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Real Time Pose Control for the Horizontal Maintenance and driving of Mobile Inverted Pendulum (모바일 역진자의 수평유지와 주행을 위한 실시간 자세 제어)

  • Kang, Jin-Gu
    • Journal of the Korea Society of Computer and Information
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    • v.16 no.7
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    • pp.157-163
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    • 2011
  • In this paper, configuration control for the Horizontal Maintenance and driving of the mobile inverted pendulum robot has been studied using ARS(Attitude Refrence System). The inverted pendulum technique is getting attention and there have been many researches on the seg-way since the US. Using its 2 freedom, a mobile inverted pendulum robot can move in various modes and Our robot performs goal reaching ARS. Mobile inverted pendulum robot fall down to the forward or reverse direction to converge to the stable point. Kalman Filter is normally used for the algorithm and numerous research is progressing at the moment. To calculate the attitude in ARS using 2 axis gyro(roll, pitch) and 3 axis accelerometers (x, y, z). In this paper we present a two wheel robot system for an autonomous mobile robot. This paper realized the robot control method which is much simpler but able to get desired performance by using the IMU and PID control.

Simulation of Interaction Forces between Two Ships Considering Ship's Dimension (선박의 크기를 고려한 두 선박의 간섭력에 관한 시뮬레이션)

  • Lee, Sang-Do
    • Journal of the Korea Society for Simulation
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    • v.26 no.3
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    • pp.47-54
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    • 2017
  • This paper analyzed the motion characteristics of two ships according to the ship's dimension using Ship Handling Simulator. When the panamax container ship passes the smaller ship, peak point and patterns of interaction forces for the moored ship are noticeable. Accordingly, special attention should be paid to the movements of moored ship because surge force and yaw moment changes in the opposite direction before and after condition of ship's beam. However, when the container ship passes the larger moored ship in reverse, peak point stood out on the passing ship at the beginning of ship-to-ship interaction and attraction force on the passing ship occurred steadily during 1L(length overall of passing ship) interval at a point of beam. In addition, as the lateral distance between the hull of two ships decreases less than 2B(breadth of passing ship), interaction forces on the passing ship at the beginning are sharply increase.

Numerical analysis of flow characteristics at the bifurcation channel by changing of discharge ratio using TELEMAC-2D (TELEMAC-2D를 적용한 개수로 분류부 유량비 변화에 의한 흐름특성 분석)

  • Jung, Daejin;Jang, Chang-Lae;Jung, Kwansue
    • Journal of Korea Water Resources Association
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    • v.52 no.1
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    • pp.1-10
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    • 2019
  • This study investigates the flow characteristics, such as velocity distributions, size and location of recirculation zone, longitudinal flow change rates, and bifurcation discharge ratio in the bifurcation channel by TELEMAC-2D, a 2D numerical model. The numerical model is validated by previous experimental results and the numerical results are in relatively good agreement with the experimental results, such as the water surface elevation and velocity distribution in the channels. As the inertial force and moment in the main channel decrease, the bifurcation discharge ratio increases, and the relative high velocity distribution becomes wider and the reverse velocity of the main stream decreases in the branch channel. As the bifurcation discharge ratio increases, the size of the recirculation zone in the branch channel decreases and it can be more clearly calculated by determining the point where the longitudinal froude number $Fr{\approx}0$ as well as drawing the distribution of the streamline distribution.

Seismic behavior of steel and sisal fiber reinforced beam-column joint under cyclic loading

  • S.M. Kavitha;G. Venkatesan;Siva Avudaiappan;Chunwei Zhang
    • Structural Engineering and Mechanics
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    • v.88 no.5
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    • pp.481-492
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    • 2023
  • The past earthquakes revealed the importance of the design of moment-resisting reinforced concrete framed structures with ductile behavior. Due to seismic activity, failures in framed structures are widespread in beam-column joints. Hence, the joints must be designed to possess sufficient strength and stiffness. This paper investigates the effects of fibers on the ductility of hybrid fiber reinforced self-compacting concrete (HFRSCC) when subjected to seismic actions; overcoming bottlenecks at the beam-column joints has been studied by adding low modulus sisal fiber and high modulus steel fiber. For this, the optimized dose of hooked end steel fiber content (1.5%) was kept constant, and the sisal fiber content was varied at the rate of 0.1%, up to 0.3%. The seismic performance parameters, such as load-displacement behavior, ductility, energy absorption capacity, stiffness degradation, and energy dissipation capacity, were studied. The ductility factor and the cumulative energy dissipation capacity of the hybrid fiber (steel fiber, 1.5% and sisal fiber, 0.2%) added beam-column joint specimen is 100% and 121% greater than the control specimen, respectively. And also the stiffness of the hybrid fiber reinforced specimen is 100% higher than the control specimen. Thus, the test results showed that adding hybrid fibers instead of mono fibers could significantly enhance the seismic performance parameters. Therefore, the hybrid fiber reinforced concrete with 1.5% steel and 0.2% sisal fiber can be effectively used to design structures in seismic-prone areas.

