• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1901-1904
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• 2003

MPC or model predictive control is representative of control methods which are able to handle physical constraints. Closed-loop stability can therefore be ensured only locally in the presence of constraints of this type. However, if the system is neutrally stable, and if the constraints are imposed only on the input, global aymptotic stability can be obtained; until recently, use of infinite horizons was thought to be inevitable in this case. A globally stabilizing finite-horizon MPC has lately been suggested for neutrally stable continuous-time systems using a non-quadratic terminal cost which consists of cubic as well as quadratic functions of the state. The idea originates from the so-called small gain control, where the global stability is proven using a non-quadratic Lyapunov function. The newly developed finite-horizon MPC employs the same form of Lyapunov function as the terminal cost, thereby leading to global asymptotic stability. A discrete-time version of this finite-horizon MPC is presented here. The proposed MPC algorithm is also coded using an SQP (Sequential Quadratic Programming) algorithm, and simulation results are given to show the effectiveness of the method.

• 한국결정성장학회지
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• 제14권3호
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• pp.95-100
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• 2004

This paper reports a potential problem in the electrical performance of the silicide film to silicon contacts with respect to the scaling trend in integrated circuit (IC) devices. The effects of elastic strain on the agglomeration of the coherent silicide film embedded in an infinite matrix are studied employing continuum linear elasticity and finite-difference numerical method. The interface atomic diffusion is taken to be the dominant transport mechanism where both capillarity and elastic strain are considered for the driving forces. Under plane strain condition with elastically homogeneous and anisotropic system with cubic symmetry, the dilatational misfit and the tetragonal misfit in the direction parallel to the film thickness are considered. The numerical results on the shape evolution agree with the known trend that the equilibrium aspect ratio of the film increases with the elastic strain intensity. When the elastic strain intensity is taken to be only a function of the film size, the flat film morphology with a large aspect ratio becomes increasingly unstable since the equilibrium aspect ratio decreases, as the film scales. The shape evolution results in a large decrease in contact to silicon area, and may deteriorate the electrical performances.

• 해양환경안전학회지
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• 제24권3호
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• pp.325-331
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• 2018

This paper deals with the dynamical analysis of a vessel that leads to capsize in regular beam seas. The complete investigation of nonlinear behaviors includes sub-harmonic motion, bifurcation, and chaos under variations of control parameters. The vessel rolling motions can exhibit various undesirable nonlinear phenomena. We have employed a linear-plus-cubic type damping term (LPCD) in a nonlinear rolling equation. Using the fourth order Runge-Kutta algorithm with the phase portraits, various dynamical behaviors (limit cycles, bifurcations, and chaos) are presented in beam seas. On increasing the value of control parameter ${\Omega}$, chaotic behavior interspersed with intermittent periodic windows are clearly observed in the numerical simulations. The chaotic region is widely spread according to system parameter ${\Omega}$ in the range of 0.1 to 0.9. When the value of the control parameter is increased beyond the chaotic region, periodic solutions are dominant in the range of frequency ratio ${\Omega}=1.01{\sim}1.6$. In addition, one more important feature is that different types of stable harmonic motions such as periodicity of 2T, 3T, 4T and 5T exist in the range of ${\Omega}=0.34{\sim}0.83$.

• 항공우주기술
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• 제2권2호
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• pp.66-75
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• 2003

우주비행체 음향 환경 시험을 위한 고음압 잔향실이 한국항공우주연구원에서 개발되었다. 우주비행체는 우주로 발사되는 동안 발사체에서 발생되는 고음압의 음향환경에 노출되므로, 발사 이전에 음향 환경에 대한 신뢰성시험이 수행된다. 한국항공우주연구원에 개발된 음향챔버는 부피 1,228세제곱 미터이며, 152dB의 음압을 잔향실 내부에 재생한다. 재생 주파수 범위는 25Hz~10,000Hz이다. 음향 환경 시험시설은 잔향실을 비롯해서, 질소 공급장치, 음원, 스펙트럼 제어시스템 등으로 구성된다. 본 논문은 시험시설을 구성하는 각 요소를 설계하기 위한 기본 개념을 서술한다. 또한 실제 건설된 음향챔버에서 측정된 결과를 바탕으로 음향챔버의 성능을 검증한다.

• 천문학회보
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• 제40권2호
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• pp.34.2-34.2
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• 2015

We aim to investigate the formation of primordial globular clusters (GCs) in the isolated dwarf galaxy (${\sim}10^{10}M_{sun}$) with cosmological zoom-in simulations. For this, we modified cosmological hydrodynamic code, GADGET-3, in a way to include the radiative heating/cooling that enables gas particles cool down to T~10K, reionization (z < 8.9) of the Universe, UV shielding ($n_{shield}$ > $0.014cm^{-3}$), and star formation. Our simulation starts in a cubic box of a side length 1Mpc/h with 17 million particles from z = 49. The mass of each dark matter (DM) and gas particle is $M_{DM}=4.1{\times}10^3M_{sun}$ and $M_{gas}=7.9{\times}10^2M_{sun}$, respectively, thus the GC candidates can be resolved with more than hundreds particles. We found the following results: 1) mini halos with the more interactions before merging into the main halo form the more stars and thus have the higher star mass fraction ($M_{star}/M_{total}$), 2) the mini halos with the high $M_{star}/M_{total}$ can survive longer and thus spiral into closer to the galactic center, 3) the majority of them spiral into bulge, but some of them can survive until the last as baryon-dominated system, like the GC.

