• Journal of the Korean Society for Precision Engineering
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• v.21 no.11
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• pp.130-139
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• 2004

The Casing Oscillator is a bore file Equipment for the all-casing process. All-casing process is a method of foundation work in construction yard to oscillate steel Casing in the ground. The existing Casing Oscillator has some problem like not boring horizontally with disturbance and not driving Casing othor angle except horizon. To solve problem, the new structure Casing Oscillator is presented and studied. The performance of Casing Oscillator is improved by kinematics analysis. The Casing Oscillator is similar to the parallel manipulator in structure. So we obtain Inverse kinematics solution of Casing Oscillator easily. But it is difficult to solve forward kinematics of Casing Oscillator. T his paper presents a novel pose description corresponding to the structure characteristics of parallel manipulators. Through analysis on geometry theory, we obtain a new method of the closed-form solution to the forward kinematics using Kinematic Inversion. The closed-form solution contains two different meanings -analytical and real-time. So we reach the goal of practical application and control. Closed-form forward kinematics solution is verified by an inverse kinematics analysis. It shows that the method has a practical value for real -time control and inverse kinematics servo control.

• Journal of Drive and Control
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• v.14 no.4
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• pp.9-16
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• 2017

In this study, the force tracking performance of the single-rod and double-rod type EHAs (Electro-Hydrostatic Actuators) was compared by computer simulation and experiments. The force-controlled EHAs exhibit non-linear behavior that are significantly dependent on operation conditions. The investigation focused on localizing the parameters that provide significant rise to the non-linearity. For this, the single-rod and double-rod type EHAs were mathematically expressed to derive their linear models. In parallel, they were modeled by a commercial simulation program including non-linear properties based on experimental results. It was shown that the dependency of the bulk modulus of oil with entrapped air on working pressure dominated the non-linearity in force control performance in case of the double-rod type EHA. The force control of the single-rod type EHA was influenced by much more elements. Besides the asymmetrical piston geometry and the non-linear bulk modulus of oil, its pilot-operated check valves made it dependent not only on the magnitude of reference input but also on its direction.

• International Journal of Control, Automation, and Systems
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• v.5 no.4
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• pp.388-396
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• 2007

This paper describes a multipath estimation method for Global Positioning System (GPS) dual frequency carrier phase measurements. Multipath is a major error source in high precision GPS applications, i.e., carrier phase measurements for precise positioning and attitude determinations. In order to estimate and remove multipath at carrier phase measurements, an array GPS antenna system has been used. The known geometry between the antennas is used to estimate multipath parameters. Dual frequency carrier phase measurements increase the redundancy of measurements, so it can reduce the number of antennas. The unscented Kalman filter (UKF) is recently applied to many areas to overcome some of the limitations of the extended Kalman filter (EKF) such as weakness to severe nonlinearity. This paper uses the UKF for estimating multipath parameters. A series of simulations were performed with GPS antenna arrays located on a straight line with one reflector. The geometry information of the antenna array reduces the number of estimated multipath parameters from four to three. Both the EKF and the UKF are used as estimation algorithms and the results of the EKF and the UKF are compared. When the initial parameters are far from true parameters, the UKF shows better performance than the EKF.

• The Journal of the Korea Contents Association
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• v.9 no.11
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• pp.289-296
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• 2009

In this study, I presented power control unit with potential use in the magnetic stimulation of biological systems. The effect of the magnetic stimulation depends on the geometry and orientation of the induced electric field as well as on the current pulse waveform delivered by the stimulator coil. TMS is achieved from the outside of the head using pulses of electromagnetic field that induce an electric field in the brain. There are numerous possibities in the applications TMS, such as diagnosis and therapy through the brain stimulation. These factors are very important to define the equipment requirements and characteristics in that the topology of the power supply and the size and geometry of the coil. The proposed solution is the generation of current pulses with variable amplitude and duration, according to a user defined input. Another solution is the topology that uses elements to store and transfer energy from the power source to the load. In addition to proposed topology, an adequate control strategy and right set of the power circuit parameters made possible to obtain unipolar waves and bipolar waves.

