• Journal of Institute of Control, Robotics and Systems
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• v.6 no.3
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• pp.298-308
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• 2000

In this paper a new two-arm cooperative assembly(or insertion) algorithm is proposed. As a force-guided control method for the cooperative assembly the adaptive accommodation controller is adopted since it does not require any complicated contact state analysis nor depends of the geometrical complexity of the assembly parts. Also the RMRC(resolved motion rate control) method using a relative jacobian is used to solve inverse kinematics for two manipulators. By using the relative jacobian the two cooperative redundant manipulators can be formed as a new single redundant manipulator. Two arms can perform a variety of insertion tasks by using a relative motion between their end effectors. A force/torque sensing model using an approximated penetration depth calculation a, is developed and used to compute a contact force/torque in the graphic assembly simulation . By using the adaptive accommodation controller and the force/torque sensing model both planar and a spatial cooperative assembly tasks have been successfully executed in the graphic simulation. Finally through a cooperative assembly task experiment using a humanoid robot CENTAUR which inserts a spatially bent pin into a hole its feasibility and applicability of the proposed algorithm verified.

• Safety and Health at Work
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• v.8 no.2
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• pp.151-155
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• 2017

Background: At the entrance of a tunnel, reflection of sunlight from the surrounding environment and a lack of adequate lighting usually cause some vision problems. The purpose of this study was to perform a safety evaluation of lighting on a very long road in Ilam, Iran. Methods: The average luminance was measured using a luminance meter (model S3; Hagner, Solna, Sweden). A camera (model 108, 35-mm single-lens reflex; Yashica, Nagano, Japan) was used to take photographs of the safe stopping distance from the tunnel entrance. Equivalent luminance was determined according to the Holliday polar diagram. Results: Considering the average luminance at the tunnel entrance ($116.7cd/m^2$) and using Adrian's equation, the safe level of lighting at the entrance of the tunnel was determined to be 0.7. Conclusion: A comparison between the results of the safe levels of lighting at the entrance of the tunnel and the De Boer scale showed that the phenomenon of black holes is created at the tunnel entrance. This may lead to a misadaptation of the drivers' eyes to the change in luminance level at the entrance of the tunnel, thereby increasing the risk of road accidents in this zone.

• Journal of Power System Engineering
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• v.13 no.5
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• pp.52-58
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• 2009

A gas turbine consists of an upstream compressor and a downstream turbine with a combustion chamber, and also the compressor and the turbine are generally coupled using a single shaft. Many casing bolts are used to assemble two horizontally separated casings, the gas turbine casing and the compressor casing, in both of axial and vertical directions. Because drilled holes for casing bolts in vertical direction are often too close to drilled holes for casing bolts in axial direction, one can observe cracks in the area frequently during operations of a gas turbine. In this study of the root cause analysis for the cracking initiating from the drilled holes of the casings of a gas turbine, the finite element analysis(FEA) was applied to evaluate the thermal and mechanical characteristics of the casings. By applying the field operation data recorded from combined cycle power plants for FEA, thermal and thermo-mechanical characteristics of a gas turbine are analyzed. The crack is initiated at the geometrical weak point, but it is found that the maximum stress is relieved when the same type of cracks is introduced on purpose during FEA. So, it is verified that the local fracture could be delayed by machining the same type of defects near the hole for casing flange bolts of the gas turbine, where the crack is initiated.

• Journal of Soil and Groundwater Environment
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• v.21 no.3
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• pp.64-81
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• 2016

