• Journal of Korean Society of Water and Wastewater
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• v.21 no.3
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• pp.287-294
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• 2007

When we use the circular pipes for wastewater and storm water, we should be known the characteristics of the flow for accurate design. To elevate the design accuracy, we want to know the profile of flow. The roughness coefficient in the Manning equation is constant, but in actuality changed with the relative depth in circular pipe. This study was conducted to calculate the relative normal depth in changing the roughness coefficient (named relative roughness coefficient) with the relative depth in the analysis of gradually varied flow in the circular pipe by Newton-Raphson method. We performed the analysis of gradually varied flow using the relative normal depth and the relative roughness coefficient. We presented the 12 flow profiles with the relative depth and the relative roughness coefficient in circular pipe. The flow classification considering relative depth in circular pipe is available to analyse gradually varied flow profiles.

• Particle and aerosol research
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• v.5 no.2
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• pp.53-62
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• 2009

In this study, the continuous monitoring of the concentration of PM-10 atmospheric particulate matter using beta ray attenuation method was compared with gravimetric method from September, 2006 to August, 2007. On the effects of the PM-10 concentration and mass difference by relative humidity and precipitation were considered. The result showed that the measurement error between beta ray method and gravimetric method are within -3~6% in average, which means PM-10 concentration data with beta ray method are relatively comparable. The current study also shows that the high PM-10 concentration events are mainly due to haze, Asian dust, and high relative humidity and the PM-10 mass concentration is closely related with relative humidity and precipitation events. Based on daily mean data, the PM-10 increases as relative humidity increases up to 70~80%, then decreases over 80% due to the precipitation. However, the distinct measurement discrepancy was not shown between beta ray method and gravimetric method based on current results. Consequently, this study shows that the collocated measurement in different instrument is essential in order to quantify the accuracy of PM-10. Furthermore, the more comprehensive and spatially distributed comparison is needed and this is remained for future study.

• The Journal of Korea Robotics Society
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• v.4 no.1
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• pp.17-24
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• 2009

This work deals with an intuitive method for a planar biped to walk, which is named Relative Trajectory Control (RTC) method. A key feature of the proposed RTC method is that feet of the robot are controlled to track a given trajectory, which is specially designed relative to the base body of the robot. The trajectory of feet is presumed from analysis of the walking motion of a human being. A simple method to maintain a stable posture while the robot is walking is also introduced in RTC method. In this work, the biped is modeled as a free-floating robot, of which dynamic model is obtained in the Cartesian space. Using the obtained dynamic model, the robot is controlled by a model-based feedback control scheme. The author shows a preliminary experimental result to verify that the biped robot with RTC method can walk on the even or uneven surfaces.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.788-791
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• 2005

Nodal displacements are referred to the Initial configuration in the total Lagrangian formulation and to the last converged configuration in the updated Lagrangian formulation. This research proposes a relative nodal displacement method to represent the position and orientation for a node in truss structures. Since the proposed method measures the relative nodal displacements relative to its adjacent nodal reference frame, they are still small for a truss structure undergoing large deformations for the small size elements. As a consequence, element formulations developed under the small deformation assumption are still valid fer structures undergoing large deformations, which significantly simplifies the equations of equilibrium. A structural system is represented by a graph to systematically develop the governing equations of equilibrium for general systems. A node and an element are represented by a node and an edge in graph representation, respectively. Closed loops are opened to form a spanning tree by cutting edges. Two computational sequences are defined in the graph representation. One is the forward path sequence that is used to recover the Cartesian nodal displacements from relative nodal displacements and traverses a graph from the base node towards the terminal nodes. The other is the backward path sequence that is used to recover the nodal forces in the relative coordinate system from the known nodal forces in the absolute coordinate system and traverses from the terminal nodes towards the base node. One closed loop structure undergoing large deformations is analyzed to demonstrate the efficiency and validity of the proposed method.