• Proceedings of the KAIS Fall Conference
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• 2009.05a
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• pp.565-570
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• 2009

국내의 비정형 건축물은 현재 도입기로, 동대문디자인파크, 전곡선사박물관, 부산국제영화센터 등이 건설 계획 되어지고 있지만 대부분이 실시설계 또는 착공단계에 머물고 있고, 아직까지 구체적인 시공단계에 이른 건축물이 없는 실정으로 비정형외장재의 이중곡률 (Non-Uniform Rational B-Spines)을 반영한 프로토타이핑(Prototyping), 패널화(Panelizing), 현장조립 시 기하학 통제기법, 시공오차 측정기법, As-Planned 도면과 As-Built 도면의 비교를 통한 준공도면의 작성기법 등에 대한 준비가 절실히 필요한 상황이다. 그러나 현재 비정형 건축물의 설계는 초기계획(Concept Design) 단계에서 건축가와 구조기술자의 협업 중요성만 강조되고 있고, 건축물이 비정형화됨에 따라 기하학적으로 설계 및 시공되어야 하는 건축물의 외장재에 대한 설계방법과 시공단계에서 시공품질 확보방안, 시공 하자를 유발시키는 다양한 변수에 대한 대응방안 등은 아직까지도 그 중요성을 인식하지 못하고 있는 실정이다. 따라서 본 연구에서는 비정형 건축물의 설계에 사용되는 Architectural Geometry Control 도구 중 그 활용성이 부각되어 지고 있는 Bentley 사의 Generative Components를 활용하여 비정형 건축물의 이중곡률 곡면외장재의 부재생산을 위한 패널화, 제작도면 추출에 관한 연구를 수행하고자 한다.

• International Journal of High-Rise Buildings
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• v.7 no.1
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• pp.17-32
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• 2018

This paper explores the function of a structural skin with an embossed surface applicable to use for tall building structures. The major diagrid system with a secondary embossed surface structure provides an enhanced perimeter structural system by increasing tube section areas and reduces aerodynamic loads by disorienting major organized structure of winds. A parametric study used to investigate an optimized configuration of the embossed structure revealed that the embossed structure has a structural advantage in stiffening the structure, reducing lateral drift to 90% compared to a non-embossed diagrid baseline model, and results of wind load analysis using computational fluid dynamics, demonstrated the proposed embossed system can reduce. The resulting undulating embossed skin geometry presents both opportunities for incorporating versatile interior environments as well as unique challenges for daylighting and thermal control of the envelope. Solar and thermal control requires multiple daylighting solutions to address each local façade surface condition in order to reduce energy loads and meet occupant comfort standards. These findings illustrate that although more complex in geometry, architects and engineers can produce tall buildings that have less impact on our environment by utilizing structural forms that reduce structural steel needed for stiffening, thus reducing embodied $CO^2$, while positively affecting indoor quality and energy performance, all possible while creating a unique urban iconography derived from the performance of building skin.

• Proceedings of the KWS Conference
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• 2009.11a
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• pp.25-25
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• 2009

