• 제어로봇시스템학회논문지
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• 제14권3호
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• pp.273-283
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• 2008

This article describes a cooperative localization technique of multiple robots sharing position information of each robot. In case of conventional methods such as EKF, they need to linearization process. Consequently, they are not able to guarantee that their result is range containing true value. In this paper, we propose a method to merge the data of redundant sensors based on constraints propagation techniques on intervals. The proposed method has a merit guaranteeing true value. Especially, we apply the constraints propagation technique fusing wheel encoders, a gyro, and an inexpensive GPS receiver. In addition, we utilize the correlation between GPS data in common workspace to improve localization performance for multiple robots. Simulation results show that proposed method improve considerably localization performance of multiple robots.

• Journal of Welding and Joining
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• 제22권4호
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• pp.73-81
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• 2004

Failure mechanisms of welded joints under fatigue loads are interpreted that multiple collinear surface cracks initiating randomly along the weld toes propagate under the mutual interaction and coalescence of adjacent two cracks. To estimate fatigue crack propagation life for three types of the representative welded joints, i.e. non-load carrying cruciform, cover plate and longitudinal stiffener joint, the stress intensity factors at the front of the surface cracks have to be calculated, which are influenced strongly by the geometry of attachments, weld toes and the crack shapes. For the effective calculation of the stress intensity factors the Mk-factor was introduced which can be derived by a parametric study performed by FEM considering influence of the geometrical effects. The fatigue life of the cruciform joint was estimated by using the Mk-factors and the method considering the propagation mechanisms of the multiple surface cracks. Analysis results for the fatigue life had a good agreement with that of experiment.

• Tribology and Lubricants
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• 제16권5호
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• pp.373-380
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• 2000

Finite element analysis is performed on the subsurface crack propagation in brittle materials due to sliding contact. The sliding contact is simulated by a rigid asperity moving across the surface of an elastic half-surface containing single and multiple cracks. The single crack, coplanar cracks and parallel cracks are modeled to investigate the interaction effects on the crack growth in contact fatigue. The crack location is fixed and the friction coefficients between asperity and half-space are varied to analyze the effect of surface friction on stress intensity factor for horizontal cracks. The crack propagation direction is predicted based on the maximum range of shear and tensile stress intensity factors. With a coplanar crack, the stress intensity factor was increased. However, with a parallel crack, the stress intensity factor was decreased. These results indicate that the interaction of a coplanar crack increases fatigue crack propagation, whereas that of a parallel crack decreases it.

• 대한기계학회논문집A
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• 제29권11호
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• pp.1472-1479
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• 2005

Multiple surface crack distributed randomly along a weld toe influences strongly on the fatigue crack propagation life of welded joint. It is investigated by using statistical approaches based on series of systematic experiments. From the statistical results, initial crack numbers and its locations follow the normal distribution, and the probability of initial crack depths and lengths can be described well by tile Weibull distribution. These characteristics are used to calculate the fatigue crack propagation life, in which the mechanisms of mutual interaction and coalescence of the multiple cracks are considered as well as the Mk-factors obtained from a parametric study on the crack depths and lengths. The automatic calculation is achieved by the NESUSS, where the parameters such as the number, location and size of the cracks are all treated as random variables. The random variables are dealt through the Monte-Carlo simulation with sampling random numbers of 2,000. The simulation results show that the multiple cracks lead to much shorter crack propagation life compared with those in single crack situation. The sum of the simulation and tile fatigue crack initiation life derived by the notch strain approach agrees well with the experiments.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 학술대회 논문집 정보 및 제어부문
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• pp.323-324
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• 2008

In this paper, we present performance comparison of two methods to localize multiple robots. One is extended Kalman filter and the other is constraint propagation technique. Extended Kalman filter is conventional probabilistic method which gives the sub-optimal estimation rather than guarantee any boundary for true position of robot. In case of constraint propagation, it can give a boundary containing true robot position value. Especially, we deal with cooperative localization problem in outdoor environment for multiple robots equipped with GPS, gyro meter, wheel encoder. In simulation results, we present strength and weakness for localization methods based on extend Kalman filter and constraint propagation technique.

