• The Journal of Korea Robotics Society
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• v.4 no.3
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• pp.218-224
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• 2009

We propose a formation-keeping and changing methods for outdoor multiple mobile robots in chained form. Our proposed method is designed to maintain the follower to its desired distance and orientation with respect to the pole using the concept of virtual force such as potential field. The client robots use a behavior-based control to perform kinematic control to keep formation under the centralized system in our software framework. The relationship of each poles that is expressed by set of distance and angle is the description of the formation type and the type converting is performed using this set. In addition, we also examine the stability and capability in the simulation and experiments with real robots.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.10 s.175
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• pp.150-157
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• 2005

The vibration system in this study is consisted of a rotating cantilever pipe conveying fluid and a tip mass. The equation of motion is derived by using the Lagrange's equation. The influences of the rotating angular velocity and the velocity of fluid flow on the natural frequencies of a cantilever pipe have been studied by the numerical method. The effects of a tip mass on the natural frequencies of a rotating cantilever pipe are also studied. The influences of a tip mass, the velocity of fluid, the angular velocity of a cantilever pipe and the coupling of these factors on the natural frequency of a cantilever pipe are analytically clarified. The natural frequencies of a cantilever pipe conveying fluid are proportional to the angular velocity of the pipe in both axial direction and lateral direction.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2002.10a
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• pp.244-251
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• 2002

The purpose of this paper is to investigate the stability of tapered columns with general boundary condition(translational and rotational elastic support) at one end and carrying a tip mass of rotatory inertia with translational elastic support at the other end. The column model is based on the classical Bernoulli-Euler beam theory which neglects the effects of rotatory inertia and shear deformation. The governing differential equation for the free vibrations of linearly tapered columns subjected to a subtangential follower force is solved numerically using the corresponding boundary conditions. And the bisection method is used to calculate the critical divergence/flutter load. After having verified the results of the present study, the frequency and critical divergence/flutter load are presented as functions of various nondimensional system parameters.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2007.04a
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• pp.121-126
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• 2007

In this paper the vibration system is consisted of a rotating cantilever pipe conveying fluid and a tip mass. The equation of motion is derived applying a modeling method that employs hybrid deformation variables. 'TI1e influences of the rotating angular velocity, mass ratio and the velocity of fluid flow on the stability of a cantilever pipe are studied by the numerical method. The effect of tip mass on the stability of a rotating cantilever pipe are also studied. The influences of a tip mass, the velocity of fluid the angular velocity of a cantilever pipe and the coupling of these factors on the stability of a cantilever pipe are analytically clarified.

• Transactions of the Korean Society of Mechanical Engineers
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• v.14 no.3
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• pp.526-533
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• 1990

The dynamic stability of a single cam drive mechanism is investigated by an analytical approach. The nonlinear differential equation describing the motion of a single cam drive mechanism is linearized with respect to the imput power angle, and results a linear parametric differential equation. The instability region is examined by applying the harmonic balance method to linearized parametric equation having periodicity. Through the dynamic stability analysis of a single cam drive mechanism, it is observed that the parametric resonances exist and the instability regions tend to become wide as increasing the drive speed and follower mass.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.05a
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• pp.665-669
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• 2003

The paper deals with the relationship between the eigenvalue branches and the corresponding flutter modes of cantilevered pipes with a tip mass conveying fluid. Governing equations of motion are derived by extended Hamilton's principle, and the numerical scheme using finite element method is applied to obtain the discretized equations. The order of branches and unstable modes associated with flutter are defined in the stability maps of mass ratios of the pipe and the critical flow velocity. As a result, the relationship between the flutter related to the eigenvalue branches and the flutter modes are investigated thoroughly.

• International Journal of Aerospace System Engineering
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• v.3 no.2
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• pp.9-13
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• 2016

This study is about technical analysis in launching SLBM of North Korea. We expect that North Korea develop ICBM and SLBM by improving the technique called R-27. Also it is expected that they attempt to achievement in covertness and ambush by completing technique of cold launching. Recently, SLBM of North Korea rised 40 ~ 50 m on surface after launching in an underwater when they showed the scene of firing SLBM. We expect that they actively use not general technique but super cavitation technique. Also, they might improve the launching technique by doing SLBM launching test. This type is about that whole rocket is separated two parts and ignited with high velocity and we might think that 1st rocket is used in solid propellant to maneuver in high velocity in an underwater. After then, they might use liquid propellant for the long-range ballistic missile.

