• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.1402-1407
• /
• 2004

Moving a fragile object from an initial point to a goal location in minimum time without damage is pursued in this paper. In order to achieve the goal, first of all, the range of maximum acceleration and velocity are specified, which the manipulator can generate dynamically on the path that is planned a priori considering the geometrical constraints. Later, considering the impulsive force constraint of the object, the range of maximum acceleration and velocity are going to be obtained to keep the object safe while the manipulator is carrying it along the curved path. Finally, a time-optimal trajectory is planned within the maximum allowable range of the acceleration and velocity. This time optimal trajectory planning can be applied for real applications and is suitable for not only a continuous path but also a discrete path.

• International Journal of Control, Automation, and Systems
• /
• 제4권1호
• /
• pp.10-16
• /
• 2006

In this paper, moving a fragile object from an initial point to a specific location in the minimum time without damage is studied. In order to achieve this goal, initially, the maximum acceleration and velocity ranges are specified. These ranges can be dynamically generate on the planned path by the manipulator. The path can be altered by considering the geometrical constraints. Later, considering the impulsive force constraint on the object, the range of maximum acceleration and velocity are obtained to preserve object safety while the manipulator is carrying it along the curved path. Finally, a time-optimal trajectory is planned within the maximum allowable range of acceleration and velocity. This time-optimal trajectory planning can be applied to real applications and is suitable for both continuous and discrete paths.

• 한국운동역학회지
• /
• 제16권1호
• /
• pp.55-63
• /
• 2006

The purpose of this study is to prove the kinematical characteristics of Deff motion, the high bar performance, in terms of flying phases so that we can provide basic sources for improving gymnastic performance. To do this, we selected and analyzed the performance of two athletes who did Deff motion in the high bar competition of male artistic gymnastic in the 22nd Universiade 2003 Daegu. We drew the conclusions from the kinematical factors that were came out through analyzing three-dimensional cinematography of the athletes' movements, by using a high speed video camera. To make a successful performance, a performer releases the bar at a height of a high bar vertically and at a height of 82cm horizontally, and the flying performance should be made without moving forward, as maintaining the proper balance, in order to rise over 118cm high during the flying phase. When the performer is releasing the bar, an increase of the vertical speed in the center of the body and extension of a knee joint and a hip joint contribute to increasing a flying height. And when the moving body is twisted, leaning to left side is caused by the winding movement of a knee joint, which causes an unstable bar grasp. To grasp the bar stably, just before releasing the performer should gain propulsive force from twisting rotation through increasing the speed of shoulder rotation. And before the peak point, the performer should make sure of a body rotation distance over $164^{\circ}$ so that he or she can do an aerial rotary performance smoothly. When grasping the high bar, the center of the body should be above the bar and the angle of shoulder rotation should be maintained close to $540^{\circ}$ simultaneously. he high point performance(S1) has more speed on an ascending phase and less speed on a descending phase than the low point performance (S2). At the peak point, both the rotation angle of the body and that of the shoulder in high point performance are big as well. In conclusion, it is shown that a performer can make a jump toward the high bar easily with the body straight because the performer can hold the upper part of the body erect early in a descending phase.

• 한국콘크리트학회:학술대회논문집
• /
• 한국콘크리트학회 1999년도 봄 학술발표회 논문집(I)
• /
• pp.774-780
• /
• 1999

The study of bond behavior between concrete and rebar has been performed for a long time. On this study, we tried to analysed variation of bond behaviors quantitatively with varying the strength of concrete. Bond stress which observed below the neutral surface of beam and at connecting part of beam and column is affected by various bond parameters. Resistance of deformed bars which embedded in concrete to the pullout force is divided 1) chemical adhesive force 2) frictional force 3) mechanical resistance of ribs to the concrete and these horizontal components of resistance is being bond strength. We selected the most common and typical variable which is concrete strength among various variables. So we used two kinds of concrete strength like as 25MPa(NSC) and 65MPa(HSC). Tension Test was performed to verify how bond behavior varied with two kinds of concrete strength. Concentration of bond stress was observed at load-end commonly in Tension Test of the initial load stage. At this stage stress distribution was almost coincident at each strength. As tension load added, this stress distribution had difference gradually and movement of pick point of bond stress to free-end and central section was observed. This tendency was observed at first and moving speed was more fast in NSC. At the preceeding result the reason of this phenomenon is considered to discretion of chemical adhesion and local failure of concrete around rebar in load-end direction. Especially, when concrete strength was increased 2.6 times in tension test, ultimate bond strength was increased 1.45 times. In most recent used building codes, bond strength is proportioned to sqare root of concrete compressive strength but comparison of normalized ultimate bond strength was considered that the higher concrete strength is, the lower safety factor of bond strength is in each strength if we use existing building codes. In Tension Test, in case of initial tensile force state, steel tensile stress of central cross section is not different greatly at each strength but tensile force increasing, that of central cross section in NSC was increased remarkably. Namely, tensile force which was shared in concrete in HSC was far greater than that of concrete in NSC at central section.

