• Proceedings of the KSME Conference
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• 2003.04a
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• pp.923-928
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• 2003

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or comer. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and the results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• Journal of Mechanical Science and Technology
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• v.16 no.1
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• pp.83-93
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• 2002

This paper presents a motion control method and its simulation results of a mobile robot for a lattice type welding. Its dynamic equation and motion control methods for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven for following straight line or curve. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider control. For the torch slider control, the proportional-integral-derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the corner with range of 90$^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and these results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• Nuclear Engineering and Technology
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• v.48 no.3
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• pp.733-743
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• 2016

The purpose of this study is to present a rational depreciation method for a pyroprocess cost calculation. Toward this end, the so-called advanced decelerated depreciation method (ADDM) was developed that complements the limitations of the existing depreciation methods such as the straight-line method and fixed percentage of declining-balance method. ADDM was used to show the trend of the direct material cost and direct labor cost compared to the straight-line or fixed percentage of the declining-balance methods that are often used today. As a result, it was demonstrated that the depreciation cost of the ADDM, which assumed a pyroprocess facility's life period to be 40 years with a deceleration rate of 5%, takes up 4.14% and 27.74% of the pyroprocess unit cost ($781/kg heavy metal) in the $1^{st}$ and final years, respectively. In other words, it was found that the ADDM can cost the pyroprocess facility's capital investment rationally every year. Finally, ADDM's validity was verified by confirming that the sum of the depreciation cost by year, and the sum of the purchasing cost of the building and equipment, are the same.

• Journal of the Korean Society of Costume
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• v.54 no.2
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• pp.149-165
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• 2004

In this study, the photographic and anthropometric measurements of men in the 20's were made. and pattern making professionals visually evaluated their side photos to classify lateral views. These data were analyzed by being compared with existing research results to select objective standards, and body types were classified according to the selected standard. In addition, body features were defined according to lateral views based on measurement items and indices, and standard lines and determining factors for visual evaluation which determines lateral views were revealed. Back length - front length size smaller than 1.5cm was named as the lean-back type, 1.5∼3.9cm was named as the straight type. and that larger than 3.9cm was named as the bend-forward type. In the straight type, the bisection point of waist depth was located at a similar place to tragion level vertical line. In the lean-back type, the point was at the front of tragion level vertical line. In the bend-forward type, the point was at the back of tragion level vertical line.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.7
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• pp.952-956
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• 2007

In industrial site, as the technology of FA developes, many robots can take the place of human labor. Generally, robots require high precision reducers which have cycloid or involute tooth profile. These reducers provide high reduction ratios with low backlash and high accuracy but need a high stiffness of tooth. In this study, to improve the high precision, the cycloid reducers which have straight line teeth profile are used. Also the FEM analysis, which consist of straight line teeth profile, was performed to simulate the stress of teeth profile.

• Archives of Craniofacial Surgery
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• v.20 no.4
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• pp.255-259
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• 2019

Craniofacial cleft is a rare disease, and has multiple variations with a wide spectrum of severity. Among several classification systems of craniofacial clefts, the Tessier classification is the most widely used because of its simplicity and treatment-oriented approach. We report the case of a Tessier number 3 cleft with wide soft tissue and skeletal defect that resulted in direct communication among the orbital, maxillary sinus, nasal, and oral cavities. We performed soft tissue reconstruction using the straight-line advanced release technique that was devised for unilateral cleft lip repair. The extension of the lateral mucosal and medial mucosal flaps, the turn over flap from the outward turning lower eyelid, and wide dissection around the orbicularis oris muscle enabled successful soft tissue reconstruction without complications. Through this case, we have proved that the straight-line advanced release technique can be applied to severe craniofacial cleft repair as well as unilateral cleft lip repair.

• Journal of the Korean Home Economics Association
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• v.35 no.1
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• pp.401-414
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• 1997

This study examined the transition of costume in middle and high school girls after the abolition of school-uniform. Fashion photographs of $\ulcorner$Junior$\lrcorner$a Korean magazine for girls were used for the investigation. Skirts used mainly were changed in order of pleat tight flare and tight skirt And skirt length was changed in order of knee midi knee and mini. Slim baggy and straight pants together showed high frequency but after 1992 straight pants were used mainly. And pants of ankle length was prevalent. In jacket Hip line natural waist and H-line silhouette dominated. Silhouette of one-piece dress was changed in order or X line H line and A line. Semi fit and natural waist were prevalent. And length was changed in order of midi knee and mini. The coat of H line Loose semi fit and Knee length was the most frequently appeared style. Waist line of coat was changed in order of natural low no natural waist. In skirt blue white black and black were mainly in spring summer fall and winter respectively. In pants blue was used mainly regardless of the season, In jacket blue in spring and black in other seasons were used. In one-piece derss blue in spring red in summer black in fall and winter were used mainly. Black coat was used mainly. Therefore blue was the most frequently used color by middle and high school girls.

• International Journal of Railway
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• v.5 no.3
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• pp.103-113
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• 2012

Infrastructure costs could be greatly reduced if the need for bridges and tunnels was reduced, or if the line could be shortened. Tilting trains might be a less costly alternative to building new tracks with large curve radii, because tilting trains can negotiate tighter curves without having to decrease their speeds. Tracks built for tilting trains would be cheaper, as they require fewer bridges and tunnels. This paper compares the construction costs of two different options for the new Dodam-Yeoncheong section on the Central line, which includes 148.65 km of new electrified double-track with a design speed of 250 km/h. The first option is to straighten the high-speed line. The second option is to build a line with small radii curves and run tilting trains on the line. In the first option, tunnels would account for about 51% of the new section. In comparison, the second option would have shorter curves and fewer tunnels and bridges which would reduce construction costs. Furthermore, alignment modifications could be made to several segments on the straight line, making the most of the existing roadbed. The analysis concluded that the line suited to tilting trains would be 95.7 million USD cheaper to build the straight route. That is a savings of 2.8% of the total project cost. However, this option would increase the total travel time of the route by 1.2 minutes, which means it is not necessarily the best choice.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.12
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• pp.2831-2838
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• 2014

This paper proposes the off-line handwritten flowchart symbol recognition algorithm by type and strength of a cross region of the straight line strokes that is extracted based the normalized dominant slope vectors. In the proposed algorithm, first of all, a connector symbol which consisted only curves is recognized by the special features, and the other symbols with straight line strokes are recognized by type and strength of a cross region, and that is extracted by extension of minimum bounding rectangle of the clusters of the normalized dominant slope vectors, and the straight line strokes of the symbols is extracted by the normalized dominant slope vectors. To confirm the validity of the proposed algorithm, the experiments are conducted for 10 different kinds of flowchart symbols that mainly used for computer program, and the number of symbols is 198. Experiment results were obtained the recognition rate of 99.5%, and the flowchart symbols is recognized correctly robust to variations, and then the proposed algorithm were found very effective for off-line handwritten flowchart symbol recognition.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.2
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• pp.195-199
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• 2005

Semi automatic welding method to use carriage for welding at large size block manufacture welding process of present shipbuilding industry is used much. Carriage is device that transfer welding torch in horizontal fillet weld here, but because it is no function that chase welding like robot welding method, use can be impossible in curved line welding, and simply use in straight line welding. Also, because it is no function that chase welding, though welding mistake corrects this happening often in straight line welding, much times and expense are cost. Added welding chase sensor and 80C196KC microcontroller that use strain gauge to carriage that is using present in paper that see hereupon and manufacture a private line model and container box model welding because developing system that can chase welding automatically straight line and curved line welding establishing and investigate about chase phenomenon.