To analyze the influence of various groundwater flow rates (specific discharge) on BHE system with balanced and unbalanced energy loads under assuming same initial temperature (15℃) of ground and groundwater, numerical modeling using FEFLOW was used for this study. When groundwater flow is increased from 1 × 10⁻⁷ to 4 × 10⁻⁷m/s under balanced energy load, the performance of BHE system is improved about 26.7% in summer and 22.7% at winter time in a single BHE case as well as about 12.0~18.6% in summer and 7.6~8.7% in winter time depending on the number of boreholes in the grid, their array type, and bore hole separation in multiple BHE system case. In other words, the performance of BHE system is improved due to lower avT in summer and higher avT in winter time when groundwater flow becomes larger. On the contrary it is decreased owing to higher avT in summer and lower avT in winter time when the numbers of BHEs in an array are increased, Geothermal plume created at down-gradient area by groundwater flow is relatively small in balanced load condition while quite large in unbalanced load condition. Groundwater flow enhances in general the thermal efficiency by transferring heat away from the BHEs. Therefore it is highly required to obtain and to use adequate informations on hydrogeologic characterristics (K, S, hydraulic gradient, seasonal variation of groundwater temperature and water level) along with integrating groundwater flow and also hydrogeothermal properties (thermal conductivity, seasonal variation of ground temperatures etc.) of the relevant area for achieving the optimal design of BHE system.

• Journal of architectural history
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• v.19 no.5
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• pp.81-98
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• 2010

In the middle of the 8th century, we met the new high-rise building, the 7th storied wooden pagodas in 'Kokubunji' in Japan. I tried to analyze and study this building to show how the wooden pagoda had changed itself because of appearance of new style. The conculusions are as follows; 1. The construction of the foundation was mainly composed namely 'Panchuk'. It was proceeded by two ways. One is the earthen-digging, laying foundations named 'Gulkwangpachuk' and the other is simply laying foundation named 'Jisangpanchuk'. In that period, due to the progress of the technique, we assumed that the main stream is 'Jisangpanchuk'. 2. The elevation of base was mostly the single foundation from archaeological study. The material was stone. The middle case of pagoda had the base of tile-roofed. We knew the just one pagoda had the base of brick, but that was not main stream. 3. The new device had appeared in the central base stone. It was the stone point. But in that period the existing method, a hole style and the new style was used in the central base stone. This fact is showed that the central government was not hold the reigon(it names 'Kook') in the respect of the technique. 4. The plan scale is classified of 3 group. As a result, the first body is larger, the main-unit and the sub-unit is a equal unit. But smaller, the length of main-unit is longer than the one of sub-unit. And the very small pagoda was build in that period.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.15 no.12 s.105
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• pp.1370-1377
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• 2005

The bottom structure of an instrumented capsule is a part which is joined at the receptacle of the flow tube in the reactor in-core. A geometrical change of the bottom structure has an effect on the pressure drop and the vibration of the capsule. The out-pile test to evaluate the structural integrity of the material capsule called 04M-17U was performed by using a single channel and a half core test loop. From the pressure drop test, the optimized diameter of the cone shape's bottom structure which satisfies HANARO's flow requirement (19.6 kg/s) is 71 mm. The maximum displacement of the capsule measured at the half core test loop is lower than 1.0 mm. From the analysis results, it is found that the test hole will not be interfered with near the flow tubes because its displacement due to the cooling water is very small at 0.072 mm. The fundamental frequency of the capsule under water is 9.64 Hz. It is expected that the resonance between the capsule and the fluid flow due to the cooling water in HANARO's in-core will not occur. Also, the new bottom structure of a solid cone shape with 71 mm in diameter will be applicable to the material and special capsules in the future.

• Transactions of the Korean Society of Automotive Engineers
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• v.15 no.3
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• pp.18-28
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• 2007

