• Journal of the Korean Society of Industry Convergence
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• v.25 no.6_1
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• pp.953-959
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• 2022

In this paper, the design result of robotic tools and the development of robot control system for chemical coupler assembly are presented. This research aims to eliminate the risk of chemicals exposed to human operators by developing the robotic tools and robot automation system for chemical tank lorry unloading that were done manually. Due to tight tolerance between couplers, even small pose error may result in very large internal force. In order to resolve the problem, the 6-axis compliance device is employed, which can provide not only enough compliance between couplers but also F/T sensing. The 6-axis compliance device having large force and moment capacity is designed. A simple linear gripper with rack-and-pinion is designed to grasp two sizes of couplers. The proposed robot automation system consists of 6-DOF collaborative robot with offset wrist, 6-axis compliance device with F/T sensing, linear gripper, and two robot visions.

• Journal of the Korean Society of Industry Convergence
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• v.15 no.1
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• pp.13-19
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• 2012

Due to a low stiffness of cranktrain and a failure experience from a history within short development time, a viscous torsional vibration damper was applied in order to reduce the torsional vibration and keep the high reliability for the durability of cranktrain system in the direct injection diesel engine. As an improvement of the crankshaft stiffness by increasing the diameter of main and pin journal, a rubber type damper could be considered. In this study, the control factors of rubber damper, the moment of inertia ring, stiffness of damper and damping coefficient of ring, were investigated by DFSS method through the analysis work and the measurement in the real engine condition.

• Communications for Statistical Applications and Methods
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• v.17 no.4
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• pp.507-513
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• 2010

Let {$X_i,-{\infty}$ < 1 < $\infty$} be a doubly infinite sequence of identically distributed and negatively associated random variables with mean zero and finite variance and {$a_i,\;-{\infty}$ < i < ${\infty}$} be an absolutely summable sequence of real numbers. Define a moving average process as $Y_n={\sum}_{i=-\infty}^{\infty}a_{i+n}X_i$, n $\geq$ 1 and $S_n=Y_1+{\cdots}+Y_n$. In this paper we prove that E|$X_1$|$^rh$($|X_1|^p$) < $\infty$ implies ${\sum}_{n=1}^{\infty}n^{r/p-2-q/p}h(n)E{max_{1{\leq}k{\leq}n}|S_k|-{\epsilon}n^{1/p}}{_+^q}<{\infty}$ and ${\sum}_{n=1}^{\infty}n^{r/p-2}h(n)E{sup_{k{\leq}n}|k^{-1/p}S_k|-{\epsilon}}{_+^q}<{\infty}$ for all ${\epsilon}$ > 0 and all q > 0, where h(x) > 0 (x > 0) is a slowly varying function, 1 ${\leq}$ p < 2 and r > 1 + p/2.

• Journal of the Korean Mathematical Society
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• v.47 no.2
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• pp.263-275
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• 2010

Let {$X_n;n\;\geq\;1$} be a strictly stationary sequence of negatively associated random variables with mean zero and finite variance. Set $S_n\;=\;{\sum}^n_{k=1}X_k$, $M_n\;=\;max_{k{\leq}n}|S_k|$, $n\;{\geq}\;1$. Suppose $\sigma^2\;=\;EX^2_1+2{\sum}^\infty_{k=2}EX_1X_k$ (0 < $\sigma$ < $\infty$). We prove that for any b > -1/2, if $E|X|^{2+\delta}$(0<$\delta$$\leq$1), then $$lim\limits_{\varepsilon\searrow0}\varepsilon^{2b+1}\sum^{\infty}_{n=1}\frac{(loglogn)^{b-1/2}}{n^{3/2}logn}E\{M_n-\sigma\varepsilon\sqrt{2nloglogn}\}_+=\frac{2^{-1/2-b}{\sigma}E|N|^{2(b+1)}}{(b+1)(2b+1)}\sum^{\infty}_{k=0}\frac{(-1)^k}{(2k+1)^{2(b+1)}}$$ and for any b > -1/2, $$lim\limits_{\varepsilon\nearrow\infty}\varepsilon^{-2(b+1)}\sum^{\infty}_{n=1}\frac{(loglogn)^b}{n^{3/2}logn}E\{\sigma\varepsilon\sqrt{\frac{\pi^2n}{8loglogn}}-M_n\}_+=\frac{\Gamma(b+1/2)}{\sqrt{2}(b+1)}\sum^{\infty}_{k=0}\frac{(-1)^k}{(2k+1)^{2b+2'}}$$, where $\Gamma(\cdot)$ is the Gamma function and N stands for the standard normal random variable.