• Journal of The Korean Society of Agricultural Engineers
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• v.46 no.5
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• pp.27-39
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• 2004

In the first part of this study, five homogeneous regions in view of topographical and geographically homogeneous aspects except Jeju and Ulreung islands in Korea were accomplished by K-means clustering method. A total of 57 rain gauges were used for the regional frequency analysis with minimum rainfall series for the consecutive durations. Generalized Extreme Value distribution was confirmed as an optimal one among applied distributions. Drought rainfalls following the return periods were estimated by at-site and regional frequency analysis using L-moments method. It was confirmed that the design drought rainfalls estimated by the regional frequency analysis were shown to be more appropriate than those by the at-site frequency analysis. In the second part of this study, LH-moment ratio diagram and the Kolmogorov-Smirnov test on the Gumbel (GUM), Generalized Extreme Value (GEV), Generalized Logistic (GLO) and Generalized Pareto (GPA) distributions were accomplished to get optimal probability distribution. Design drought rainfalls were estimated by both at-site and regional frequency analysis using LH-moments and GEV distribution, which was confirmed as an optimal one among applied distributions. Design rainfalls were estimated by at-site and regional frequency analysis using LH-moments, the observed and simulated data resulted from Monte Carlotechniques. Design drought rainfalls derived by regional frequency analysis using L1, L2, L3 and L4-moments (LH-moments) method have shown higher reliability than those of at-site frequency analysis in view of RRMSE (Relative Root-Mean-Square Error), RBIAS (Relative Bias) and RR (Relative Reduction) for the estimated design drought rainfalls. Relative efficiency were calculated for the judgment of relative merits and demerits for the design drought rainfalls derived by regional frequency analysis using L-moments and L1, L2, L3 and L4-moments applied in the first report and second report of this study, respectively. Consequently, design drought rainfalls derived by regional frequency analysis using L-moments were shown as more reliable than those using LH-moments. Finally, design drought rainfalls for the classified five homogeneous regions following the various consecutive durations were derived by regional frequency analysis using L-moments, which was confirmed as a more reliable method through this study. Maps for the design drought rainfalls for the classified five homogeneous regions following the various consecutive durations were accomplished by the method of inverse distance weight and Arc-View, which is one of GIS techniques.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.7
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• pp.66-72
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• 1999

Robot calibration is very important to improve the accuracy of robot manipulators. However, the calibration procedure is very time consuming and laborious work for users. In this paper, we propose a method of relative error compensation to make the calibration procedure easier. The method is completed by a Pi-Sigma network architecture which has sufficient capability to approximate the relative relationship between the accuracy compensations and robot configurations while maintaining an efficient network learning ability. By experiment of 4-DOF SCARA robot, KIRO-3, it is shown that both the error of joint angles and the positioning error of end effector are drop to 15$\%$. These results are similar to those of other calibration methods, but the number of measurement is remarkably decreased by the suggested compensation method.

• International Journal of Control, Automation, and Systems
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• v.5 no.5
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• pp.601-605
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• 2007

In this paper, we propose a simple and relative electrode contact monitoring method. By exploiting the power line interference, which is regarded as one of the worst noise sources for bio-potential measurement, the relative difference in electrode impedance can be measured without a current or voltage source. Substantial benefits, including no extra circuit components, no degradation of the body potential driving circuit, and no electrical safety problem, can be achieved using this method. Furthermore, this method can be applied to multi-channel isolated bio-potential measurement systems and home health care devices under a steady measuring environment.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.612-615
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• 2000

Cam mechanism is one of the common devices used in many automatic machinery. Specially cylindrical cam generates three dimensional motions. Thus, the shape design procedures must have high accuracy. This paper proposes the shape design procedure for a cylindrical cam and follower mechanism using a relative velocity method. The relative velocity method and the coordinate transformation are used to find a contact point between the cam and the follower. Also, the full shape of the cylindrical cam can be generated by using the geometric relationships and the contact constraints. As a result, this paper presents an example for the shape design of the cylindrical cam in order to prove the accuracy of the design procedures.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.639-642
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• 1997

A cylindrical cam with a translation roller follower provides to transfer the translation motion and it s very useful mechanism in the automation. But. it's very difficult that the shape is defined accurately. This paper, proposes a new shape design method of the cylindrical cam with translation roller follower using the relative velocity method[l]. The relativc velocity method lculates the relative velocity of the follower versus the cam at a center of roller, and then determines a contact point by using the geometric relationships and the kinematical constraints. Finally, we present an example in order to prove the accuracy of the proposed methods.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.8
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• pp.1324-1330
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• 2003

A cylindrical cam with a translating roller follower provides to change the rotational motion of the cam to the translation motion of the follower. It's a very useful mechanism in the automation. But, it's very difficult that the shape is defined accurately. This paper proposes a shape design method of the cylindrical cam with a translation roller follower using the relative velocity method$\^$(9,11-13)/ : The relative velocity method calculates the relative velocity of the follower versus the cam at a center of roller, and then determines a contact point by using the geometric relationships and the kinematical constraints. Finally, we present examples in order to prove the accuracy of the proposed methods.