Three diesel engines were fueled with BDF 20, a blend of 80% diesel fuel and 20% biodiesel fuel by volume, and run in excess of 200 h to evaluate their combustion characteristics and durability. The engines used for this study were a 4-cylinder 2476-cc displacement IDI diesel engine(Engine 1), a 4-cylinder l732-cc displacement IDI diesel engine(Engine 2), and a single cylinder 673-cc displacement DI diesel engine(Engine 3). Engine dynamometer testing was performed on each engine at regularly scheduled intervals to monitor the performance and exhaust emissions, which were sampled at 1h intervals for analysis, The peak combustion pressure with BDF 20 increased in Engines 1 and 3 over that measured when burning pure diesel fuel, but that in Engine 2 remained constant. Combustion parameters, such as the maximum combustion pressure and corresponding crank angle, did not change over the long-term dynamometer testing. The BSFC with BDF 20 in Engine 1 was less than that measured with pure diesel fuel. The amount of smoke produced with BDF 20 was less for all engines ; the greatest reduction was observed for Engine 3. The NOx emissions were lower in the IDI engines than the DI engine. The traditional trade-off between smoke and NOx emissions was maintained for BDF 20 fuel for Engines 1 and 3. There was not a big difference in the $CO_2\;and\;O_2$ emissions for BDF 20, as compared to pure diesel fuel, but more $CO_2$ was exhausted by Engine 1 than by Engines 2 or 3 and less $O_2$ was exhausted by Engine 1 than by Engines 2 or 3. The engine parts remained clean, except for some carbon attached to the area surrounding the nozzle hole of the DI diesel engine.

• Explosives and Blasting
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• v.38 no.3
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• pp.15-29
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• 2020

In this paper the Hoek-Brown (HB) failure criterion is integrated into the Holmquist-Johnson-Cook (HJC) concrete material model to reflect the inherent characteristics of field rock masses in LS-DYNA blast modeling. This is intended to emphasize the distinctive characteristics of field rock masses that usually have many geological discontinuities. The replacement is made only for the static strength part of the HJC material model by using a statistical curve fitting technique, and its procedure is described in detail. An example is also given to illustrate the use of the obtained HJC material model. Computation is performed for a plane strain model of a single-hole blasting on a field limestone by using the combination of the fluid-structure interaction (FSI) technique and the multi-material arbitrary Lagrangian Eulerian (MMALE) method in LS-DYNA.

• Journal of Sensor Science and Technology
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• v.7 no.2
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• pp.97-102
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• 1998

Organic thin film EL devices using PPV(poly (p-phenylenevinylene)) as emitter were fabricated on various conditions and structures, their electro-optical properties were estimated. Fabricated EL devices had structures of single layer(ITO(indium tin oxide)/PPV/Mg), double layer(ITO/PVK(poly(N-vinylcarbazole))/PPV/Mg and ITO/PPV/Polymer matrix + PBD/Mg) and three layer (ITO/PVK/PPV/PS(polystyrene)+PBD(butyl-2-(4-bipheny])-5-(4-tert-butylphenyl-1,3,4-oxadiazole))/Mg), their electro-optical characteristics were compared with each other. In structure of double layer (ITO/PPV /Polymer matrix + PBD/Mg), the used polymer-matrices were PMMA(poly(methyl methacrylate), PC(polycarbonate), PS and MCH(side chain liquid crystalline homopolymer). When PS as a hole transport layer was used, the luminance characteristics on concentration of PBD was obtained. In results, current-voltage-luminance curves of fabricated devices had characteristics of tunneling effect and the device showed a stable light emitting.

• Journal of Sensor Science and Technology
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• v.8 no.2
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• pp.177-183
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• 1999

A Polymer material, PU-BCN and a low molar mass material D-BCN with the same chromophore were evaluated by fabricating various electroluminescent(EL) devices. A molecular structure of the chromophore was composed as two cyano groups for electron-injection and transport and two triphenylamine groups for hole-injection and transport. Various kinds of EL devices with two different types of EL materials, PU-BCN and D-BCN were fabricated, which were an Indium-tin oxide(ITO)/PU-BCN or D-BCN/MgAg device as a single-layer device(SL) and an ITO/PU-BCN or D-BCN/oxadiazole ferivative/MgAg as a double-layer device(DL-E) and an ITO/triphenylamine derivative/D-BCN/MgAg as a double-layer device(DL-H) device. Two kinds of materials, PU-BCN and D-BCN showed the same emission characteristics in the high current density and excellent EL characteristics even in the SL devices. Maximum EL peaks revealed red emission of about 640 nm, which were corresponded with the fluorescence peaks of the films of two materials.