• Journal of the Institute of Electronics Engineers of Korea SC
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• v.39 no.6
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• pp.9-19
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• 2002

An NAC(Natural Admittance Control) system design is presented for interaction controller that achieves high-performance and guarantees stability. The NAC can be classified as a particular flavor of impedance control similar to control schemes that have velocity compensator and force compensator. The NAC significantly improves the response characteristics when Coulomb friction is presented in One-link Robot System and guarantees stability when robot contacts with environment. Pragmatic rules for NAC synthesis are derived. It shows method to choose a target impedance for realizable force compensator. Important parameters are found experimentally. It is demonstrated, by the experimental result, that NAC algorithm is successful in rejecting Coulomb friction through velocity compensator and guarantees stability through force compensator. We implement an experimental set-up consisting of environment-generated one-link robot system and DSP system for controller development. We apply the natural admittance controller to the One-link robot system, and show the good performance on desired force control in case of contacting with arbitrary environment.

• Korean Journal of Computational Design and Engineering
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• v.19 no.4
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• pp.356-367
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• 2014

A robotic sapatial augmented reality (RSAR) system, which combines robotic components with projector-based AR technique, is unique in its ability to expand the user interaction area by dynamically changing the position and orientation of a projector-camera unit (PCU). For a moving PCU mounted on a conventional robotic device, we can compute its extrinsic parameters using a robot kinematics method assuming a link and joint geometry is available. In a RSAR system based on user-created robot (UCR), however, it is difficult to calibrate or measure the geometric configuration, which limits to apply a conventional kinematics method. In this paper, we propose a data-driven kinematics control method for a UCR-based RSAR system. The proposed method utilized a pre-sampled data set of camera calibration acquired at sufficient instances of kinematics configurations in fixed joint domains. Then, the sampled set is compactly represented as a set of B-spline surfaces. The proposed method have merits in two folds. First, it does not require any kinematics model such as a link length or joint orientation. Secondly, the computation is simple since it just evaluates a several polynomials rather than relying on Jacobian computation. We describe the proposed method and demonstrates the results for an experimental RSAR system with a PCU on a simple pan-tilt arm.

• Journal of the Korean Chemical Society
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• v.29 no.6
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• pp.575-581
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• 1985

Ultraviolet spectrophotometric investigations have been carried out on the systems of benzene, naphthalene and phenanthrene with iodine in carbon tetrachloride. The results reveal the formation of the one to one molecular complexes. The equilibrium constants were obtained in consideration of that absorption maxima due to the formation of the charge transfer complexes shift to blue with increasing temperature. Thermodynamic parameters for the formation of the charge transfer complexes were calculated from these values. These results indicate that the stabilities of the complexes formed between polynuclear aromatics and iodine increase with the number of aromatic rings. This may be a measure of the relative basicities of polynuclear aromatics toward iodine, which is explained in terms of the resonance of the interaction between aromatics and iodine. The results in this study were, additionally, compared with those of the polymethylbenzene series to be discussed the reason for them.

• Journal of the Korean Electrochemical Society
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• v.7 no.4
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• pp.194-200
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• 2004

The constant correlation factors between the Temkin and the Langmuir or the Frumkin adsorption isotherms of over-potentially deposited hydrogen (OPD H) for the cathodic H2 evolution reaction (HER) at poly-Pt and Re/0.5M $H_2SO_4$ and poly-Ni/0.05 M KOH aqueous electrolyte interfaces have been experimentally and consistently found using the phase-shift method. At intermediate values of the fractional surface coverage $(\theta),\;i.e.,\;02<{\theta}<0.8$, the Langmuir and Temkin adsorption isotherms of OPD H for the cathodic HER are correlated to each other even though the adsorption conditions or processes are different from each other. At the same range of $\theta$, correspondingly, the Frumkin and Temkin adsorption isotherms of OPD H for the cathodic HER are correlated to each other. The equilibrium constants $(K_o)$ for the Temkin adsorption isotherms $({\theta}\;vs.\; E)$ are consistently ca. 10 times greater than those (K, Ko) for the corresponding Langmuir or Frumkin adsorption isotherms ($({\theta}\;vs.\; E)$. The interaction parameters (g) for the Temkin adsorption isotherms $({\theta}\;vs.\; E)$ are consistently ra. 4.6 greater than those (g) for the corresponding Langmuir or Frumkin adsorption isotherms $({\theta}\;vs.\; E)$. These numbers (10 times and 4.6) can be taken as constant correlation factors between the corresponding adsolftion isotherms (Temkin, Langmuir, Frumkin) at the interfaces. The Temkin adsorption isotherm corresponding to the Langmuir or the Frumkin adsorption isotherm, and vice versa, can be effectively verified or confirmed using the constant correlation factors. Both the phase-shift methodand constant correlation factors are useful and effective for determining or confirming the suitable adsorption isotherms (Temkin, Langmuir, Frumkin) of intermediates for sequential reactions in electrochemical systems.

• Journal of the Korean GEO-environmental Society
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• v.10 no.1
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• pp.35-41
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• 2009

It is necessary to consider the site amplification for estimating SSI (soil structure interaction) and seismic source with more confidence. The horizontal to vertical (H/V) ratio technique in spectral domain is one of several techniques to estimate empirical site transfer function. The technique, originally proposed by Nakamura (1989), is applied to analyze the surface waves in the microtremor records. However, the application of this technique has been widened to the shear wave energy of strong motions for estimating site amplification. The purpose of this paper is to estimate spectral ratio using observed data at the seismic stations distributed within Southern Korean Peninsula from the Fukuoka earthquake including 11 aftershocks. The results show that each station has the its own characteristics of the specific resonance, high-band, and low-band frequency. The characteristics of the resonance frequency is more important because the quality of the seismic records are dependent on the resonance frequency. The result can be used for the study of site classification and removal of the site amplification effects from observed records can give us more reliable seismic source parameters.

