• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2248-2253
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• 2005

Although the progress in bipedal walking is impressive in recent years, biped robots still require very high torque and can walk only for a short time interval with their internal batteries. Therefore, further research needs to be carried out to enhance walking efficiency of these robots. In order to achieve this goal, we attempt to imitate human walking with pelvis and waist joint rotations in the frontal plane. In order to investigate the effect of the pelvis and waist joint rotations in the frontal plane motion, we study the frontal plane model with a triangular structure made up of a waist joint and two hip joints. Through simulation, we show that the pelvis rotation can reduce the maximum torque and the control effort, and the waist joint rotation can reduce the trunk sway caused by the pelvis rotation. The combination of these two rotations makes the bipedal walking in the frontal plane more efficient.

• 한국복합재료학회:학술대회논문집
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• 한국복합재료학회 2001년도 춘계학술발표대회 논문집
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• pp.5-8
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• 2001

A three node flat triangular element incorporating Layerwise Zig-Zag Theory(HZZT) is developed suitable for analyzing damped laminated composite structures. Using an interdependent kinematic relation, the higher order shear rotations are replaced by in-plane displacements, a transverse displacement and section rotations, which result in three translations and two rotations. Natural frequencies and modal loss factors of cantilevered laminated plates with embedded damping layers are calculated with the zig-zag triangular element and compared to the experimental results and MSC/NASTRAN results using a layered combination of plate and solid elements.

• Kyungpook Mathematical Journal
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• 제59권2호
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• pp.277-291
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• 2019

Using the concept of bounded boundary rotation, we investigate various properties of two new generalized classes of spirallike and Robertson functions of complex order with bounded boundary rotations.

• 한국유기농업학회지
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• 제20권4호
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• pp.687-702
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• 2012

본 시험은 윤작처리가 감자의 상품수량과 토양 화학성 및 미생물 활성에 미치는 영향을 평가하고 알맞은 작부체계를 확립하기 위하여 시험을 수행하였다. 작부체계내 콩과 보리를 도입하여 2년 2기작으로 감자를 윤작하였을 경우 총수량과 상품수량은 대조구인 연작구 대비 각각 31% 및 53% 정도 증가하였으며, 콩과 유채를 도입하여 2년 2기작으로 감자를 윤작하였을 경우 총수량과 상품수량은 각각 57% 및 75% 정도 증가하였다. 그리고 감자의 상품수량에 미치는 요인간 상관관계를 분석한 결과 상품수량은 토양미생물 활성, 특히 Biomass C 및 세균 밀도가 높을수록 증가하였고, 토양 pH, 유효인산, 치환성 칼슘함량이 높을수록 세균 밀도가 증가하였다. 따라서 윤작을 통해서 토양 화학성을 개량하고 미생물 밀도 및 활성을 증가시키면, 토양병 발생을 억제하고 감자의 생산성을 높일 수 있을 것으로 판단된다.

• Smart Structures and Systems
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• 제22권3호
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• pp.315-326
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• 2018

This paper presents a novel time-domain method for the identification of plastic rotations and stiffness parameters of single-bay frames with nonlinear plastic hinges. Each plastic hinge is modelled as a pseudo-semi-rigid connection with nonlinear hysteretic moment-curvature characteristics at an element end. Through the comparison of the identified end rotations of members that are connected together, the plastic rotation that furnishes information of the locations and plasticity degrees of plastic hinges can be identified. The force consideration of the frame members may be used to relate the stiffness parameters to the elastic rotations and the excitation. The damped-least-squares method and damped-and-weighted-least-squares method are adopted to estimate the stiffness parameters of frames. A noise-removal strategy employing a de-noising technique based on wavelet packets with a smoothing process is used to filter out the noise for the parameter estimation. The numerical examples show that the proposed method can identify the plastic rotations and the stiffness parameters using measurements with reasonable level of noise. The unknown excitation can also be estimated with acceptable accuracy. The advantages and disadvantages of both parameter estimation methods are discussed.