종래의 위보기 자세에서 용접은 중력이 모재의 표면으로 향하고 있어 용융금속이 중력에 의해 표면방향으로 흘러내리게 되어 용접 실시가 불가능하였다. 이에 Shield Gas Force, Trailing Gas Force 그리고 Ahead Gas Force를 적절히 적용하여 Position Welding에서 중력으로 인해 Molten Metal이 처지는 문제를 극복하여 생산성 향상으로 연결할 수 있음을 선행 실험을 통해 확인하였으나 기존의 C(Convergent)형, CP(Convergent Divergent)형 및 P(Parrallel)형 가스 노즐은 용접조건에 따라 실드 가스의 소모량이 많고, 토출되는 실드가스력이 부족하여 용접시 볼록한 이면 비드 형성을 위한 용융 풀을 효과적으로 제어 할 수 없다. 따라서 본 연구에서는 동일량의 실드 가스 공급시 가스 노즐을 통해 토출되는 실드가스의 소모를 줄이고 실드가스력을 극대화하여 저가의 고생산성을 가진 친 환경 용접기술(Green welding)에 부합하는 CDP(Convergent Divergent Parrallel)형 가스 노즐을 제작하여 기존의 CP형 가스 노즐과 비교 분석하였다. 또한 Overhead Position에서의 비드형상제어와 Flat Position에서 방풍효과를 비교해 보았다. 그 결과 CDP Nozzle은 CP Nozzle보다 동일한 유량에서 풍속은 3.5배, 냉각능력은 1.5배, 가스압력은 6.25배로 우수한 성능을 확인할 수 있었고, Overhead Position에서 가스 유량을 동일하게 하여 용접하였을 때 CP Nozzle의 경우 오목한 이면비드가 나타났지만 CDP Nozzle의 경우 볼록하게 양호한 이면비드 형상이 나타났고, Flat Position에서의 방풍효과 비교실험에서 CDP Nozzle에서는 깊고 균일한 용입을 CP Nozzle에서는 불안정한 용입이 나타났는데 이는 CDP Nozzle의 경우 풍속에 의한 Arc Blow가 적게 발생하여 상대적으로 더 나은 용입을 확인하였다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.10
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• pp.1337-1345
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• 2011

In pressurized water reactors (PWRs), the reactor pressure vessel (RPV) upper head contains numerous control rod drive mechanism (CRDM) nozzles. In the last 10 years, the incidences of cracking in alloy 600 CRDM nozzles and their associated welds has increased significantly. Several axial and circumferential cracks have been found in CRDM nozzles in European PWRs and U.S. nuclear power plants. These cracks are caused by primary water stress corrosion cracking (PWSCC) and have been shown to be driven by welding residual stresses and operational stresses in the weld region. Therefore, detailed finite-element (FE) simulations for the Korea Nuclear Reactor Pressure Vessel have been conducted in order to predict the magnitudes of the weld residual stresses in the tube materials. In particular, the weld residual stress results are compared in terms for nozzle location, geometry factor$r_o$/t, geometry of fillet, and adjacent nozzle.

• Polymer(Korea)
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• v.35 no.6
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• pp.505-512
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• 2011

Effects of structural features of 4 dinuclear constrained geometry catalysts having paraxylene derivative bridge (DCGC) on copolymerization of ethylene and 1-hexene were investigated. The bridges of three catalysts have para-xylene backbone with a different substituent at benzene ring. The substituents were hydrogen (Catalyst 1), isopropyl (Catalyst 2), n-hexyl (Catalyst 3) and 1-octyl (Catalyst 4). It was found that Catalyst 1 having hydrogen as a substituent exhibited the greatest activity among the four dinuclear CGCs. On the other hand, Catalyst 2 containing isopropyl as a substituent showed the smallest activity. Very interestingly, Catalyst 2 was able to produce about 6 times higher molecular weight polymer than Catalyst 3 and 4. Catalyst 3 and 4 having a long alkyl chain substituent revealed the biggest comonomer response to generate polyethylene copolymer containing more than 40% 1-hexene contents. These results suggest that the control of the substituent of para-xylene bridge of dinuclear CGC can provide a proper method to adjust the microstructure of polyethylene copolymers.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.2
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• pp.95-101
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• 2013

The paper investigates the geometric effect of landmarks to the navigation error in the landmark based 3D vision navigation and introduces the INS/Vision integrated navigation system considering its effect. The integrated system uses the vision navigation results taking into account the dilution of precision for landmark geometry. Also, the integrated system helps the vision navigation to consider it. An indirect filter with feedback structure is designed, in which the position and the attitude errors are measurements of the filter. Performance of the integrated system is evaluated through the computer simulations. Simulation results show that the proposed algorithm works well and that better performance can be expected when the error characteristics of vision navigation are considered.