• 한국실내디자인학회논문집
• /
• 제17권3호
• /
• pp.148-155
• /
• 2008

The following research focuses on the formation method of digital space by organistic line extension among various digital formation methods. The paper reflects on the meaning and concept of today's digitalism which enables the application of complex organistic system on space through advanced technology. It also explores the concept of a line in topology which differs in assumptive meaning from traditional Euclidian geometry. The findings of the research are that first, digital space is not optimized, but is a tentative formation in process. A digital space encompasses characteristics such as infinity, possibility, potential, asymmetry, and the force of virtuality such characteristics are expressed through a moving surface constantly changing with direction. Second, a digital space formed by line extension is inseparable and durable since no measurement or dimension is predetermined. Furthermore, its sense of direction and flexibility gives it a feeling of a living organism. Third, a Euclidian methodology called 'NURBS' is being developed to express such a dynamic digital space; this is reflected through three elements, control point, weights, and knots to effectively reflect the characteristics of virtuality. The opportunities of digital space are infinite, and the possibilities of formation methods likewise vast.

• 대한치과보철학회지
• /
• 제31권3호
• /
• pp.394-410
• /
• 1993

This study was accomplished for appreciation of the mandibular moments according to antero- posterior movement of pivot placed on the lower natural dentition. For this study, 20 subjects(male, $21\sim30$ yrs., average age 24) in the category of normal occlusion were selected, and the intraoral Vitallium clutches were cast and fabricated for each subjects. A 2-dimension PSD(Position Sensitive Detector, Hamamatsu Photonics Co., Japan) was attached to maxillary clutch in a mode of three dimensional control and LED (Light Emit Diode, Hamamatsu Photonics Co., Japan) was set up on mandibular clutch. Both clutches were set into oral cavity of each subjects and adjusted. Then the subjects were allowed to intercuspated with maximal bite force while the pivoting ball in the mid-line moving from anterior toward posterior position. The displacement scales were recorded by CCD camera(Sony, CCD-TR-705) and VCR, The conclusions were as follows : 1. When the subject was allowed to bite the metal pivoting ball in the midline of lower dentition with maximal bite force voluntarily while moving from lower central incisor to canine, 1st premolar, End premolar, 1st molar and 2nd molar. The lever actions on the pivot were revealed in all subjects. The equilibrium of moment were revealed on the pivots of 1st premolar(14 subjects), End premolar(4 subjects), and canine(2 subjects) areas. 2. The changes of loading on the TMJ according to antero-posterior positional changes of metal pivoting ball were able to recognize as follow. Compression on the TMJ was increased when the pivot moves anteriorly from the equilibrium point, and tension on the TMJ was increased when posteriorly. 3. 13 subjects were recognized their habitual chewing sides(Rights, Left8), and 7 subjects were not. During maximal biting, mandible was displaced toward their habitual chewing sides on the metal pivoting ball in the frontal plane. 4. In cephalometric analysis, the average genial angle of 20 subjects was $116.75^{\circ}$ and the average mandibular body length was 79.77mm. The equilibrium points of mandibular moment were positioned more posteriorly in the subjects having larger Genial angle than in the smaller(p<0.05). Relationships among the angle between FH plane and occlusal plane, the angle between occlusal plane and mandibular plane , and mandibular body length were not significant(p>0.05).

