• Journal of Advanced Marine Engineering and Technology
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• v.39 no.10
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• pp.1023-1030
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• 2015

The purpose of this paper is to present the basic mathematical modeling of a hexacopter, which could be used to develop proper methods for stabilization and trajectory control. A hexacopter consists of six rotors with three pairs of counter-rotating fixed-pitch blades. This mechanism is an under-actuated, dynamically unstable, six-degrees-of-freedom system. The whole motion of this object consists of translational and rotational motion in three dimensions, where the translational motion is created by changing the direction and magnitude of the upward propeller thrust. The hexacopter is controlled by adjusting the angular velocities of the rotors, which are spun by electric motors. It is assumed to be a rigid body; thus, the differential equation of the hexacopter dynamics can be derived from the Newton-Euler equation. The Euler-angle parametrization of the three-dimensional rotations contains singular points in the coordinate space that can cause failure of both the dynamical model and control. In order to avoid singularities, the rotations of the hexacopter are parametrized in terms of quaternions. This choice has been made considering the linearity of the quaternion formulation and their stability and efficiency. Further, control simulation of a hexacopter applying cascaded-PID control is also presented in this paper.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.712-716
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• 2003

In the present study, the gas injection system based on air-water model was designed to investigate the behavior characteristics of bubbles injected into a ladle. The parameters such as gas volume fraction and bubble rise velocity were exprementally measured in a gas-liquid flow region. To measure gas volume fraction, an electo-conductivity probe was used and bubble rise velocity was obtained by a high speed CCD camera. Gas volume fraction was symmetric to the axis of nozzle secured on the bottom of a ladle. The bubble rise velocity was calculated for two different experimental conditions. That is, gas flow conditions were following two case: 1) Q = $0.63{\times}10^{-4}$ $m^{3}/s$, 2) $1.26{\times}10^{-4}$ $m^{3}/s$. As a gas injected into the liquid ladle, the liquid-phase region is circulated by bubbles' behavior. The bubble rise velocity was influenced of the circulation flow of liquid phase. As a result, the bubble rise velocity was appeared higher middle region of ladle than near the nozzle.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.17 no.9
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• pp.994-1000
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• 2004

We studied the characteristics of annular phase gratings as spatial frequency filters. We first calculated the Fraunhofer diffraction patterns of annular gratings and then got the modulation transfer function (MTF) from the zeroth order Hankel transform of the intensity distribution function. Binaryphase annular grating shows higher diffraction efficiency than binary phase rectangular grating. But the MTF decreases linearly in the low-frequency region as that of rectangular grating does. The diffraction pattern of 4-phase annular grating is similar to that of 2-phase grating and hence MTFs of the two are much alike. For 8-phase annular grating, the 7th order diffracted beam is the lowest one next to the first. Consequently, the diffraction efficiency is very high and the MTF graph is curved upward. The diffracted beams except the first order are negligible and hence the MTF characteristics are more improved in the case of 16-phase grating. But the degree of improvement becomes lowered c(Impaled with 8-phase grating. We made a 16-phase annular grating and measured its MTF. The experimental result agrees well with the calculated one.

• Journal of the korean Society of Automotive Engineers
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• v.15 no.2
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• pp.130-143
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• 1993

Engineering ceramics have some excellent properties as the material for the mechanical components. It is, however, very difficult to grind ceramics with high efficiency because of their high strength, hardness and brittleness. In this paper, experiments are carried out to obtain the effect of "In-process dressing" to grind the Engineering ceramics with high efficiency. To save running time for dressing process and obtain restraint effect of diamond grain wear, "In-process dressing" system using WA stick type honing stone is proposed. Representative Engineering ceramics, such as AI$_{2}$O$_{3}$, Si$_{3}$N$_{4}$, are ground with diamond wheel. Also bending strength test is carried out to check upward tendancy of mecahnical properties as the result of machining defact restraint through the grinding machining method using "In-process dressing" process. Some results obtained in this study provide useful information to attain the high efficiency grinding and the high mechanical properties of Engineering ceramics.rties of Engineering ceramics.

• Journal of Biosystems Engineering
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• v.26 no.4
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• pp.355-362
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• 2001

Uniform application of agri-chemicals will improve orchard pest management. An air-blast(orchard) sprayer designed for vineyards has been used: however, few research on the uniformity and coverage of the sprays has been reported. Distributions of spray coverage were measured with artificial targets and analyzed to enhance the efficiency of spray application. A structure was built to place water sensitive papers, sampling spray droplets blasted from the orchard sprayer. The sampling cards were collected from five directions at three distances (2.5, 3.0 and 3.5m) for two fan speeds (2,075 and 3,031 rpm), and analyzed using an image analysis system. The distribution of the coverage percent area did not follow the wind velocity pattern. The coverage by the low fan speed was more uniform and higher than that by the higher fan speed. The coverage percent area decreased with an increase of distance. The distribution of droplet density was similar to that of coverage. However, the coverage contribution by smaller droplets became more significant as the distance increased. The upward blasting distance was limited within 3m, but the limit to the ground level was expanded the distance more than 3.5m because of the concentrated droplets.