Mechanism of aging and prevention (노화의 기전과 예방)

  • Kim, Jay Sik
    • IMMUNE NETWORK
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    • v.1 no.2
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    • pp.104-108
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    • 2001
  • Aging is a senescence and defined as a normal physiologic and structural alterations in almost all organ systems with age. As Leonard Hayflick, one of the first gerontologists to propose a theory of biologic aging, indicated that a theory of aging or longevity satisfies the changes of above conditions to be universal, progressive, intrinsic and deleterious. Although a number of theories have been proposed, it is now clear that cell aging (cell senescence) is multifactorial. No single mechanism can account for the many varied manifestations of biological aging. Many theories have been proposed in attempt to understand and explain the process of aging. Aging is effected in individual by genetic factors, diet, social conditions, and the occurrence of age-related diseases as diabetes, hypertension, and arthritis. It involves an endogenous molecular program of cellular senescence as well as continuous exposure throughout life to adverse exogenous influences, leading to progressive infringement on the cell's survivability so called wear and tear. So we could say the basic mechanism of aging depends on the irreversible and universal processes at cellular and molecular level. The immediate cause of these changes is probably an interference in the function of cell's macromolecules-DNA, RNA, and cell proteins-and in the flow of information between these macromolecules. The crucial questions, unanswered at present, concerns what causes these changes in truth. Common theories of aging are able to classify as followings for the easy comprehension. 1. Biological, 1) molecular theories - a. error theory, b. programmed aging theory, c. somatic mutation theory, d. transcription theory, e. run-out-of program theory, 2) cellular theories - a. wear and tear theory, b. cross-link theory, c. clinker theory, d. free radical theory, e. waste product theory, 3) system level theory-a. immunologic/autoimmune theory, 4) others - a. telomere theory, b. rate of living theory, c. stress theory, etc. Prevention of aging is theoretically depending on the cause or theory of aging. However no single theory is available and no definite method of delaying the aging process is possible by this moment. The most popular action is anti-oxidant therapy using vitamin E and C, melatonin and DHEA, etc. Another proposal for the reverse of life-span is TCP-17 and IL-16 administration from the mouse bone marrow B cell line study for the immunoglobulin VDJ rearrangement with RAG-1 and RAG-2. Recently conclusional suggestion for the extending of maximum life-span thought to be the calory restriction.

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A Study on Seismic Performance for CFT Square Column-to-Beam Connections Reinforced with Asymmetric Lower Diaphragms (이형 하부다이아프램으로 보강된 각형 CFT 기둥-보 접합부의 내진성능에 관한 연구)

  • Choi, Sung Mo;Yun, Yeo Sang;Kim, Yo Suk;Kim, Jin Ho
    • Journal of Korean Society of Steel Construction
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    • v.15 no.5 s.66
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    • pp.579-589
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    • 2003
  • Most beam-to-column connections are symmetrically reinforced because of the reverse action caused by earthquakes. However, in weak-earthquake regions like Korea, asymmetrically reinforced connections could be used. In particular, the connections between concrete-filled tube (CFT) column and H-shape beam could be applied using a simplified lower diaphragm. The tensile capacity or Combined Cross Diaphragm for upper reinforcing was tested using a simple tension test. Four types for lower reinforcing combined Cross, none, horizontal T-bar, and vertical plate were tested using the ANSI/AISC SSPEC 2002 loading program. Horizontal T-bar and stud bolts in vertical flat, bar transmit tensile stress from the beam's bottom flange to filled concrete. All test specimens satisfied 0.01 radian inelastic rotational requirement in ordinary moment frame of AISC seismic provision. According to the results of the parametric studies simplified lower diaphragms demonstrated outstanding strength, stiffness, and plastic deformation capacity which could lead to more sufficient seismic performance in the field.

