• 한국정밀공학회지
• /
• 제14권11호
• /
• pp.34-41
• /
• 1997

This paper presents a technique to control a very flexible robot moving in a vertical plane. The flexible robot is modeled as an Euler-Bernoulli beam. Elastic deformation is approximated using the assmed modes method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. A control algorithm is developed using a simple PID cnotrol tech- nique. The proportional, integral and deivative control gains are determined based on the dominant pole placement method and tuned to show no overshoot and no steady state error, and short settling time. The effectiveness of the developed control scheme is showed in the hub angular diaplacement control experiment. Three different end masses are uned in the experiment. The experimental results show that developed control algorithm is very effective showing little overshoot, no steady state error, and less than 2.5 second settl- ing time in case of having an end mass which is equivalent to 45% of the manipulator mass. Also the experimental results show that the residual vibration fo the end point is effectively controlled.

• 인간식물환경학회지
• /
• 제24권1호
• /
• pp.39-51
• /
• 2021

Background and objective: Urban topology can be characterized as impervious, which changes the hydrologic features of an area, increasing surface water flow during local heavy rain events. The pluvial flooding is also influenced by the vertical structures of the urban area. This study suggested a modified digital elevation model (DEM) to identify changes in urban hydrological conditions and segmentalized urban micro catchment areas using a geographical information system (GIS). Methods: This study suggests using a modified DEM creation process based on Rolling Ball Method concepts along with a GIS program. This method proposes adding realized urban vertical data to normal DEM data and simulating hydrological analyses based on RBM concepts. The most important aspect is the combination of the DEM with polygon data, which includes urban vertical data in three datasets: the contour polyline, the locations of buildings and roads, and the elevation point data from the DEM. DEM without vertical data (DCA) were compared with the DEM including vertical data (VCA) to analyze catchment areas in Shin-wol district, Seoul, Korea. Results: The DCA had 136 catchments, and the area of each catchment ranged from 3,406 m² to 423,449 m². The VCA had 2,963 catchments, with the area of each ranging from 50 m² to 16,209 m². The most important finding is that in the overlapped VCA; the boundary of areas directly affected by flooding and the direction of surface water flow could be identified. Flooding data from September 21, 2010 and July 27, 2011 in the Shin-wol district were applied as ground reference data. The finding is that in the overlapped VCA; the boundary of areas directly affected by flooding and the direction of surface water flow could be identified. Conclusion: The analysis of the area vulnerable to surface water flooding (SWF) was more accurately determined using the VCA than using the DCA.

• 한국항공우주학회지
• /
• 제43권8호
• /
• pp.692-698
• /
• 2015

본 논문에서는 원형 제한 3체 문제의 불변위상공간을 이용하여 지구-달 또는 행성간의 궤적을 설계하고 해석하는 기법을 소개한다. 2체 문제를 조합하는 고전적인 방식 대신에 원형 제한 3체 문제에 대한 운동방정식, 궤적의 동적 특성, 평형점 주변의 리아프누프 궤도와 불변위상공간의 특성을 기술한다. 원형 제한 3체 문제의 불변위상공간을 이용했을 때, 지구-달 시스템의 궤적설계 방식과 태양-목성 시스템의 경계면에서의 초기조건에 따른 궤적 특성을 수치 시뮬레이션을 통해 확인한다. 본 논문에서 제안한 원형 제한 3체 문제의 불변위상공간을 이용한 궤적설계 기법은 저추력 또는 저에너지를 이용한 달탐사 또는 행성탐사 임무 등에 활용 가능할 것이다.

• 한국안전학회지
• /
• 제30권1호
• /
• pp.14-20
• /
• 2015

A Large Eddy Simulation(LES) was performed for the prediction of unsteady dispersion behavior of hydrogen fluoride (HF). The HF leakage accident occurred at the Gumi fourth industrial complex was numerically investigated using the Fire Dynamics Simulator (FDS) based on the LES. The accident area was modeled three-dimensionally and time-varying boundary conditions for wind were adopted in the simulation for considering the realistic accident conditions. The Message Passing Interface (MPI) parallel computation technique was used to reduce the computational time. As a result, it was found that the present LES simulation could predict the unsteady dispersion features of HF near the accident area effectively. The dispersion behaviors of the leaked HF was much affected by the unsteady wind direction. The LES could predict the time variation of the HF concentration reasonably and give an useful information for the risk analysis while the prediction with the time-averaging concept of HF concentration had a limitation for the amount of HF concentration at specific location point. It was identified that the LES is very useful to predict the dispersion characteristics of hazardous chemicals.