• 한국엔터테인먼트산업학회논문지
• /
• 제14권7호
• /
• pp.309-318
• /
• 2020

지금까지의 미야자키 하야오 작품 연구의 경향은 작품의 미학적 분석 및 사회적 의의에 치중되어 왔다. 본 논문은 3막 구조, 혹은 8 시퀀스 구조라고 불리는 내러티브 구조 및 주요 등장인물의 갈등을 유발하는 대립자 등 할리우드의 규범적 스토리텔링의 요소를 변주하여 차용하는 미야자키 하야오의 스토리텔링 전략에 대한 구체적인 분석을 수행하고, 이와 같은 변칙적인 스토리텔링으로 인해 야기될 수 있는 서사상의 단점이 해당 작품의 설화적, 그리고 동화적 성격으로 인해 상호보완 된 사례를 살핌으로써 미야자키 하야오 작품 연구의 다각화에 기여하고자 한다. 이를 위해 본 논문은 주인공의 목표를 방해하는 특정 대립자의 존재 없이 상황과 인물 관계의 설정만으로 이에 상응하는 극적 효과를 성취한 <이웃집 토토로>와 첫 번째 대립자가 극의 중간점 전후로 아군으로 돌아서는 <하울의 움직이는 성>과 <센과 치히로의 행방불명>의 대안적 대립 운용의 사례를 살펴보았다. 또한 해당 작품들의 내러티브 전개가 서사 구조상의 구획을 축약하고 확장하는 등, 8 시퀀스 구조의 재구성을 통해 관객을 흥미를 효과적으로 유발하는 설화적 스토리텔링의 구조를 성취한 사례의 구체적인 분석을 수행하였다.

• 대한기계학회논문집B
• /
• 제27권10호
• /
• pp.1464-1471
• /
• 2003

In order to investigate the flows with shock wave in branch, 108$^{\circ}$ elbow and T-junction of the IRWST system of standard Korean nuclear reactor, detail time dependent behaviors of unsteady flow with shock wave, vortex and so on are obtained by numerical method using compressible three-dimensional Navier-Stokes equations. At first, the complex flow including the incident and reflected shock waves, vortex and expansion waves which are generated at the corner of T-junction is calculated by the commercial code of FLUENT6 and is compared with the experimental result to obtain the validation of numerical method. Then the flow fields in above mentioned units are analyzed by numerical method of [mite volume method. In numerical analysis, the distributions of flow properties with the moving of shock wave and the forces acting on the wall of each unit which can be used to calculate the size of supporting structure in future are calculated specially. It is found that the initial shock wave of normal type is re-established its type from an oblique one having the same strength of the initial shock wave at the 4 times hydraulic diameters of downstream from the branch point of each unit. Finally, it is turned out that the maximum force acting on the pipe wall becomes in order of the T-junction, 108$^{\circ}$ elbow and branch in magnitude, respectively.

• 한국지구물리탐사학회:학술대회논문집
• /
• 한국지구물리탐사학회 2003년도 Proceedings of the international symposium on the fusion technology
• /
• pp.142-149
• /
• 2003

Blind hydraulic backfilling is a commonly used technique for subsidence control of the strata over unapproachable waterlogged underground excavations. In this investigation model studies on all the three variants of this technique, namely, hydro-pneumatic or air-assisted gravity backfilling, pumped-slurry backfilling and simple gravity backfilling, have been carried out in fully transparent models of the underground excavations. On examination of the filling process, it was revealed that in all the three cases, the basic process of filling occurs by sand transport along one or more meandering channels. The relative influence of sand, water and air flow rates on the area of filling from a single inlet point and the hydraulic pressure loss per unit length were studied in details. In hydro-pneumatic backfilling process, the air bubbles while moving upward through the meandering channels provide an additional buoyant force over and above the available hydraulic head. In this way the area of filling from a single borehole may be quite large even at small flow rates of water. During actual field implementation the injected air, if not released completely from the rise side holes, may cause troubles by way of creating potholes on the surface. The pumped-slurry technique has shown its capability of filling a relatively larger area at faster rate, especially when high-volume, low-pressure method was selected. But simple gravity filling was also found to be equally effective method as slurry pumping, especially when flow rates were high. In the second and third method discussed above, examination of variations of injection pressure was also done and its relation with physical phenomenon was also attempted. Some empirical relationships were also developed using multivariate regression with a view to help the practicing engineers.

• 한국항공운항학회지
• /
• 제20권1호
• /
• pp.1-12
• /
• 2012

Many pilots of the Korean Air Force(ROKAF) leave their jobs in order to move out to civilian airlines. Thanks to this considerable turnover phenomenon, the ROKAF faces a serious lack of air defense power. While the common understanding of this problem mainly talks about 'money' as the main cause of turnover, some pilots point out rather different issues. Many pilots say in a large-scale survey that they face serious job stresses not only from relative shortage of their income compared to civilian pilots, camp life, separated family conditions, overly loaded administrative works, but also from their professional flight trainings and low promotion rate to high ranks. The survey shows, however, at the same time, that the ROKAF pilots do not consider their job trainings and overall roles as the military pilots as the main factor causing the intention to turnover. A critical aspect of the pilots' job condition is many stress factors consistently affect overall job satisfaction level which stimulates the decision to turnover when they have to choose between the extension of military service as a pilot and moving-out to civilian airlines for new pilot's life. In other words, they accept the job difficulties as pilot in the military, but their long-term job satisfaction level is negatively affected by the job stresses.