• Journal of Institute of Control, Robotics and Systems
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• v.17 no.3
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• pp.269-276
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• 2011

This paper proposes a novel control method using phase plane for a hydraulic biped humanoid robot. In biped walking control, it is much more difficult to control the posture of a biped robot in the coronal plane because the supporting area formed by the both feet in the coronal plane is much narrower than that of the sagittal plane. When the biped robot walks stably, the phase portrait of the pelvis in the coronal plane makes an elliptical shape. From this point of view, we develop an ankle torque controller and a foot placement controller for tracking the desired phase portrait during walking. We design these controllers by using simulations of a simplified compass gait biped model to regulate the desired phase portrait of pelvis. The effectiveness of the proposed control method is proved through full-body dynamic walking simulations and real experiments of the SARCOS hydraulic biped humanoid.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.13 no.9
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• pp.956-963
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• 2002

A linearly polarized folded type and H-shape slit folded type microstrip patch antenna at GPS(center frequency:1.575 GHz) were designed and fabricated by folding a conventional single $\lambda_{g}/2(\lambda_{g}:wavelength)$ rectangular patch a half along the length direction at the center of patch and inserting ground plane in the middle. As a result, two types of omnidirectional radiation patterns for E-plane (for zx-plane) in the direction of the length of patch and H-plane (for xy-plane) have been acquired. The experimental results show that the average gains of folded type and slit folded type for omnidirectional E-plane and H-plane are -1.5 dBd (-2.4 dBd) and -3.27 dBd(-2.5 dBd). Slit folded type microstrip patch antenna was more miniaturized than folded type microstrip patch antenna by 27.5 %. In case of slit folded type antenna, average gains of omnidirectional radiation pattern for E & H-plane are almost same.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.28 no.4
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• pp.251-260
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• 2017

This paper describes the design of a slit on ground plane to improve the axial ratio of the spiral antenna for the NLJD system application. A proposed slit shape located on the ground plane is changed to compare with the archimedean spiral slit shape of the antenna in reference [7]. In order to improve the axial ratio, the slit on the ground plane is divided by the uniform angle and the conductor of position where the current has the opposite direction each other is eliminated. Measured return loss, radiation pattern and gain show a good agreement with the computer simulation results. Even though the proposed slit structure on the ground plane was changed to compare with ones of reference [7], the characteristics such as return loss, radiation pattern and gain are not almost changed and only the axial ratio was remarkably improved at 4.88 GHz.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1998.04a
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• pp.175-182
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• 1998

The object of this study is shape finding and cutting pattern generation of membrane structures under the following assumptions : (1) material is linearly elastic (2) stress state is plane stress. Cable and membrane structures should introduce the nonlinear analysis considering geometric nonlinearity because these structures deform largely under the external loads. The analysis procedure is consisted of three steps considering geometric nonlinearity unlike any other structures. First step is the shape finding analysis to determine the initial equilibrium shape. Second step is the stress-deformation analysis to investigate the behaviors of structures under various external loads. Once a satisfactory shape has been found, a cutting pattern based on the shape finding analysis may be generated from the view point of construction. In this paper, (1) shape finding analysis formulation and an example, (2) cutting pattern determination procedure using weighted least-square minimization flattening method and some results are presented.

• Transactions of Materials Processing
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• v.24 no.1
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• pp.28-36
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• 2015

After a short review of the iterative optimal blank method, a new method of measuring the shape error for stamped parts with 3D contour lines, which is an essential component of the optimal blank design, is proposed. When the contour line of the target shape does not exist in a plane, but exists in 3D space, especially when the shape of the target contour line is very complicated as in the real automotive parts, then the measurement of the shape error is critical. In the current study, a method of shape error measurement based on the minimum distance is suggested as an evolution of the radius vector method. With the proposed method, the optimal blank shapes of real automotive parts were found and compared to the results of the radius vector method. From the current investigation the new method is found to resolve the issues with the radius vector method.