• Journal of Korean Society of Steel Construction
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• v.12 no.4 s.47
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• pp.363-374
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• 2000

An accurate method is presented for vibrations of rhombic plates having three different combinations of clamped, simply supported, and free edge conditions. A specific feature here is that the analysis explicitly considers the moment singularities that occur in the two opposite corners having obtuse angles of the rhombic plates. Stationary conditions of single-field Lagrangian functional are derived using the Ritz method. Convergence studies of frequencies show that the corner functions accelerate the convergence rate of solutions. In this paper, accurate frequencies and normalized contours of the vibratory transverse displacement are presented for highly skewed rhombic plates, so that a significant effect of corner stress singularities nay be understood.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.4
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• pp.245-254
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• 2014

In this paper, stable and robust dynamic walking for a biped motion is proposed. To success this objective, the following structures are processed. In this paper, the proposed control method is one that adjusts actual zero moment position to move to the closest possible point in the stable area instead of following desired zero moment position. This minimizes energy consumption with the smallest joint movements. The proposed control method makes mechanical energy that drives lower limb of the bipedal robot efficient. In this paper, walking experiment is carried out with the three control structures mentioned above. The trajectory generated by off-line is illustrated by performing to walking on flat ground. experiment with an obstacle whose height is lower than that of trajectory is executed to validate dynamic motion.

• Journal of Convergence for Information Technology
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• v.11 no.10
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• pp.20-26
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• 2021

In this paper, we studied the rotation angle estimation methods required for image alignment in an image recognition environment. In particular, a rotation angle estimation method applicable to a low specification embedded-based environment was proposed and compared with the existing method using complex moment. The proposed method estimates the rotation angle through similarity mathcing of the 1D projection profile along the radial axis after converting an image into polar coordinates. In addition, it is also possible to select a method of using vector sum of the projection profile, which more simplifies the calculation. Through experiments conducted on binary pattern images and gray-scale images, it was shown that the estimation error of the proposed method is not significantly different from that of complex moment-based method and requires less computation and system resources. For future expansion, a study on how to match the rotation center in gray-scale images will be needed.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.1A
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• pp.117-132
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• 2006

The existing analytical solutions for rectangular plates with three edges clamped and the other free are derived based on nondimensional differential equation and their characteristics are analyzed. Since Timoshenko and Woinowsky-Krieger's method (1959) can give solutions for the case limited to the aspect ratio of the plates less than one, this method are proved to be impractical for the bending moment calculation of the plates under consideration. Horii and Moto's method(1968) are modified by adding stabilizing terms to suppress overflow in the matrix computation, from which the series solution with maximum 150 terms can be obtained. By use of the series solution the convergence of computed bending moments is tested. The modified method can be shown to calculate the deflection properties for the plates with wide range of aspect ratios, but the computed x moment at the corner points formed by the free edge and the clamped edges can not satisfy the boundary condition and the cause of problem is discussed in detail.

• International journal of advanced smart convergence
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• v.9 no.2
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• pp.49-57
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• 2020

We have not identified on what gender difference during gait at a pace of one's preferred velocity effects on the function of bilateral lower limb. This study was undertaken to investigate a difference of gait strategy by gender during gait at a one's preferred velocity of participants of adult male and female (n=20). Cinematographic data for motion analysis, ground reaction force (GRF) variables, and muscle volume of lower limb were analyzed. Significant difference of variables on movement of center of mass whole body, joint angle and moment of lower limb, and ground reaction force were tested by 2-way ANOVA analysis (P<0.05). Male group showed more muscle volume than female, and both showed more volume in dominant leg than non-dominant. Main effect by bilateral leg during gait showed higher difference in right than left leg in change of vertical position of center of mass (maximal, minimal). Main effect by gender in vertical change of position and velocity of center of mass showed higher difference in male than female (maximal, minimal). Hip joint showed more flexed and extended angle in male than female, and also dorsiflexion of ankle and flexion moment of knee and hip joint showed higher in male than female group. Therefore, this result was assumed that dominant showed furthermore more contribution for propulsive function than non-dominant leg. Gender difference showed in strategy controlling of biomechanical characteristics, and perhaps influenced by muscle volume.

• International Journal of Naval Architecture and Ocean Engineering
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• v.6 no.1
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• pp.14-26
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• 2014

This paper provides the prediction of ultimate longitudinal strengths of the hull girders of a very large crude carrier considering probabilistic damage extent due to collision and grounding accidents based on IMO Guidelines (2003). The probabilistic density functions of damage extent are expressed as a function of non-dimensional damage variables. The accumulated probabilistic levels of 10%, 30%, 50%, and 70% are taken into account for the estimation of damage extent. The ultimate strengths have been calculated using the in-house software called Ultimate Moment Analysis of Damaged Ships which is based on the progressive collapse method, with a new convergence criterion of force vector equilibrium. Damage indices are provided for several probable heeling angles from $0^{\circ}$ (sagging) to $180^{\circ}$ (hogging) due to collision- and grounding-induced structural failures and consequent flooding of compartments. This paper proves from the residual strength analyses that the second moment of area of a damage section can be a reliable index for the estimation of the residual ultimate strength. A simple polynomial formula is also proposed based on minimum residual ultimate strengths.