• 제어로봇시스템학회논문지
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• 제17권3호
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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.

• 한국전자파학회논문지
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• 제13권9호
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• pp.956-963
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• 2002

본 논문에서는 SIR(Stepped Impedance Resonator) 구조를 이용한 compact한 slit-folded형 마이크로스트립패치 안테나를 제작하였다 기존의 길이 방향의 $\lambda_{g}/2$ 공진을 이용한 평면형 마이크로스트립패치 안테나를 길이방향 중심에서 반으로 접어서 마이크로스트립 급전선으로 급전하여 전방향성 방사패턴을 얻은 Folded형 마이크로스트립 안테나를 적층형으로 제작시 급전선의 영향을 줄이기 위하여 급전방법을 상하면 패치사이의 접지면 위에 설계하여 급전핀을 세웠다. 또한 평면형 H형 SIR 구조를 Folded형 안테나에 적용한 슬릿 folded형 안테나는 기존의 folded형 안테나에 비하여 27.5 % 더 소형화하였다. 기존의 folded형 마이크로스트립 안테나는 E면(zx-plane)과 H면(xy-plane)의 평균이득이 거의 1.8 dB 정도의 차이를 보였으나 본 논문에서 제안한 슬릿 folded형은 E & H-plane의 평균이득차이가 0.1 dB로 거의 같음을 알 수 있다.

• 한국전자파학회논문지
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• 제28권4호
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• pp.251-260
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• 2017

이 논문은 NLJD 시스템에 적용될 수 있는 스파이럴 안테나의 축비 개선을 위한 접지면 위의 슬릿 설계에 관하여 기술한다. 이 논문에서 제안된 접지면 위의 슬릿 모양은 참고문헌 [7]에 있는 안테나의 Archimedean 스파이럴 슬릿 모양을 변형한 것이다. 축비를 개선하기 위해, 접지면 위의 슬릿은 균일한 각도로 나누고 전류가 서로 반대방향인 위치의 도체는 제거되었다. 측정된 반사손실, 방사패턴과 이득은 시뮬레이션 결과와 잘 일치하였다. 비록 접지면 위의 슬릿 구조가 참고문헌 [7]의 슬릿구조와 비교하여 변하였으나, 반사손실, 방사패턴 그리고 이득과 같은 특성은 거의 변하지 않았을 뿐만 아니라 4.88 GHz에서 축비만 현저히 개선되었다.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1998년도 봄 학술발표회 논문집
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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.

• 소성∙가공
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• 제24권1호
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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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• 제19권1호
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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.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집B
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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.

• 대한기계학회논문집B
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• 제24권5호
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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.

• 소성∙가공
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• 제13권6호
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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.

• 한국공간구조학회논문집
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• 제21권1호
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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.