• Asian-Australasian Journal of Animal Sciences
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• 제28권5호
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• pp.703-715
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• 2015

One of the challenges to increase milk production in a large pasture-based herd with an automatic milking system (AMS) is to grow forages within a 1- km radius, as increases in walking distance increases milking interval and reduces yield. The main objective of this study was to explore sustainable forage option technologies that can supply high amount of grazeable forages for AMS herds using the Agricultural Production Systems Simulator (APSIM) model. Three different basic simulation scenarios (with irrigation) were carried out using forage crops (namely maize, soybean and sorghum) for the spring-summer period. Subsequent crops in the three scenarios were forage rape over-sown with ryegrass. Each individual simulation was run using actual climatic records for the period from 1900 to 2010. Simulated highest forage yields in maize, soybean and sorghum- (each followed by forage rape-ryegrass) based rotations were 28.2, 22.9, and 19.3 t dry matter/ha, respectively. The simulations suggested that the irrigation requirement could increase by up to 18%, 16%, and 17% respectively in those rotations in El-Nino years compared to neutral years. On the other hand, irrigation requirement could increase by up to 25%, 23%, and 32% in maize, soybean and sorghum based rotations in El-Nino years compared to La-Nina years. However, irrigation requirement could decrease by up to 8%, 7%, and 13% in maize, soybean and sorghum based rotations in La-Nina years compared to neutral years. The major implication of this study is that APSIM models have potentials in devising preferred forage options to maximise grazeable forage yield which may create the opportunity to grow more forage in small areas around the AMS which in turn will minimise walking distance and milking interval and thus increase milk production. Our analyses also suggest that simulation analysis may provide decision support during climatic uncertainty.

• 대한전자공학회논문지TC
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• 제48권2호
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• pp.14-20
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• 2011

통신 노드들이 이동 중인 mobile ad hoc networks에서, 통신처리율에 따라 노드 쌍들의 순위를 결정하면, 이를 바탕으로 전체 네트워크의 처리율을 향상시키는 동적인 라우팅을 할 수 있다. Balanced Howell rotations는 브리지 게임을 위한 토너먼트 구성 방법의 하나이다. 본 논문에서는 mobile ad hoc networks의 전반적인 통신 처리율 향상을 위해 balanced Howell rotations를 활용할 수 있음을 설명한다. 그리고 balanced Howell rotations가 존재할 수 있는 조건을 제시하고, 이를 증명한다.

• 한국정밀공학회지
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• 제14권8호
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• pp.108-114
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• 1997

A simple and efficient method is presented for the dynamics of interconnected flexible beams having large rigid body rotations. A simple mass matrix is obtained by interpolating the displacements in the global inertia frame, and the elastic force is also simply computed by using linear finite element technique with the moving frame attached to the beam. For the beams connected by revolute joints, kinematic constraints and relative rotations between the beans are not required and the equations of motions are time integrated by a simple ODE technique. Numerical simulations are conducted to demonstrate the accuracy and efficiency of the present technique.

• 한국해양공학회지
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• 제11권4호
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• pp.7-22
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• 1997

A finite element analysis is performed for lateral buckling problems on the basis of a geometrically nonlinear formulation for a beam with small elastic strain but with possibly large rotations. The total Lagrangian formulation for a general large deformation, which involves finite rotations, is chosen and the exponential map is used to treat finite rotations from the Eulerian point of view. For lateral buckling, the point of vanishing determinant of the resulting unsymmetric tangent stiffness is traced to examine its relationship to bifurcation points. It is found that the points of vanishing determinant is not corresponding to bifurcation points for large deformations in general, which suggests that the present unsymmetric tangent stiffness is not an exact first derivative of internal forces with respect to displacement. This is illustrated through several numerical examples and followed by appropriate discussion.

• 소성∙가공
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• 제5권4호
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• pp.320-326
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• 1996

Based upon experimental observations the authors have shown in the previous studies that the orientations of orthotropy axes of anisotropic sheet metals are subjected to change during tensile loading at angles to the rolling direction. To predict the rotations of orthotropy axes under general plane stress conditions, a simple phenomenological model is proposed which accounts for the effect of work hardening. Predictions from the model are compared against the experiments for 0%, 3%, and 6% of 1st tensile prestrains in the rolling direction and 2nd tensile prestrains at 30$^{\circ}$, 45$^{\circ}$ and 60$^{\circ}$ to the 1st prestrains axis. The model showed good agreements with the experimental observations. A new interpretation of the experimental data is suggested regarding the rotations of orthotropy axes.