• 한국육종학회지
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• 제43권5호
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• pp.442-447
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• 2011

고감미 다수성 계통인 자가수정 스테비아의 hypocotyl 절편체를 이용하여 대량증식방법 개발에 대한 결과는 다음과 같다. 선발된 자가수정개체는 초장이 72.0~120.7 cm로 분포되어 있었고, 분지수는 4.9~56.6개로 분포되어 있었다. HPLC 분석을 통하여 rebaudioside-A(RA)성분이 평균함량 55.2%이상 함유된 자가수정 개체를 선발하였다. 스테비아의 hypocotyl 절편체를 이용하여 MS배지에 1.5 mg/L BA와 0.5 mg/L Kinetin를 혼용 첨가하였을 때 가장 많은 식물체가 재분화되었다. 이는 1개의 절편체가 30개의 식물체 재분화 효율을 나타내었다. 재분화된 신초로부터 발근배지는 0.1 mg/L IBA가 첨가된 배지에서 가장효과가 좋았다. 발근된 신초는 기외 이식 후 순화과정을 통하여 정상적인 식물체로 생육하였다. 본 연구에서 구명된 대량번식방법은 Rebaudioside A 생산성 향상에 효과적으로 이용될 것으로 판단된다.

• Environmental Sciences Bulletin of The Korean Environmental Sciences Society
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• 제4권1호
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• pp.1-9
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• 2000

This paper describes an analysis of various factors affecting traffic noise propagation, including the distance from the road, existence of a direct path of noise propagation, density and height of buildings, and procedure for predicting the attenuation of noise levels from roads. The analysis is based on a multiple number of regression models, utilizing the quantification theory of the first kind. This study incorporates a large amount of survey data concerning traffic noise propagation. The survey of the traffic noise propagation around main roads was carried out in several residential areas, mainly in Kwangju. The attenuation of noise levels measured provided 691 usable data samples. A multiple regression analysis demonstrated that the distance from the road makes the most significant contribution to the attenuation of the noise level. The second contributor was found to be the existence of a direct path of noise propagation. The building density and average height of the buildings also affected the attenuation of the noise level considerably. Other factors, such as the height of the building behind the receiver microphone and the number of traffic lanes on the noise-source roads, did not contribute as much to the attenuation of the noise level as the factors mentioned avove.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2004년도 춘계 학술발표대회 개요집
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• pp.243-245
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• 2004

Failure mechanisms of weldments under fatigue loads are interpreted that multiple collinear surface cracks initiating along weld toe propagate under the mutual interaction and coalescence of adjacent two cracks. To estimate fatigue crack propagation life for these weldments, the stress intensity factors of the multiple surface cracks have to be calculated which are influenced strongly by the geometrical complexity of weld toes and attachments. The Ak-factors derived by a parametric study can be introduced for the effective calculation of the stress intensity factors taking into account the geometrical complexity. The fatigue life was estimated by using the Ak-factors and the method considering the propagation mechanisms of the multiple surface cracks. The estimated values showed a good agreement with the measured fatigue life experimentally.

• 한국전산유체공학회지
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• 제9권1호
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• pp.25-33
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• 2004

Flame onset and propagation within hydrogen premixed gas mixture are numerically investigated in an rectangular enclosure. A detailed chemistry for hydrogen reaction is applied to anticipate the thermochemical behavior of intermediate species appropriately. To facilitate computation, 10 species and 16 elementary reaction steps for hydrogen combustion are taken into account. On the basis of 30％ of hydrogen concentration in hydrogen-air mixture, the effects of position and quantity of ignition sources on the flame evolution are analyzed. From the simulation results, the methods to decrease the potential hazard caused by the flame propagation are suggested.

• Journal of Welding and Joining
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• 제23권3호
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• pp.68-75
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• 2005

The fatigue life of welded joints is associated with crack initiation and propagation life. Theses cannot be easily separated, since the definition of crack initiation is vague due to the initiation of multiple cracks that are distributed randomly along the weld toes. In this paper a method involving a notch strain and fracture mechanical approach, which considers the characteristics of welded joints, e.g. welding residual stress and statistical characteristics of multiple cracks, is proposed, in an attempt to reasonably estimate these fatigue lives. The fatigue crack initiation life was evaluated statistically, e.g. the probability of failure occurrence in 2.3, 50 and $97.7\%$, in which the cyclic response of the local stress/strain hi the vicinity of the weld toes and notch factors derived by the irregular shape of the weld bead are taken into account. The fatigue crack propagation life was simulated by using Monte-Carlo method in consideration of the Ad-factor and the mechanical behavior of mutual interaction/coalescence between two adjacent cracks. The estimated total fatigue life, $(N_T)_{P50\%}$, as a sum of crack initiation and propagation life under the probability of failure occurrence in $50\%$ showed a good agreement with the experimental results. The developed technique for fatigue lift estimation enables to provide a quantitative proportion of crack initiation and propagation life in the total fatigue life due to the nominal stress range, ${\Delta}S$.