰도의 반응면을 구성할 수 있었다. 최적화 기법으로 유전자 알고리즘을 사용하였으며, 이차원 Euler Code를 사용하여 공력해석을 수행하였다. 배압조건의 적용을 위해 흡입구 목 뒤로 가상의 노즐을 장착하였고 총 20회의 계산으로 종말충격파 이후의 전압력 회복율이 기준형상에 비하여 14% 향상된 초음속 확산부 최적형상을 설계할 수 있었다.

• Nuclear Engineering and Technology
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• 제51권4호
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• pp.1008-1016
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• 2019

In the SG (steam generator) of PWR (pressurized water reactor) for a nuclear plant, hundreds of U-shaped tubes are used for the heat exchanger system. They interact with primary pressurized cooling water flow, generating flow-induced vibration in the secondary flow region. A simplified U-tube model is proposed in this study to apply for experiment and its counterpart computation. Using the commercial code, ANSYS-CFX, we first verified the Moody chart, comparing the straight pipe theory with the results derived from CFD (computational fluid dynamics) analysis. Considering the virtual mass of fluid, we computed the major modes with the low natural frequencies through the comparison with impact hammer test, and then investigated the effect of pump flow in the frequency domain using FFT (fast Fourier transform) analysis of the experimental data. Using two-way fluid-structure interaction module in the CFD code, we studied the influence on mean flow rate to generate the displacement data. A feasible CFD method has been setup in this research that could be applied potentially in the field of nuclear thermal-hydraulics.

• 한국의류학회지
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• 제46권5호
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• pp.927-943
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• 2022

This study explores the organic form generation method, which reflects the evolving biomimetic approaches converging in fashion technology and considers the characteristics of the organic relationship between the body and the clothing to be represented in contemporary fashion. A literature review on biomimetic architecture and design-related theory and a case study on biomimetic fashion were both conducted. Images, articles, and data related to biomimicry fashion and clothing, including the increase in virtual fashion cases around 2020, were analyzed based on the literature review. Biomimicry was used to derive interdisciplinary similarities in the organic morphogenesis principle, and the result was categorized as a network system, folds and unfolds, pneumatic structures, auxetic growth, and membranes. The biomimetic fashion characteristics, including externalization of the body's interior, expansion of the body structure and silhouette, body protection, independence from the body, and post-human expression through virtualization, were analyzed. Morphogenetic processes performed through biomimetic vision are expected to aid in generating research on the possibility of mass production or popularization in the future through various experimental technical studies.