• 대한기계학회논문집A
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• 제21권3호
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• pp.430-438
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• 1997

Deburring and edge finishing technology as the final process of machining operation is required for manufacturing of advanced precise conponents. But, deburring is considered as a difficult problem on going to the high efficient production and automation in the FMS. Removal of burr couldn't have a standard of its definition because of its various shapes, dimensions and properties and mostly depends on manual treatment. Especially, deburring for cross hole inside is very difficult owing to its shape passing through out perpendicular to a main hole. The electrochemical method is suggested as its solution in practical aspect. Therefore, electrochemical deburring technology needs to be developed for the high efficiency and automation of internal deburring in the cross hole. In this study, the new process in the eliminating burr inside cross hole, electrochemical deburring by the wheel electroplated with Cubic-Boron-Nitrade abrasives, is suggested. Its deburring mechanism is described and machining performances is investigated. Also, CBN electroplated wheel is designed and manufactured and then characteristics of electrochemical deburring are investigated through experiments. Overall electrochemical deburring performance against burr inside cross hole is examined in the various power sources such as peak current and direct current.

• 한국산업안전학회:학술대회논문집
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• 한국안전학회 1997년도 추계 학술논문발표회 논문집
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• pp.43-48
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• 1997

아트리움 공간에서 화재 발생시 연기 유동에 대하여 두 가지 형태의 화재 모델인 zone 모델과 field 모델을 이용하여 시뮬레이션 했다. 사용된 zone model은 NIST에서 개발된 CFAST(version 1.6) 모델이며 field 모델은 전산유체역학 이론을 바탕으로 자체 개발된 화재 모델이다. 본 연구는 정육면체 모양의 아트리움 공간에서 연기 유동과 온도 분포에 대하여 해석하고자 한다. 화재로 인해 야기된 유동에 대하여 속도장과 은도장을 예측하기 위한 계산 과정은 유한체적법 및 비엇갈림격자계를 이용하여 질량, 운동량, 에너지 및 성분 보존 방정식등에 대한 3차원 비정상상태 지배방정식을 사용했다. 수치해석 결과 zone 모델과 field 모델의 화재 모델에 의해 예측된 연기 층 평균 경계놀이와 상부 더운 연기 층의 평균 온도에 대하여 거의 유사한 결과를 얻었다.

• 대한물리의학회지
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• 제13권3호
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• pp.113-120
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• 2018

PURPOSE: This study was conducted to investigate the characteristics of a specific functional shoe in terms of the range of motion (ROM) of ankle and foot joints during walking when compared to a standardized shoe. METHODS: Kinematic ROM data pertaining to ankle, tarsometatarsal, and metatarsophalangeal joints were collected from twenty-six healthy individuals during walking using a ten-camera motion analysis system. Kinematic ROM of each joint in three planes was obtained over ten walking trials consisting of two different shoe conditions. Visual3D motion analysis was finally used to coordinate the kinematic data. All kinematic ROM data were interpolated using a cubic spline algorithm and low-pass filtered with a cutoff frequency of 6 Hz for smoothing. RESULTS: The overall ROM of the ankle joint in the sagittal and coronal planes when wearing the specific functional shoe was significantly decreased in both ankles during walking when compared to wearing a standard shoe (p<.05). Significantly more flexibility was observed when wearing the specific functional shoe in the tarsometatarsal and metatarsophalangeal joints compared to a standard shoe (p<.05). CONCLUSION: Although clinical application of the specific functional shoe has shown clear positive effects on knee and ankle moments, the results of this study provide important background information regarding the kinematic mechanisms of these effects.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.19-23
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• 1996

Deburring and edge finishing technology as the last process of machining operation is required for manufacturing of advanced procesion components, duburring has treated as a difficult problem on going tothe highefficency, automation in the FMS. Removal of butt with various shapes, dimensions and properties coultn't has a standard and has depended on manual treatment. Especially, deburring for cross hole inside owing to passing through out perpendicular to a main hole is more difficult, the electrolytic method is proper as its solution at practical aspects. Therefore, for the high effciency and automation of intermal deburring in the cross hole, development of electrolytic debutting technology is needed. So, the new process in the burr treatment is supposed. In this study, in the eliminating burr inside cross hole, the principle and machining performances of electrochemical deburring by Cubic-Boron-Nitrade abrasive electroplate wheel are investigated, Design and manufacture of CBN electroplated wheel and analysis of characteristics with electrolytic debutting are achieved. Also deburring efficiency and electrolytic performance for cross hole were examined according to electrolytic current and electrolytic deburring condition corresponding to acquired edge quality was found out.

• 산업경영시스템학회지
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• 제27권2호
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• pp.37-43
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• 2004

High speed machining is a machining process which cuts materials with the fast movement and rotation of a spindle in a machine tool. It reduces machining time because of the high feed and the high speed of a spindle. In addition it gets rid of post processes for high precision machining. When the high speed machining is applied to especially hardened steel, operators should select the proper parameters of machining. This can produce machining surfaces which is qualified with good surface roughness. This paper presents a method for selecting machining parameters to minimize surface roughness with high speed machining in cutting the hardened steels. Experimental data for surface roughness are collected in a machining shop based on the cutting feed and the spindle rotation. The data fits in hi-cubic polynomial surface of mathematical form. From the model this research minimize the surface roughness to find the optimal values of the feed and the spindle speed. This paper presents a program which automatically generates optimal solutions from the raw data of experiments.