STRESS DISTRIBUTION OF THREE NITI ROTARY FILES UNDER BENDING AND TORSIONAL CONDITIONS USING 3-DIMENSIONAL FINITE ELEMENT ANALYSIS (세가지 니켈 티타늄 파일의 휨과 비틀림 조건에서의 응력 분포에 관한 3차원 유한요소 연구)

  • Kim, Tae-Oh;Lee, Chan-Joo;Kim, Byung-Min;Park, Jeong-Kil;Hur, Bock;Kim, Hyeon-Cheol
    • Restorative Dentistry and Endodontics
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    • v.33 no.4
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    • pp.323-331
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    • 2008
  • Flexibility and fracture properties determine the performance of NiTi rotary instruments. The purpose of this study was to evaluate how geometrical differences between three NiTi instruments affect the deformation and stress distributions under bending and torsional conditions using finite element analysis. Three NiTi files (ProFile .06 / #30, F3 of ProTaper and ProTaper Universal) were scanned using a Micro-CT. The obtained structural geometries were meshed with linear, eight-noded hexahedral elements. The mechanical behavior (deformation and von Mises equivalent stress) of the three endodontic instruments were analyzed under four bending and rotational conditions using ABAQUS finite element analysis software. The nonlinear mechanical behavior of the NiTi was taken into account. The U-shaped cross sectional geometry of ProFile showed the highest flexibility of the three file models. The ProTaper, which has a convex triangular cross-section, was the most stiff file model. For the same deflection, the ProTaper required more force to reach the same deflection as the other models, and needed more torque than other models for the same amount of rotation. The highest von Mises stress value was found at the groove area in the cross-section of the ProTaper Universal. Under torsion, all files showed highest stresses at their groove area. The ProFile showed highest von Mises stress value under the same torsional moment while the ProTaper Universal showed the highest value under same rotational angle.

A Design and Implementation for a Reliable Data Storage in a Digital Tachograph (디지털 자동차운행기록계에서 안정적인 데이터 저장을 위한 설계 및 구현)

  • Baek, Sung Hoon;Son, Myunghee
    • KIPS Transactions on Computer and Communication Systems
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    • v.1 no.2
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    • pp.71-78
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    • 2012
  • The digital tachograph is a device that automatically records speed and distance of a vehicle, together with the driver's activity and vehicle status at an accident. It records vehicle speed, break status, acceleration, engine RPM, longitude and latitude of GPS, accumulated distance, and so on. European Commission regulation made digital tachographs mandatory for all trucks from 2005. Republic of Korea made digital tachographs mandatory for all new business vehicles from 2011 and is widening the range of vehicles that must install digital tachographs year by year. This device is used to analyze driver's daily driving information and car accidents. Under a car accident that makes the device reliability unpredictable, it is very important to store driving information with maximum reliability for its original mission. We designed and implemented a practical digital tachograph. This paper presents a storage scheme that consists of a first storage device with small capacity at a high reliability and a second storage device with large capacity at a low cost in order to reliably records data with a hardware at a low cost. The first storage device records data in a SLC NAND flash memory in a log-structured style. We present a reverse partial scan that overcomes the slow scan time of log-structured storages at the boot stage. The scheme reduced the scan time of the first storage device by 1/50. In addition, our design includes a scheme that fast stores data at a moment of accident by 1/20 of data transfer time of a normal method.

A Study on the Conservation of Excavated Features (발굴유구의 보존방법과 적용)

  • An, Jin Hwan
    • Korean Journal of Heritage: History & Science
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    • v.43 no.3
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    • pp.26-47
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    • 2010
  • When the term conservation is used with regard to excavated features, it means not only conservation but also restoration. Restoring the features here does not imply restoring their original form but restoring their form at the moment of excavation. That means, the conservation of excavated features includes the concept of both reparation and restoration. The way of conserving excavated features can be largely categorized into on-site conservation and transfer conservation. On-site conservation means to conserve excavated features as they were at the excavation site. It can be further categorized into soil-covered on-site conservation, in which excavated features are covered with soil to prevent them from being damaged, and exposed on-site conservation in which the features were conserved as they were exposed. Transfer conservation is operated on the premise that excavated features are transferred to another place. It can be further categorized into original form transfer, transcribing transfer, reproduction transfer, and dismantlement transfer. Original form transfer refers to the method of moving the original forms of excavated features to another place. Transcribing transfer refers to moving some of the surfaces of excavated features to another place. Reproduction transfer refers to restoring the forms of excavated features in another place after copying the forms of excavated features at the excavation site. Dismantlement transfer refers to the method of restoring excavated features in a place other than the excavation site in the reverse order of dismantlement after dismantling the features at the excavation site. The most fundamental issue regarding conserving excavated features is the conservation of their original forms. However, the conservation of excavated features tends to be decided depending on a variety of conditions such as society, economy, culture, and local situations. In order to conserve excavated features more effectively, more detailed and specialized conservation methods should be created. Furthermore, continuing research is needed to find the most effective way of conserving them through exchange with other neighboring academic fields and scientific technology.