• 한국결정성장학회:학술대회논문집
• /
• 한국결정성장학회 1997년도 Proceedings of the 12th KACG Technical Meeting and the 4th Korea-Japan EMGS (Electronic Materials Growth Symposium)
• /
• pp.197-201
• /
• 1997

The momentum, heat and mass trasfer phenomena in the silicon melt of the Czochralki crystal growth system are calculated using a three dimensional numerical simulation thechnique. Even though axisymmetrical boundary conditions are imposed to all calculations in a 3cm diameter crucible, several types of non-axisymmetric profiles of velocities, temperature and oxygen concentration appeared in the melt. Because of the non-axisymmetric profiles of velocities, temperature and oxygen concentration appeared in the melt. Because of the non-axisymmetric profiles and rotations of fluid induced by the crucible rotation, temperatures and oxygen concentrations in the silicon melt fluctuate. The rotating velocity of the profile is calculated from the phase shift of the data of temperature or oxygen at two different points which have same radius from center but 90 degree angular difference. From this calculation, it is found that the rotating veolocity of the oxygen and temperature is different from the crucible rotation rates. Therefore the frequencies of the oscillating temperature and oxygen concentrations are not same to the frequencies of the crucible rotations. Futhermore, the components of the frequencies of the temperature and oxygen concentration at the same point are not same. The fluctuation behaviors of the temperature or oxygen themselves are also different when the points are different. The calculation show that the temperature and the oxygen concentration near the interface also fluctuate. The results suggest that the striation pattern found in the grown silicon single crystals may ben generated by the oxygen concentration and the temperature oscillations of the melt occurred near the interface.

• 한국해양공학회:학술대회논문집
• /
• 한국해양공학회 2000년도 추계학술대회 논문집
• /
• pp.189-195
• /
• 2000

New concept of LNG-FPSO ship with moonpool and bilge step in bottom is considered and investigated in the point of motion reduction and sloshing phenomena of the cargo and operation tanks. The cargo capacity of the ship of which principle dimensions is L x B x D x t(design) =270.0 x 51.0 x 32.32 x 13.7(m) 16K at 98% loading condition. The two moonpools and rectangular step at bilge part are setted up specially for getting the effect of motion decrease. For the motion analysis, linearized three dimensional diffraction theory with the simplified boundary conditions is used. The six-degree of freedom coupled motion responses are calculated for the LNG-FPSO ship. Viscous effects on the roll motion responses of a vessel are taken into account in this calculation program using an empirical formula suggested by Ikeda, Himeno and Tanaka is used. The case study for the moonpool size had been carried out by theoretical estimation and experimental method. For the optimization of the moonpool size and effect of the step, 9 cases of its size and with and without step are considered. From the results of calculation and experiment, it can be concluded that this designed LNG-FPSO ship have possibility to carry out her missions in the rough sea as for the owner's demand waves condition. The motion responses, especially roll motion, for the designed LNG-FPSO ship are much lower than those of another drillship and shuttle tanker and limit criterions are satisfied. For the check of the cargo tank and operation tank sizes we have performed sloshing analysis in the irregular waves which focuses on the pressure distribution on the tank wall and the time history of pressure and free surface for No.2 and No5. tanks of LNG-FPSO with chamfers. Finally we got the tank size which has no resonance and no impact pressure in all filling in the bow quartering and beam sea.

• Asia Marketing Journal
• /
• 제15권4호
• /
• pp.51-60
• /
• 2014

Previous research on loyalty program has verified the factors that influence redemption behavior and the understanding of the mechanism of redemption behavior with academic and practical implications. However, these research has not proven boundary conditions in which the phenomena can be strengthened or weakened- that is, the moderating effect remains unclear. The inclusion of moderating variables can provide a more extensive understanding of the mechanism of this behavior from academic and managerial perspectives alike. Therefore, this current research proposes regulatory focus as a moderating variable, which has received scarce attention in the study of loyalty program behavior, especially individual characteristic variables that, in turn, affect the consumers' purchasing behavior in various ways. Previous research on consumer decision making investigates the differential role of regulatory focus as a series of stages. Regulatory focus theory posits that people depend on the two types of regulatory focus when pursuing goals: promotion focus vs. prevention focus. The former induces tendencies to recognize a goal as a hope and ideal, as something that satisfies the need for accomplishment, and to be sensitive to the presence of a positive outcome of the match and to match the pursuit of goals. On the other hand, the latter tends to regard a goal as the responsibility or obligation to achieve the goal, has a tendency to avoid failure to meet a target, and is sensitive to the presence of the negative consequences that do not reach the target. The following propositions are suggested: 1) The effect of higher accumulation effort level on delaying point redemption speed will be relatively more pronounced for customers with prevention focus. 2) The effect of higher accumulation effort level on large redemption unit size will be relatively more pronounced for customers with prevention focus. 3) The effect of higher accumulation effort level on hedonic redemption ratio will be relatively more pronounced for customers with promotion focus. Therefore, this research provides a moderating variable that has the potential to be used as a reference for market segmentation and affects the relationship between point accumulation effort and three sides of point redemption behavior. On this basis, the direction for the future research on this issue is recommended. Future research could verify these propositions conducting a survey of customers' propensity of regulatory focus in conjunction with the history of the loyalty program of data. This would provide a more realistic effect on the usage behavior of loyalty program consumers by providing useful implications for both marketing practitioners and researchers.

