• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1145-1151
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• 2013

Kinematic modeling is a prerequisite for motion planning and the control of mobile robots. In this paper, we proposed a new method of kinematic modeling for a type of mobile robot based on differential motion transformation. The differential motion implies a small translation and rotation in three-dimensional space in a small time interval. Thus, transformation of the differential motion gives the velocity relationship, i.e., Jacobian between two coordinate frames. Since the theory of the differential motion transformation is well-developed, it is useful for the systematic velocity kinematic modeling of mobile robots. In order to show the validity for application of the differential motion transformation, we obtained velocity kinematic models for a type of exemplar mobile robot including spherical ballbots.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.13 no.6
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• pp.430-437
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• 2003

A conveying fluid cantilever pipe subjected to a uniformly distributed tangential follower force and three moving masses upon it constitute this vibrational system. The influences of the velocities of moving masses, the distance between two moving masses, and the uniformly distributed tangential follower force have been studied on the dynamic behavior of a cantilever pipe system by numerical method. The uniformly distributed tangential follower force is considered within its critical value of a cantilever pipe without moving masses, and three constant velocities and three constant distances between two moving masses are also chosen. When the moving masses exist on pipe, as the velocity of the moving mass and the distributed tangential follower force Increases. the deflection of cantilever pipe conveying fluid is decreased, respectively Increasing of the velocity of fluid flow makes the amplitude of a cantilever pipe conveying fluid decrease. After the moving mass passed upon the pipe, the tip- displacement of a pipe is influenced by the coupling effect between interval and velocity of moving mass and the potential energy change of a cantilever pipe. Increasing of the moving mass make the frequency of the cantilever pipe conveying fluid decrease.

• Geotechnical Engineering
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• v.14 no.3
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• pp.95-108
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• 1998

Downhole testing and seismic CPT (SCPT) have been widely used to evaluate stiffness profiles of the subgrade. Advantages of downhole testing and SCPT such as low cost, easy operation and a simple seismic source have got these testings more frequently adopted in site investigation. For the automated analysis of downhole testing and SCPT, the concept of interval measurements has been practiced. In this paper. a new inversion procedure to deal tilth the interval measurements for the automated downhole testing and SCPT (including a newlydeveloped continuous SCPT) is proposed. The forward modeling in the new inversion procedure incorporates ray path theory based on Snell's law. The formulation for the inversion analysis is derived from the maximum likelihood approach, which estimates the maximum likelihood of obtaining a particular travel time from a source to a receiver. Verification of the new inversion procedure was performed with numerical simulations of SCPT using synthesized profiles. The results of the inversion analyses performed for the synthetic data show that the new inversion analysis is a valid procedure which enhances Va profiles determined by downhole testing and SCPT.

• Geophysics and Geophysical Exploration
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• v.12 no.2
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• pp.173-182
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• 2009

In April 2008, KIGAM carried out an ocean-bottom seismometer (OBS) survey in the central Ulleung Basin where strong bottom simulating reflectors (BSRs) were revealed from previous surveys and some gas-hydrate samples were retrieved by direct sampling. The purpose of this survey is to estimate the velocity structure near the BSR in the gas hydrate prospect area using wide-angle seismic data recorded on the ocean-bottom seismometers. Along with the OBS survey, a 2-D seismic survey was performed whereby stratigraphic and preliminary velocity information was obtained. Two methods were applied to wide-angle data for estimating P wave velocity; one is velocity analysis in the $\tau$-p domain and the other is seismic traveltime inversion. A 1-D interval velocity profile was obtained by the first method, which was refined to layered velocity structure by the latter method. A layer stripping method was adopted for modeling and inversion. All velocity profiles at each OBS site clearly show velocity reversal at BSR depths due to the presence of gas hydrates. In addition, we could confirm high velocity in the column/chimney structure.

• Journal of The Korean Astronomical Society
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• v.47 no.6
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• pp.293-302
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• 2014

Simultaneous time monitoring observations of $H_2O$ $6_{16}-5_{23}$, SiO J = 1-0, 2-1, 3-2, and $^{29}SiO$ ${\upsilon}=0$, J = 1-0 lines are carried out in the direction of the Mira variable star TX Cam with the Korean VLBI Network single dish radio telescopes. For the first time, the $H_2O$ maser emission from TX Cam is detected near the stellar velocity at five epochs from April 10, 2013 (${\phi}=3.13$) to June 4, 2014 (${\phi}=3.89$) including minimum optical phases. The intensities of $H_2O$ masers are very weak compared to SiO masers. The variation of peak antenna temperature ratios among SiO ${\upsilon}=1$, J = 1-0, J = 2-1, and J = 3-2 masers is investigated according to their phases. The shift of peak velocities of $H_2O$ and SiO masers with respect to the stellar velocity is also investigated according to observed optical phases. The $H_2O$ maser emission occurs around the stellar velocity during our monitoring interval. On the other hand, the peak velocities of SiO masers show a spread compared to the stellar velocity. The peak velocities of SiO J = 2-1, and J = 3-2 masers show a smaller spread with respect to the stellar velocity than those of SiO J = 1-0 masers. These simultaneous observations of multi-frequencies will provide a good constraint for maser pumping models and a good probe for investigating the stellar atmosphere and envelope according to their different excitation conditions.