• Steel and Composite Structures
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• v.19 no.1
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• pp.43-58
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• 2015

There are many studies on the optimization of steel trusses in literature; and, a large number of them include a shape optimization. However, only a few of these studies are focused on the prestressed steel trusses. Therefore, this paper aims to determine the amounts of the material and cost savings in steel plane trusses in the case of prestressing. A parallel-chord simply supported steel truss is handled as an example to evaluate the used approach. It is considered that prestressing tendon is settled under the bottom bar, between two end supports, using deviators. Cross-sections of the truss members and height of the truss are taken as the design variables. The prestress losses are calculated in two steps as instantaneous losses and time-dependent losses. Tension increment in prestressing tendon due to the external loads is also considered. A computer program based on genetic algorithm is developed to solve the optimization problem. The handled truss is optimized for different span lengths and different tendon eccentricities using the coded program. The effects of span length and eccentricity of tendon on prestressed truss optimization are investigated. The results of different solutions are compared with each other and those of the non-prestressed solution. It is concluded that the amounts of the material and the cost of a steel plane truss can be reduced up to 19.9% and 14.6%, respectively, by applying prestressing.

• Proceedings of the KSME Conference
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• 2000.04b
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• pp.765-770
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• 2000

Hot-wire measurements are reported on the developing turbulent flows subject to plane rate of strain in a rotating $90^{\circ}$ dog bend. The cross-section of the bend varies from $100mm{\times}50mm$ rectangular shape at the bend inlet gradually to the $50mm{\times}100mm$ shape at the bend outlet with remaining a constant area. Data signals from the rotating test section are transmitted through a slip ring to the personal computer which is located at the outside of the rotating disc. 3-dimensional velocity and 6 Reynolds stress components were calculated from the equations which correlate the fluctuating and mean voltage values measured with rotating a slant type hot-wire into 6 orientations. The effects of Coriolis and centrifugal forces on the mean motions and turbulence structures are investigated with respect to rotational speed.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.24 no.5
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• pp.623-631
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• 2000

Hot-wire measurements were carried out on the developing turbulent flows subject to plane rate of strain in a rotating curved duct. The cross-section of the curved duct varies from 100mm${\times}$50mm rectangular shape at the bend inlet gradually to the 50mm${\times}$100mm rectangular shape at the bend outlet. Experimental setup consists of the test section of $90^{\circ}$ curved duct, rotating disc of 1.95m diameter, Ag-Ni precision slip ring, automatic traversing mechanism, variable speed motor, centrifugal blower, orifice flowmeter and hot-wire anemometer. Data signals from the rotating curved duct are transmitted through the slip ring to the computer which is located at the outside of the rotating disc. 3-dimensional velocity and 6 Reynold stresses components were obtained from the fluctuating and mean voltage measured by the slant type hot-wire probe rotating into 6 orientations. We investigate the effects of Coriolis and centrifugal forces on the turbulence structure.

• Transactions of Materials Processing
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• v.13 no.6 s.70
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• pp.540-545
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• 2004

Ever since the ideal forming theory has been developed for process design purposes, application has been limited to sheet forming and, fur bulk forming, to two-dimensional steady flow. Here, application for the non-steady case was performed under the plane-strain condition based on the theory previously developed. In the ideal flow, material elements deform following the minimum plastic work path (or mostly proportional true strain path) so that the ideal plane-stram flow can be effectively described using the two-dimensional orthogonal convective coordinate system. Besides kinematics, fur a prescribed final part shape, schemes to optimize a preform shape out of a class of initial configurations and also to define the evolution of shapes and boundary tractions were developed. Discussions include the two problematic issues on internal tractions and the non-monotonous straining. For demonstration purposes, numerical calculations were made for a bulk part under forging.

• Journal of Korean Association for Spatial Structures
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• v.21 no.1
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• pp.105-112
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• 2021

In this paper, the dynamic response was analyzed by performing linear dynamic analysis using historic earthquake loads on twisted-shaped structures and fixed structure among free-form high-rise structures with atypical elevation shape following prior studies. In addition, the dynamic characteristics of the analysis models according to the plane rotation angle of the twisted structure were compared and analyzed. As a result of the analysis, as the plane rotation angle of the twisted structure increased, the interlayer deformation rate increased in the high-rise part of 50th floors or more. The story shear force and the story absolute acceleration were similar in the entire structure. In the case of the story shear force, the response of the twisted shape model was rather reduced in the middle part. As a result of analyzing the dynamic response, the vulnerable layer where the response amplification of the twisted structure occurs was found to be 31st story.