• 제어로봇시스템학회논문지
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• 제4권3호
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• pp.342-348
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• 1998

A majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is greatly influenced by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and hence makes the high speed - high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2 DOF planar robot, the conditions for the minimum and maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solution to the optimal path placement problem is propose that minimizes the joint disturbance torque during a straight line motion. The proposed method is illustrated using computer simulation. The proposed solution method can be applied to a class of robots that are controlled by independent joint servo control, which includes the vast majority of industrial robots.

• International Journal of Fluid Machinery and Systems
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• 제3권1호
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• pp.1-10
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• 2010

The present study is a fundamental approach to develop the measuring technology for minute fluctuating pressures on the three-dimensional blade surfaces of the fan which rotates with an arbitrary rotation-axis direction. In this situation, we are required to correct the centrifugal-force effect, the gravitational-force effect and the other leading-error effects for accurate measurements of the minute pressures. The working fluid is air. A pressure transducer rotating with an arbitrary attitude is closely sealed by a twofold shroud system. The rotational motion with an arbitrary attitude is produced by fixing the pressure transducer to the cantilever which is connected to a motor-driven disc of 500mm in diameter and 5mm in thickness. As a result, we have quantitatively determined main governing effects upon the non-effective component of the pressure-transducer signal.

• 한국식품영양학회지
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• 제7권4호
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• pp.345-352
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• 1994

High protein beverage of cow-soy milk was prepared by mixing the soymilk and commercial homogenized cow milk in the various ratios. Effect of heat treatment, pH and addition of calcium and sucrose was studied on the water-soluble nitrogen of cow-soy milk The heat-treated soymilk at 10$0^{\circ}C$ were centrifuged at the range of 830~29,900xg for 30 min and 11,200xg was found to be proper for determination of the degree of protein denaturation by centrifugal method. When soymilk was heated at 70~10$0^{\circ}C$ for 30~240 min, soluble nitrogen (QA SN) in supernatant of protein was decreased to 78.0~56.8% due to protein denaturation. Most of heat denaturation of protein was found to be occurred during Initial heating 10$0^{\circ}C$ for all mixed cow-soy milk. The sedimentation of SN was maximum at pH 4.0 In the range of pH 3~8. Addition of sucrose affected little on oASN while calcium addition reduced %SN significantly to approx. 55% for soymilk(100%). The effect of Ca was less as the ratio of cow milk increased.

• International Journal of Naval Architecture and Ocean Engineering
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• 제4권1호
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• pp.57-70
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• 2012

This article presents a numerical investigation concerning the effect of two kinds of axially progressing internal flows (namely, upward and downward) on fluid.structure interaction (FSI) dynamics about a marine riser model which is subject to external shear current. The CAE technology behind the current research is a proposed FSI solution, which combines structural analysis software with CFD technology together. Efficiency validation for the CFD software was carried out first. It has been proved that the result from numerical simulations agrees well with the observation from relating model test cases in which the fluidity of internal flow is ignorable. After verifying the numerical code accuracy, simulations are conducted to study the vibration response that attributes to the internal progressive flow. It is found that the existence of internal flow does play an important role in determining the vibration mode (/dominant frequency) and the magnitude of instantaneous vibration amplitude. Since asymmetric curvature along the riser span emerges in the case of external shear current, the centrifugal and Coriolis accelerations owing to up- and downward internal progressive flows play different roles in determining the fluid.structure interaction response. The discrepancy between them becomes distinct, when the velocity ratio of internal flow against external shear current is relatively high.

• Structural Engineering and Mechanics
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• 제86권4호
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• pp.519-533
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• 2023

This work focuses on the dynamic analysis of thermal barrier coated straight and curved turbine blades modelled as functionally graded sandwich panel under thermal environment. The pre- twisted straight/curved blade model is considered to be fixed to the hub and, the complete assembly of the hub and blade are assumed to be rotating. The functionally graded sandwich composite blade is comprised of functionally graded face-sheet material and metal alloy core. The constituents' material properties are assumed to be temperature-dependent, however, the overall properties are evaluated using Voigt's micromechanical scheme in conjunction with the modified power-law functions. The blade model kinematics is based on the equivalent single-layer shear deformation theory. The equations of motion are derived using the extended Hamilton's principle by including the effect of centrifugal forces, and further solved via 2D- isoparametric finite element approximations. The mesh refinement and validation tests are performed to illustrate the stability and accurateness of the present model. In addition, frequency characteristics of the pre-twisted rotating sandwich blades are computed under thermal environment at various sets of parametric conditions such as twist angles, thickness ratios, aspect ratios, layer thickness ratios, volume fractions, rotational velocity and blade curvatures which can be further useful for designing the blade type structures under turbine operating conditions.

• 한국터널지하공간학회 논문집
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• 제20권1호
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• pp.183-195
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• 2018

최근 공동구 및 지하터널의 수요증가와 함께 수직구 굴착에 대한 연구의 필요성이 증가하고 있다. 공동구 연구단은 국토교통부 연구개발사업의 일환으로 '수직구 외주면 선행 굴착공법 및 장비'를 개발하였으며 현재 성능 검증 중에 있다. '수직구 외주면 선행 굴착공법'은 수직구 굴착 시 굴착면의 외주면을 먼저 굴착하고 굴착기 벽체를 관입시켜 연약지반의 히빙에 대한 지반의 안정성을 확보하는 공법이다. 이 연구에서는 원심모형실험을 통해 히빙을 모사하고 관내토의 유무에 따른 지반면의 히빙과 지반침하, 그리고 주변지반의 거동을 비교, 분석하였다. 분석 결과 관내토가 지반침하와 히빙의 발생을 충분히 억제하는 효과를 나타내는 것으로 파악되었으며, 수직구 외주면 선행 굴착공법이 히빙에 대한 지반의 안정성을 충분히 확보함을 확인할 수 있었다.

