• 한국정밀공학회지
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• 제21권3호
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• pp.51-58
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• 2004

This paper describes the development of a small 6-axis force/moment sensor for robot's finger, which measures farces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In order to safely grasp an unknown object using the robot's gripper, and accurately perceive the position of it in the gripper, it should measure the force in the gripping direction, the force in the gravity direction and the moments each direction, and perform the force control using the measured forces and moments. Also, it should detect the moments Mx (x-direction moment), My and Mz to accurately perceive the position of the object in the grippers. Thus, the robot's gripper should be composed of 6-axis force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In this paper, the small 6-axis force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test for the developed sensor was performed, and the result shows that intereference errors of the developed sensor are less than 4.23％. Thus, the developed small 6-axis force/moment sensor may be used a robot's gripper.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제10권10호
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• pp.4787-4807
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• 2016

Although the dense interconnection datacenter networks (DCNs) (e.g. FatTree) provide multiple paths and high bisection bandwidth for each server pair, the single-path TCP (SPT) and ECMP which are widely used currently neither achieve high bandwidth utilization nor have good load balancing. Due to only one available transmission path, SPT cannot make full use of all available bandwidth, while ECMP's random hashing results in many collisions. In this paper, we present OFPT, an OpenFlow based Parallel Transport framework, which integrates precise routing and scheduling for better load balancing and higher network throughput. By adopting OpenFlow based centralized control mechanism, OFPT computes the optimal path and bandwidth provision for each flow according to the global network view. To guarantee high throughput, OFPT dynamically schedules flows with Seamless Flow Migration Mechanism (SFMM), which can avoid packet loss in flow rerouting. Finally, we test OFPT on Mininet and implement it in a real testbed. The experimental results show that the average network throughput in OFPT is up to 97.5% of bisection bandwidth, which is higher than ECMP by 36%. Besides, OFPT decreases the average flow completion time (AFCT) and achieves better scalability.

• 전력전자학회논문지
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• 제24권5호
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• pp.365-371
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• 2019

This study shows the feasibility of the parameter of the 1st RC parallel equivalent circuit as a factor of the heat generation of lithium-ion cell. The internal resistance of a lithium-ion cell consists of ohmic and polarization resistances. The internal resistances at various SOCs of the lithium-ion cell are obtained via an electrical characteristic test. The internal resistance is inversely obtained through the amount of heat generated during the experiment. By comparing the resistances obtained using the two methods, the summation of ohmic and polarization resistances is identified as the heating factor of lithium-ion battery. Finally, the amounts of heat generated from the 2C, 3C, and 4C-rate discharge experiments and the COMSOL multiphysics simulation using the summation of ohmic and polarization resistances as the heating parameter are compared. The comparison shows the feasibility of the electrical parameters of the 1st RC parallel equivalent circuit as the heating factor.

• 대한금속재료학회지
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• 제49권9호
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• pp.726-731
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• 2011

The present work shows how the flexural displacement-induced fracture strength of silicon devices, whose back surfaces have wafer grinding-induced scratch marks, depends on the crystallographic orientation. Experimental results indicate that silicon devices with scratch marks parallel to their lateral direction (i.e. reference axis in this work) are very susceptible to flexural fracture, as compared to devices with marks which deviated from the direction. The 3-point bending test shows that the fracture strength of silicon devices having marks which are oriented away from the reference axis is 2.6 times higher than that of devices with marks parallel to the axis. It was particularly interesting to see that silicon devices with identical preferred marks even reveal different fracture strengths, depending on whether the marks are involved in specific crystal planes such as {111} or {011}, called cleavage planes. This work demonstrates that silicon devices with the reference axis-aligned scratch marks not existing on such cleavage planes can have higher fracture strength approximately 20% higher than those existing on the planes.

• Ocean Systems Engineering
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• 제11권4호
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• pp.313-330
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• 2021

In this study, the dynamic interaction between an Arctic Spar and drifting level ice is examined in time domain using the newly developed ice-hull-mooring coupled dynamics program. The in-house program, CHARM3D, which is the hull-riser-mooring coupled dynamic simulator is extended by coupling with the open-source discrete element method (DEM) simulator, LIGGGHTS. In the LIGGGHTS module, the parallel-bonding method is implemented to model the level ice using an assembly of multiple bonded spherical particles. As a case study, a spread-moored Artic Spar platform, whose hull surface near waterline is the inverted conical shape, is chosen. To determine the breaking-related DEM parameter (the critical bonding strength), the four-point numerical bending test is used. A series of numerical simulations is systematically performed under the various ice conditions including ice drift velocity, flexural strength, and thickness. Then, the effects of these parameters on the ice force, platform motions, and mooring tensions are discussed. The simulations reveal various features of dynamic interactions between the drifting ice and moored platform for various ice conditions including the novel synchronous resonance at low ice speed. The newly developed simulator is promising and can repeatedly be used for the future design and analysis including ice-floater-mooring coupled dynamics.