• 대한치과보철학회지
• /
• 제33권4호
• /
• pp.780-806
• /
• 1995

The purpose of this study was to describe the application of 3D finite element analysis to determine resultant stresses on the bone anchored fixed prosthesis, implants and supporting bone of the mandible according to fixture numbers and load conditions. 4 or 6 fixtures and the bone anchored fixed prosthesis were placed in 3D finite element mandibular arch model which represents an actual mandibular skull. A $45^{\circ}$ diagonal load of 10㎏ was labiolingually applied in the center of the prosthesis(P1). A $45^{\circ}$ diagonal load of 20㎏ was buccolingually applied at the location of the 10mm or 20mm cantilever posterior to the most distal implant(P2 or P3). The vertical distribution loads were applied to the superior surfaces of both the right and the left 20mm cantilevers(P4). In order that the boundary conditions of the structure were located to the mandibular ramus and angle, the distal bone plane was to totally fixed to prevent rigid body motion of the entire model. 3D finite element analysis was perfomed for stress distribution and deflection on implants and supporting bone using commercial software(ABAQUS program. for Sun-SPARC Workstation. The results were as follows : 1. In all conditions of load, the hightest tensile stresses were observed at the metal lates of prostheses. 2. The higher tensile stresses were observed at the diagonal loads rather than the vertical loads 3. 6-implants cases were more stable than 4-implants cases for decreasing bending and torque under diagonal load on the anterior of prosthesis. 4. From a biomechanical perspective, high stress developed at the metal plate of cantilever-to-the most distal implant junctions as a consequence of loads applied to the cantilever extension. 5. Under diagonal load on cantilever extension, the 6-implants cases had a tendency to reduce displacement and to increase the reaction force of supporting point due to increasing the bendign stiffness of the prosthesis than 4-implants cases. 6. Under diagonal load on cantilever extension, the case of 10mm long cantilever was more stable than that of 20mm long cnatilever in respect of stress distribution and displacement. 7. When the ends of 10mm or 20mm long cantilever were loaded, the higher tensile stress was observed at the second most distal implant rather than the first most distal implant. 8. The 6-implants cases were more favorable about prevention of screw loosening under repeated loadings because 6-implants cases had smaller deformation and 4-implants cases had larger deformation.

• 전산구조공학
• /
• 제8권4호
• /
• pp.87-97
• /
• 1995

2차원 유한요소 모델의 동일한 형상과 하중 조건에 있어서 6절점 요소의 굽힘 강성은 8절점 요소의 굽힘 강성보다 더 크게 나타난다. 이와 같은 현상은 3차원 16절점 요소와 20절점 요소에서도 나타나며, 완전 요소의 중간 절점들을 제거하므로 인하여 나타난다. 따라서 이 현상을 상대적 강성강화 현상이라 할 수 있다. 강성강화 현상을 보정하기 위한 매우 효과적인 방법으로 가우스 적분점 수정법을 도출하였으며, 이 방법은 확장적인 강성과 같이 다른 종류의 강성을 변화시키지 않으며, 또한 패취시험을 통과하였다. 적분점 수정량은 재료의 포아송비의 함수로 나타나며, 2차원 평면응력 상태와 평면변형율 상태에 대한 두개의 수정식을 구하였고, 또한 3차원 고체요소에 대하여 확장하였다. 가우스 적분점 수정법의 효과를 검증하기 위하여 보와 판의 자유 및 강제운동 문제를 해석하였으며, 등방성 적층 보와 판에 대해서도 단층보와 단층판과 같은 방법으로 적용하여 그 효율성을 입증하였다.

• Smart Structures and Systems
• /
• 제10권2호
• /
• pp.131-154
• /
• 2012

In this paper, it is aimed to determine the seismic behaviour of highway bridges by nondestructive testing using ambient vibration measurements. Eynel Highway Bridge which has arch type structural system with a total length of 216 m and located in the Ayvaclk county of Samsun, Turkey is selected as an application. The bridge connects the villages which are separated with Suat U$\breve{g}$urlu Dam Lake. A three dimensional finite element model is first established for a highway bridge using project drawings and an analytical modal analysis is then performed to generate natural frequencies and mode shapes in the three orthogonal directions. The ambient vibration measurements are carried out on the bridge deck under natural excitation such as traffic, human walking and wind loads using Operational Modal Analysis. Sensitive seismic accelerometers are used to collect signals obtained from the experimental tests. To obtain experimental dynamic characteristics, two output-only system identification techniques are employed namely, Enhanced Frequency Domain Decomposition technique in the frequency domain and Stochastic Subspace Identification technique in time domain. Analytical and experimental dynamic characteristic are compared with each other and finite element model of the bridge is updated by changing of boundary conditions to reduce the differences between the results. It is demonstrated that the ambient vibration measurements are enough to identify the most significant modes of highway bridges. After finite element model updating, maximum differences between the natural frequencies are reduced averagely from 23% to 3%. The updated finite element model reflects the dynamic characteristics of the bridge better, and it can be used to predict the dynamic response under complex external forces. It is also helpful for further damage identification and health condition monitoring. Analytical model of the bridge before and after model updating is analyzed using 1992 Erzincan earthquake record to determine the seismic behaviour. It can be seen from the analysis results that displacements increase by the height of bridge columns and along to middle point of the deck and main arches. Bending moments have an increasing trend along to first and last 50 m and have a decreasing trend long to the middle of the main arches.