• Journal of the Daesoon Academy of Sciences
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• v.24_2
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• pp.85-115
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• 2015

The Reordering of the Universe(天地公事) pursuing the Latter world(後天)'s ideal world while denying the Former world(先天) is composed of enormous rituals. The Dosu(度數) is formed through these rituals and the world is transformed according to the Dosu. The people who follow the Sangje(上帝), the subject of this universe reordering and also participate in the Reordering of the Universe are called as the followers. The follower group can be said as a ritual group in the aspect that they participate in the ritual for the Reordering of the Universe. They not only observed the rituals but also actively participated in them, so took certain roles in forming the Dosu. That is, they performed certain, given roles in developing the rituals, or actively proposed their ideas under the Sangje's leadership, and participated in the process realizing the Dosu. Therefore it can be said that they were a group initiatively participating in the process overcoming the Former world's Sangguk(相克) world, and making the latter world's ideal world. It seemed that the followers at that time might have gone through a certain entrance ritual process in order to join in such a follower group. The 『Jeon-Gyeong』 recorded the entrance rituals of a man called as Cha Gyeong Seok among tremendous followers relatively in detail. According to the 『Jeon-Gyeong』, he first had to get a unique test in the entrance process, and the test was proceeded in several stages: the wisdom test reflecting the Sangje's unusual intelligence, the patience test to endure physical, psychological pains for the great ethic, and the test to evaluate the testee's ability to give up past oneself and to follow the Sangje with a new body & mind. In the process separating himself from the past his appearance, Gyeong-Seok, the candidate to enter, faced a liminal situation, and then performed the incorporation rite. In this process, the purification rite going him out of the past relationship of benefits & grudges was performed, and he was given the regulations to comply as a member of the follower group. Through such serial processes, his entrance in the follower group was allowed. What requested to the candidate in this entrance process was the severance from one's past. For that, the candidate was needed to go out of his past life habits, to free from the relationship of benefits and grudges, and to sever him from his past faults. Such severance was the precondition for him to go out of the Former world's negative reality and to break from the Sanggeuk habits. Another thing requesting to the candidate as well as the severance from his past was to establish a new ideal. The new ideal should be matched with the ideal of the Reordering of the Universe whose main ideology was the Haewon-Sangsaeng(解冤相生). Such ideal can be said as the driving force to proceed toward the new ideal world of Latter World. And the candidate was requested to purify his mind and to participate in the Universe Fair Judgement (天地公庭). That can be said as an important condition for the new member directly to participate in the ritual of the Reordering of the Universe dramatically transforming the world. Finally, the candidate was given the regulations for his ascetic practice(修道) as well as his participation in the Reordering, and was requested to comply them. After becoming a member of this follower group, one had to practice his asceticism through the compliance with such regulations and the training of mantras(呪文) in order to accomplish the goal called as Dotong(道通). By fulfilling these requirements, the newly entered member could have the qualification to perform a certain role in the ritual of the Reordering of the Universe, and could accomplish his religious ideal.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2002.10b
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• pp.89-90
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• 2002

Ball reducer (HERB Drive: High Efficient Wave Rolling Ball Drive) with waved grooves has many advantages over other types of reducers for high-reduction ratio, low noise and low energy loss, etc. The mechanism of force transmission is very similar to that of cam and follower in automobile valve train system especially in contact behaviors. In this study, we have investigated the traces of contact between ball and outer ring, and the dynamic contact behaviors of elastohydodynamic lubrication(EHL) with a certain reduction ratio. In order to verify the contact behaviors between ball and outer ring for the critical endurance lift, the contact velocity and load are computed for a cycle. During some intervals of a cycle, the contact velocity reverses its direction very suddenly. It is expected that changing the contact direction causes undesirable endurance performance because EHL film frequently col lapse at the moment of velocity reversal. From the computational investigation in this work, we hope to predict similar contact damages in other machinery due to this kind of contact behaviors, which is very typical in many contact phenomena.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2002.05a
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• pp.143-149
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• 2002

Ball reducer with waved grooves has many advantages over other reducers for the high-reduction ratios, low noise and low energy loss, etc. The mechanism of force transmission is very similar to that of cam and follower in automobile valve train system especially in the contact geometry. In this study, we have investigated the traces of contact between ball and outer race and the working behaviors with a certain reduction ratio. In order to verify the contact behaviors between ball and outer race, which determines the critical endurance life the contact velocity and load are computed for a cycle. During some period of a cycle, the contact velocity reverses its direction very suddenly, which causes undesirable endurance performance of this machinery. From the computational investigation in this work, we hope to predict similar contact damages in other machinery due to this kind of contact behaviors, which is very common in many contact phenomena.