• 천문학회보
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• 제44권2호
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• pp.54.3-54.3
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• 2019

During the formation of large-scale structures in the universe, shocks with the sonic Mach number Ms <~ 5 are naturally induced by supersonic flow motions of baryonic matter in the intracluster medium (ICM). Cosmic rays (CRs) are expected to be accelerated via diffusive shock acceleration (DSA) at these ICM shocks, although the existence of CR protons in the ICM remains to be confirmed through gamma-ray observations. Based on the results obtained from kinetic plasma simulations, we build an analytic DSA model for weak, quasi-parallel shocks in the test-particle regime. With our DSA model, the CR acceleration efficiency ranges ~ 0.001 - 0.02 in supercritical quasi-parallel shocks with sonic Mach number Ms ~ 2.25 - 5, and the acceleration would be negligible in subcritical shocks wth Ms <~ 2.25. Adopting our DSA model, we estimate gamma-ray and neutrino emissions from clusters of galaxies by performing cosmological hydrodynamic simulations. The estimated gamma-ray flux is below the Fermi-LAT upper limit. In addition, the possible neutrino emission due to the decay of charged pions in galaxy clusters would be about <~ 1% of the atmospheric neutrino intensity in the energy range of <~ 100 GeV. In this talk, we will discuss the implication of our results.

• International Journal of Internet, Broadcasting and Communication
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• 제15권4호
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• pp.270-278
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• 2023

We propose a container orchestration system for process workloads that combines the potential of big data and machine learning technologies to integrate enterprise process-centric workloads. This proposed system analyzes big data generated from industrial automation to identify hidden patterns and build a machine learning prediction model. For each machine learning case, training data is loaded into a data store and preprocessed for model training. In the next step, you can use the training data to select and apply an appropriate model. Then evaluate the model using the following test data: This step is called model construction and can be performed in a deployment framework. Additionally, a visual hierarchy is constructed to display prediction results and facilitate big data analysis. In order to implement parallel computing of PCA in the proposed system, several virtual systems were implemented to build the cluster required for the big data cluster. The implementation for evaluation and analysis built the necessary clusters by creating multiple virtual machines in a big data cluster to implement parallel computation of PCA. The proposed system is modeled as layers of individual components that can be connected together. The advantage of a system is that components can be added, replaced, or reused without affecting the rest of the system.

• 지질공학
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• 제10권3호
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• pp.217-223
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• 2000

화강암의 결을 형성하는 미세균열은 화강암의 장기적인 거동을 지배하는 중요한 요소이다. 본 연구에서는 일본 이바라끼현 쯔꾸바지방에 분포하는 세립질 이나다 화강암을 대상으로 조사선법을 이용하여 미세균열을 측정하고, 수침 봉압하에서 응력완화시험을 수행할 수 있는 시스템을 개발하여 시험을 실시하였다. 일축압축강도의 약 75% 응력수준에서 실시한 시험결과에 의하면 시험개시 10시간 이내에 총 완화응력의 39%~49%가 발생하였으며, 시험개시 190시간 이내에 10~24 MPa의 응력완화를 보였다. 또한 재하방향에 평행하게 분포하는 미세균열의 밀도가 높을수록 완화응력은 크게 발생하였다.

• Computers and Concrete
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• 제22권4호
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• pp.373-381
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• 2018

Hollow center cracked disc (HCCD) in Brazilian test was modelled numerically to study the crack propagation in the pre-cracked disc. The pre-existing edge cracks in the disc models were considered to investigate the crack propagation and coalescence paths within the modelled samples. The effect of particle size on the hollow center cracked disc (HCCD) in Brazilian test were considered too. The results shows that Failure pattern is constant by increasing the ball diameter. Tensile cracks are dominant mode of failure. These crack initiates from notch tip, propagate parallel to loading axis and coalescence with upper model boundary. Number of cracks increase by decreasing the ball diameter. Also, tensile fracture toughness was decreased with increasing the particle size. In this research, it is tried to improve the understanding of the crack propagation and crack coalescence phenomena in brittle materials which is of paramount importance in the stability analyses of rock and concrete structures, such as the underground openings, rock slopes and tunnel construction.

• Structural Engineering and Mechanics
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• 제68권4호
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• pp.497-505
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• 2018

Three points bending flexural test was modeled numerically to study the crack propagation in the pre-cracked beams. The pre-existing edge cracks in the beam models were considered to investigate the crack propagation and coalescence paths within the modeled samples. The effects of particle size on the single edge-notched round bar in bending test were considered too. The results show that Failure pattern is constant by increasing the ball diameter. Tensile cracks are dominant mode of failure. These crack initiates from notch tip, propagate parallel to loading axis and coalescence with upper model boundary. Number of cracks increase by decreasing the ball diameter. Also, tensile fracture toughness was decreased with increasing the particle size. In the present study, the influences of particles sizes on the cracks propagations and coalescences in the brittle materials such as rocks and concretes are numerically analyzed by using a three dimensional particle flow code (PFC3D). These analyses improve the understanding of the stability of rocks and concretes structures such as rock slopes, tunnel constructions and underground openings.