• Journal of the Korean Geotechnical Society
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• v.21 no.10
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• pp.123-131
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• 2005

In the present study, laboratory pull-out tests with screw anchors are carried out to investigate behavior characteristics of the anchors used in foundation system of underground structures which are applied to uplifting seepage forces. Small scaled pull-out tests in sand under saturated condition and dry condition were carried out. For estimating the group effects of the anchors, the upward displacement and the pullout load varied with spacing of the anchor were observed. The test results were compared with theoretical equation for the ultimate pull-out force. Also, the result of tests can be used to the finite element analysis program, $PENTAGON^{2D}$.

• Korean Journal of Applied Biomechanics
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• v.20 no.2
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• pp.197-204
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• 2010

Scapular position and motion are essential for normal upper limb mobility; Further, the posture of patients with thoracic kyphosis is related to shoulder girdle function and disorder. The purpose of this study was to examine the effects of thoracic posture on the shoulder range of motion and on three-dimensional scapular kinematics. Thirty healthy subjects performed right-arm abduction along the frontal plane while standing in both erect and in slouched trunk posture. The scapular position and rotation, and shoulder and thoracic angles were recorded using a motion analysis system. The scapular upward rotation and internal rotation were significantly altered according to postural tatiges; however, scapular tilt was not affected. Shoulder angle was significantly decreased in the slouched posture as c rpared to tatt in the erect posture. Thus, a slouched posture(thoracic kyphosis) significantly affects the shoulder range of motion and scapular kinematics during shoulder abduction in the frontal plane.

• Food Science of Animal Resources
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• v.36 no.2
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• pp.137-144
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• 2016

Livestock is considered as one of the most important segments in agriculture since animal husbandry was practiced for centuries as a backyard system by rural families. Livestock plays as a powerful tool in rural development where meat industry contributes a dominant part. Meat and meat products become a vital component in the diet, which had been one of the main protein sources traditionally as well. The development in the livestock and meat industry of Sri Lanka basically depends upon religious, cultural, and economic factors. There is a growing demand for processed meat products in Sri Lankan urban culture and several large scale processors entered the business during the past few decades. The consumption of meat and meat products shows an upward trend in Sri Lanka during the last decade and is anticipated to increase further in future. The growth potential of the local meat industry is considerably high owing to the improvement of the market and consumer perception. The present status, trends, and future prospects for the Sri Lankan meat industry with respect to production, consumption, processing, marketing, and improvement are discussed in this review.

• Journal of Korea Technology Innovation Society
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• v.14 no.3
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• pp.622-646
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• 2011

This paper analyses the effects of mobile telecommunications market's interconnection charge on consumer welfare between 2000 and 2010 by estimating price elasticity of demand with using log linear model and augmented Alexander et al(2000)'s model. The results show that consumer welfare is about 6 trillion won in 2009 and an upward trend. In the 2nd analysis, the decline in interconnection charge raise consumer welfare but, asymmetric interconnection and current TD-BU LRIC system have negative(-) relation with consumer welfare. Hence we need to revise interconnection policy frame.

• International Journal of Railway
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• v.7 no.4
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• pp.100-108
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• 2014

A numerical analysis method for predicting aerodynamic noise at inter-coach space of high-speed trains, validated by wind-tunnel experiments for limited speed range, is proposed. The wind-tunnel testing measurements of the train aerodynamic sound pressure level for the new generation Korean high-speed train have suggested that the inter-coach space aerodynamic noise varies approximately to the 7.7th power of the train speed. The observed high sensitivity serves as a motivation for the present investigation on elucidating the characteristics of noise emission at inter-coach space. As train speed increases, the effect of turbulent flows and vortex shedding is amplified, with concomitant increase in the aerodynamic noise. The turbulent flow field analysis demonstrates that vortex formation indeed causes generation of aerodynamic sound. For validation, numerical simulation and wind tunnel measurements are performed under identical conditions. The results show close correlation between the numerically derived and measured values, and with some adjustment, the results are found to be in good agreement. Thus validated, the numerical analysis procedure is applied to predict the aerodynamic noise level at inter-coach space. As the train gains speed, numerical simulation predicts increase in the overall aerodynamic sound emission level accompanied by an upward shift in the main frequency components of the sound. A contour mapping of the aerodynamic sound for the region enclosing the inter-coach space is presented.