• Journal of Korean Society on Water Environment
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• v.32 no.4
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• pp.367-374
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• 2016

In this study, the RDII impact on sewer designing in the upstream monitoring area (A site) was considered. Based on the long-term (1/1/2011~12/31/2011) rainfall and flow data consisting of 10-min interval sampling in the nearby design area (B site), the maximum RDII/DWF ratio was selected. The sewer network system at B site was evaluated by the Manning equation. Scenario 1 considering the hourly maximum flow with respect to the flow velocity showed that none of the sewer pipes satisfied the minimum flow velocity condition (0.6 m/s), and 40 pipes did not achieve half of the velocity condition. In scenario 2 considering I/I, 1 the pipes satisfied 0.6 m/s, and 35 pipes showed 0.3 m/s. Scenario 3 reflected the effect of RDII. Velocities in 26 pipes were less than 0.3 m/s, and 4 pipes satisfied the velocity condition. With respect to the allowance rate, 17 pipes were shown to have more than 99%, and none of the pipes satisfied less than 95% of the allowance rate in scenario 1. In scenario 2, 17 Ed: Per the Table pipes showed more than 99% and one pipe showed less than 95%. In scenario 3, 16 pipes showed more than 99% of the allowance rate, and 19 pipes showed less than 95%. Based on these results, it is predicted that deposition would occur due to the slow flow velocity; however, capacity would not be a problem.

• 한국전산유체공학회:학술대회논문집
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• 2008.03b
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• pp.193-196
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• 2008

The vortical structures in a turbulent boundary layer (TBL) developed over a flat plate have been investigated experimentally. The flow conditions tested in this study were Re$_{\theta}$ = 3700, Re$_{\delta}$ = 11${\times}$105 and the shape factor H = 1.3. Instantaneous velocity fields in the streamwise-wall-normal planes were measured by using a dynamic PIV system. A trip-wire and sandpapers were placed behind the leading edge to promote the turbulent transition. 1000 velocity fields were obtained consecutively with a time interval of 1 millisecond. Streamwise u-velocity components were temporally averaged in the measuring plane. In addition, 2000 velocity fields were obtained randomly and ensemble-averaged to get the fully-developed turbulent characteristics. Profiles of the normalized u-component, turbulent intensities and Reynolds shear stress were evaluated. The structures of spanwise vortices were extracted from the instantaneous velocity fields by determining the swirling strength, ${\lambda}_{ci}$. The wall-normalized locations of vortices were temporally averaged in the measuring plane with respect to their rotational direction. The correlations between the temporally averaged u and the temporally averaged $y^+$ of vortices were evaluated. For the case of positive vortices, the correlation is not significant. However, the negative vortices show a strong negative correlation. The y-location of negative vortices tends to increase, as the averaged u decreases and vice versa. These findings indicate that the number of negative vortices in the outer layer increases during the outward bursting events.

• The Korean Journal of Petroleum Geology
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• v.1 no.1 s.1
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• pp.29-35
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• 1993

Seismic reflection data can be used to extract information about the velocity structure of the earth. This process is called a velocity inversion of the seismic data. However, it is difficult to recover a broad band reflection coefficient series because the frequency band of seismic trace is limited. The linear programming method has been examined to find the simplest velocity model that has frequency components consistent with the usable frequencies of the seismic trace and interval velocity data. The velocity structure of the earth is displayed in pseudovelocity section. After the linear program had been tested with a synthetic seismic trace, it was applied to the seismic reflection data of the Block Ⅱ in the Yellow Sea. By comparing the pseudovelocity section with sonic logs obtained from the well in the same area, it was possible to define the lithostratigraphy and the boundaries of Cretaceous volcanics and Cretaceous metavolcanics.

• Journal of Bio-Environment Control
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• v.17 no.3
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• pp.181-187
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• 2008

The structural stability of a simple-typed cultivation facility with a width of 5.6 m for growing Pleurotus ostreatus was analyzed by modeling the facility as three-dimensional steel frames. The computation was done by using the finite element analysis program, ANSYS and the criterion of determining structural stability was based on the allowable stress design (ASD). The computational results showed that the structure with a straight-typed bed column was more stable than those with other types of bed columns against snow depth but there was little difference against wind velocity. As results, the interval of rafter had a more influence on safety wind velocity than that of bed column, while the interval of bed column was more important to safety snow depth. Finally the bed column against buckling was stable in all cases considered in this paper.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.39 no.2
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• pp.119-124
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• 2015

Numerical study on the new design of the liquid mass flow meter in infinitesimal flow rate for semiconductor production is performed. The heater and thermistor are wired on the circular tube about 0.3mm inner diameter with designed gap between them. After the time interval from the single pulse heating the thermistor reaches its peak temperature and this time interval is almost inversely proportional to the liquid mass flow rate. The axial conduction in tube wall and convection through the flow is combined. As a result, the peak temperature moving velocity is much smaller than flow mean velocity and there is no linear relationship between them. In this study, the effects of design parameters such as the tube inner/outer diameter, wired heater width, and the gap between heater and thermistor are investigated and the trends of optimization in these parameters are discussed.