• 대한지구과학교육학회지
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• 제10권1호
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• pp.26-37
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• 2017

이 연구의 목적은 중등과학 예비교사들의 조석 개념에 대한 오개념을 조사하고, 오개념을 과학개념으로 변화시킬 수 있는 학습모듈을 개발하여 개념변화에 미치는 학습모듈의 효과를 검사하는 것이다. 이에 연구자는 연구의 목적을 달성하기 위해 조석 개념 검사지와 인지갈등 전략을 적용한 조석 개념 학습모듈을 개발하여 적용하였다. 연구대상은 G 광역시에 소재한 사범대학 과학교육 전공 1학년 학생 40명을 대상으로 하였다. 연구 결과는 다음과 같다. 첫째, 중등과학 예비교사들은 조석 현상에 대하여 다양한 오개념을 갖고 있었다. 둘째, 개발한 학습모듈은 중등과학 예비교사들의 조석에 대한 오개념을 과학개념으로 변화시키는데 효과적이었다. 그러나 일부 학생들은 모듈의 학습 후에도 조석에 대한 오개념을 갖고 있었다. 그중 대표적인 오개념은 지구와 달이 공통질량 중심을 회전 중심으로 공전할 때 발생하는 원심력을 지구 자전에 의한 원심력과 구별하지 못하는 것과 지구가 공통질량 중심을 회전 중심으로 공전하는 동안 지구의 자전을 고려하지 않아야 한다는 사실을 알지 못하는 것이었다.

• ETRI Journal
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• 제27권3호
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• pp.319-325
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• 2005

In this paper the effect of temperature on the electrical properties of organic semiconductor disperse orange dye 25 (OD) have been examined. Thin films of OD have been deposited on $In_{2}O_{3}$ substrates using a centrifugal machine. DC current-voltage (I-V) characteristics of the fabricated devices $(Al/OD/In_{2}O_{3)$ have been evaluated at varying temperatures ranging from 40 to $60^{\circ}C$. A rectification behavior in these devices has been observed such that the rectifying ratio increases as a function of temperature. I-V characteristics observed in $Al/OD/In_{2}O_{3)$ devices have been classified as low temperature $({\leq} 50^{\circ}C)$ and high temperature characteristics (approximately $60^{\circ}C$). Low temperature characteristics have been explained on the basis of the charge transport mechanism associated with free carriers available in OD, whereas high temperature characteristics have been explained on the basis of the trapped space-charge-limited current. Different electrical parameters such as traps factor, free carrier density, trapped carrier density, trap density of states, and effective mobility have been determined from the observed temperature dependent I-V characteristics. It has been shown that the traps factor, effective mobility, and free carrier density increase with increasing values of temperature, whilst no significant change has been observed in the trap density of states.

• Journal of Power Electronics
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• 제15권5호
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• pp.1264-1273
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• 2015

An inverter output power control based power factor correction (PFC) strategy is being extensively used for permanent magnet synchronous motor (PMSM) drives in appliances because such a strategy can considerably reduce the cost and size of the inverter. In this strategy, PFC circuits are removed and large electrolytic DC-link capacitors are replaced with small film capacitors. In this application, the PMSM d-q axes currents are controlled to produce ripples, the frequency of which is twice that of the AC main voltage, to obtain a high power factor at the AC mains. This process indicates that the PMSM operates under periodic magnetic saturation conditions. This paper proposes a back electromotive-force (back-EMF) estimator for the high-speed sensorless control of PMSM operating under periodic magnetic saturation conditions. The transfer function of the back-EMF estimator is analyzed to examine the effect of the periodic magnetic saturation on the accuracy of the estimated rotor position. A simple compensation method for the estimated position errors caused by the periodic magnetic saturation is also proposed in this paper. The effectiveness of the proposed method is experimentally verified with the use of a PMSM drive for a vacuum cleaner centrifugal fan, wherein the maximum operating speed reaches 30,000 rpm.

• 한국전산유체공학회지
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• 제13권1호
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• pp.21-27
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• 2008

A numerical study for laminar flow in the entrance region of helical tubes for uniform inlet velocity conditions is carried out by means of the finite volume method to investigate the effects of Reynolds number, pitch and curvature ratio on the flow development. This results cover a curvature ratio range of 1/10$\sim$1/320, a pitch range of 0.0$\sim$3.2, and a Reynolds number range of 125$\sim$2000. It has been found that the curvature ratio does significantly effect on the angle of flow development, but the pitch and Reynolds number do not. The characteristic angle $\phi_c(=\phi/\sqrt{\delta})$, or the non-dimensional length $\overline{l}(=l\sqrt{\delta}cos(atan\lambda)/d)$ can be used to represent the flow development for uniform inlet velocity conditions. In uniform inlet velocity conditions, the growth of boundary layer delays the flow development attributed to centrifugal force, and in which conditions the amplitude of flow oscillations is smaller than that in parabolic inlet velocity conditions. If the pitch increases or if the curvature ratio or Reynolds number decreases, the minimum friction factor and the fully developed average friction factor normalized with the friction factor of a straight tube and the flow oscillations decrease.