A study of the destructive styles from Contemporary Paintings - Focused on distinguishing enmity-destruction and self-destruction - (현대회화에서 드러난 해체의 형식론에 관한 연구 -타의적 해체와 자의적 해체의 성격규정을 중심으로-)

  • Park Ki-Woong
    • Journal of Science of Art and Design
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    • v.7
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    • pp.5-63
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    • 2005
  • Generally, the meanings of destruction are related in the meaning of demolition, breakdown, into fragments ... and so on, and the similar meanings are twist, crush, demolish, split, cut, into pieces , break up ... etc. Further, it has related in the cruelty and destructive heart which are linked with orgy, Sadism, Necrophilia and so on. The meanings are also expressed by the initial , which are deprivation, deface, defame, deform, degrade, delegitimize, denounce , deride, destroy, devalue, as well as debase, debunk, declaim, declassify, decry, delete, denigrate, deprecate, despise or detract ...and so on. Dario Gamboni has discussed the meaning in his book as two categories Iconoclasm and Vandalism. And the similar meanings could be found in the words which has the initial of , like abase, abate, abhor, abjure, abolish, abridge, abuse ...and so on. Even though the distinct meanings of Iconoclasm and Vandalism, it is not easy to distinguish clearly between the differences when the results are accomplished in contemporary paintings because of the similarity of the results. In korean vocabulary there are no similar words to distinguish between the meanings of destruction and deconstruction, and the deconstruction is not recorded in the general dictionaries. However the meaning of is diminishing, separation, contrast and so on. So the unification of the word as do-construction is not construct, minus construction, reverse construction. And Vincent Ditch explained that there are the meaning of destroy the text. From Jacques Derrida, the deconstruction strategy is to criticise the world of traditional metaphysics and logocentrism, and not to reconstruire the philosophical meaning of texts but $d\'{e}construire$ them. And Saussure emphasized that the signifers could have more meaning that there can be more signified in traditional texts in the art. as a result, deconstruction is explained that there are many signified meanings in a signifer. In this thesis , from using the meanings of destruction and deconstruction, to distinguish the expressive skills in contemporary art works are arising. Therefore, special methods which are linked in the destruction styles are selected. As a result, the two different purposes of destruction is arising, one is enmity destruction and the other is self destruction another word, auto destruction or destruction to create The enmity destruction can be distinguished by the two category Iconoclasm and Vandalism. They come from the moment of different historical aspect is arising and want to attack the Icon or masterpiece this concept is from the study of John Philips and especially iconoclasm is linked with religious and artistic heart, but Vandalism is come from the political attack. Sometime, this distinguish is not clearly arising, because the two aspects are co-related in the attack. As a result, firstly, the Iconoclastic controversy had arisen in the methods of Dadaism which has developed by Man Ray, Francis Picabia and Marcel Duchamp. They want to attack the pre-established master-pieces and painting spaces, and they had 'non-artistic attitude' not to be art. Since 1980, the German artist Anselm Kiefer adapted the methods and made them his special skills so he had tried to paint tough brush strokes and draw with hugh pallette image line and fire and water images , they can be the image attack as the Iconoclasm. secondly, the model of vandalism is to be done by hammer, drill, canon and so on. the method is to attack the content of painting. Further, the object of destruction is bound by cords and iron lings to demolish or to declare the authority of pre-statues; it symbolize the pre-authority is gone already. Self-destruction based paintings are clearly different in the purpose of approaching the art work. First of all, they can be auto-destruction, creative destruction and metamorphosis destruction, which is linked with the skill the material aspect and basic stature, and sign destruction or signifier destruction, which is link with the inner meaning destruction that is considered as the Semiotical destruction in post-modern paintings. Since 1960, the auto destruction is based on the method of firing, melting, grinding and similar skills, which is linked with Neo-Dada and reverse-assemblage. Metamorphosis destruction is strongly linked with the basic inner heart price and quality, so it can be resulted in the changedness of expectation and recognition. Tony Cragg has developed the skills to metamorphose the wood as stone or iron as cloth and stone as sponge and rubber and so on. The researcher has developed the same style in the series of since 2003. The other self-destructive methods are found in the skill of sign destruction. In the methods the meaning of the art is not fixed as one or two, but is developed multi-meaning and differ from original starting situation, so Jacques Derrida called the difference meaning in deconstruction. It is the destruction of textes. These methods are accomplished by David Salle, Francesco Clemente, and recently Tracy Emin, who has developed the attacking heart in the spectators' emotion. Sometime in the method of self-destruction, it is based on horror and shock, the method is explored by Demian Hirst and Jakes and Dinos Chapman. Their destructive styles stimulate ambivalent heart and destroy original sign of girl and animals.

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