• Journal of the Korean Geotechnical Society
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• v.32 no.11
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• pp.97-108
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• 2016

Lunar rover plays an important role in lunar exploration. Especially, performance of rover wheel related to interaction with lunar soil is of great importance when it comes to optimization of rover's configuration. In this study, in order to investigate the motion performance of lunar rover's wheel on Korean Lunar Soil Simulant (KLS-1), a single wheel testbed was developed and used to carry out a series of experiments with two kinds of wheel with grousers and without grousers which were used to perform the experiments. Wheel traction performance was evaluated by using traction parameters such as drawbar pull, torque and sinkage correlated with slip ratio. The results showed that the single wheel testbed was suitable for evaluation of the performance of wheel and rover wheel with grousers which was likely to have higher traction performance than that without grousers in Korean Lunar soil simulant. The experimental results could be utilized in verification of the optimum wheel design and effectiveness of wheel traction for Korean lunar rover.

• Journal of Hydrogen and New Energy
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• v.22 no.5
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• pp.686-698
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• 2011

Mathematical models for char-slag interaction and near-wall particle segregation developed by Montagnaro et. al. were applied to predict various aspects of coal gasification in an up-flow entrained gasifier of commercial scale. For this purpose, some computer simulations were performed using gPROMS as the numerical solver. Typical design parameters and operating conditions of the commercial gasifiers were used as input values for the simulation. Development of a densely dispersed phase of solid carbon was found to have a critical effect on both carbon conversion and ash flow behavior. In general, such a slow-moving phase was turned out to enhance carbon conversion by lengthening the residence time of char or soot particles. Furthermore, it was also found that guiding the transfer of char or soot into the closer part of the wall to coal burner is favorable in terms of gasification efficiency and vitrified ash collection. Finally, to a certain degree densely dispersed phase of carbon showed an yield-enhancing effect of syngas.

• The Transactions of the Korean Institute of Electrical Engineers C
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• v.54 no.8
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• pp.365-370
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• 2005

Microwave diagnostics have been widely utilized to measure the important parameters of high temperature and high density plasmas. Reflectometry is known as a promising microwave diagnostic which has a number of merits to measure electron density profiles. In the KSTAR device, X-mode FM reflectometry is planned to measure the plasma density profiles. FM reflectometry is required to extract phase information on raw mixer IF signals, thereby obtaining time-of-flight of reflectometry signals. It is known that the data analysis method is crucial to determine the performance of FM reflectometry In fact, there are several analysis programs which have been utilized in various FM systems. Since each program was developed for a specific device, however, it is difficult to directly apply it to a different reactor like the KSTAR device. It is necessary, therefore, to develop a data analysis program for the KSTAR FM reflectometry. In this paper, complex digital demodulation (CDM) and wavelet transformation are examined in terms of the performance of density profile reconstruction. For the comparison of both methods, FM reflectometry signals are generated on the basis of assumed profiles and the interaction of the X-mode wave and the plasma. In order to see how well both methods work under various conditions, three types of profiles are assumed and noise effects are included. As a result, both methods work well under the condition of gentle density gradient and small noise level. As density gradient becomes steeper and noise level gets higher. the reconstruction performance of wavelet is better than that of CDM.

• Structural Engineering and Mechanics
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• v.40 no.1
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• pp.65-84
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• 2011

In this paper a simple mathematical model for approximate static analysis of combined system of framed tube, shear core and two outrigger-belt truss structures subjected to lateral loads is presented. In the proposed methodology, framed tube is modeled as a cantilevered beam with a box section and interaction between shear core and outrigger-belt truss system with framed tube is modeled using torsional springs placed at location of outrigger-belt truss; these torsional springs act in a direction opposite to rotation generated by lateral loads. The effect of shear lag on axial deformation in flange is quadratic and in web it is a cubic function of geometry. Here the total energy of the combined system is minimized with respect to lateral deflection and rotation in plane section. Solution of the resulting equilibrium equations yields the unknown coefficients of shear lag along with the stress and displacement distributions. The results of a numerical example, 50 storey building subjected to three different types of lateral loading obtained from SAP2000 are compared to those of the proposed method and the differences are found to be reasonable. The proposed method can be used during the preliminary design stages of a tall building and can provide a better understanding of the effects of various parameters on the overall structural behavior.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.6
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• pp.146-152
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• 2007

An active micro-mixer, which was composed of an oscillating micro-stirrer in the microchannel to provide rapid, effective mixing at high flow, rates was analyzed. The effects of molecular diffusion and disturbance by the stirrer were considered with regard to two types of mixer models: the simple straight microchannel and microchannel with an oscillating stirrer. Two types of mixer models were studied by analyzing mixing behaviors such as their interaction after the stirrer. The mixing was calculated by Lattice Boltzmann methods using the D2Q9 model. In this study, the time-averaged mixing index formula was used to estimate the mixing performance of time-dependent flow. The mixing indices of the two models compared. From the results, it was found that the mixer with an oscillating stirrer was much more enhanced and stabilized. Therefore, an optimum design for a dynamic micro-mixer with an oscillating stirrer was performed using Taguchi method in order to obtain a robust solution. The design parameters were established as the frequency, the length and the angle of the stirrer and the optimal values were determined to be 2, 0.8D and ${\pm}75^{\circ}$, respectively. It was found that the mixing index of the optimal design increased 80.72% compared with that of the original design.