• Journal of the Korean Society for Precision Engineering
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• v.23 no.4 s.181
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• pp.75-82
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• 2006

In this paper, we propose an optimal trajectory for biped robots to move up-and-down stairs using a genetic algorithm and a computed-torque control for biped robots to be dynamically stable. First, a Real-Coded Genetic Algorithm (RCGA) which of operators are composed of reproduction, crossover and mutation is used to minimize the total energy. Constraints are divided into equalities and inequalities: Equality constraints consist of a position condition at the start and end of a step period and repeatability conditions related to each joint angle and angular velocity. Inequality constraints include collision avoidance conditions of a swing leg at the face and edge of a stair, knee joint conditions with respect to the avoidance of the kinematic singularity, and the zero moment point condition with respect to the stability into the going direction. In order to approximate a gait, each joint angle trajectory is defined as a 4-th order polynomial of which coefficients are chromosomes. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot that consists of seven links in the sagittal plane. The trajectory is more efficient than that generated by the modified GCIPM. And various trajectories generated by the proposed GA method are analyzed in a viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.

• Journal of Electrical Engineering and Technology
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• v.11 no.3
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• pp.733-740
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• 2016

To achieve bipedal walking in real human environments, a bipedal robot should be capable of modifiable walking both on uneven terrain with different heights and on flat terrain. In this paper, a novel walking pattern generator based on a 3-D linear inverted pendulum model (LIPM) is proposed to achieve this objective. By adopting a zero moment point (ZMP) variation scheme in real time, it is possible to change the center-of-mass (COM) position and the velocity of the 3-D LIPM throughout the single support phase. Consequently, the proposed method offers the ability to generate a modifiable pattern for walking on uneven terrain without the necessity for any extra footsteps to adjust the COM motion. In addition, a control strategy for bipedal walking on uneven terrain with unknown height is developed. The torques and ground reaction force are measured through force-sensing resisters (FSRs) on each foot and the foot of the robot is modeled as three virtual spring-damper models for the disturbance compensation. The methods for generating the foot and vertical COM of 3-D LIPM trajectories are proposed to achieve modifiable bipedal walking on uneven terrain without any information regarding the height of the terrain. The effectiveness of the proposed method is confirmed through dynamic simulations.

• Korea-Australia Rheology Journal
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• v.13 no.1
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• pp.37-45
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• 2001

Numerical simulation of coextrusion process of viscoelastic fluids within a die has been carried out. In the coextrusion process velocity profile at the outflow boundary is not known a priori, which makes it difficult to impose the proper boundary condition at the outflow boundary. This difficulty has been avoided by using the open boundary condition (OBC) method. In this study, elastic viscous stress splitting (EVSS) formulation with streamline upwind (SU) method has been used in the finite element method. In order to test the validity of the OBC method, comparison between the results of fully developed condition at the outlet and those of OBC has been made for a Newtonian fluid. In the case of upper convected Maxwell (UCM) fluid, the effect of outflow boundary condition on the interface position has been investigated by using two meshes having different downstream lengths. In both cases, the results with the OBC method showed reasonable interface shape. In particular, for the UCM fluid the interface shape calculated with OBC was independent of the downstream length, while the results with the zero traction condition showed oscillation of interface position close to the outlet. Viscosity difference was found to be more important than elasticity difference in determining the final interface position. However, the overshoot of interface position near the con-fluent point increased with elasticity.

• Transactions of the Korean Society of Mechanical Engineers
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• v.12 no.1
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• pp.137-151
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• 1988

Thurbulent thermal convection between two plates, bottom plate is at higher temperature $T_{h}$ and the upper plate is at lower temperature $T_{i}$ is numerically investigated. Model equations are abridged Reynolds stress equations; full Reynolds stress equations are simplified to yield algebraic relations in case of mean square velocity fluctuations in vertical and horizontal directions. Boundary conditions for turbulent kinetic energy k and mean square temperature variance .thera.$^{2}$oner bar at the plate surfaces are set to be zero and those of dissipation rate of turbulent kinetic energy .epsilon. and dissipation rate of mean square temperature variance .epsilon.$_{\theta}$ are assumed at first grid point nearest to the boundary surfaces, whose values are approximated by inviscid estimates. Results show that temperature profiles are in good agreement with experimental data except transition region, in which temperature is over-predicted. Such discrepancy becomes larger as the Rayleigh number becomes smaller. Nusselt numbers, which are calculated from the temperature gradients at the boundary surfaces, are also in good agreement with experimental data.a.a.

• Journal of Mechanical Science and Technology
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• v.18 no.7
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• pp.1094-1106
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• 2004

In this paper, a nonlinear controller based on sliding mode control is applied to a two-wheeled Welding Mobile Robot (WMR) to track a smooth curved welding path at a constant velocity of the welding point. The mobile robot is considered in terms of dynamics model in Cartesian coordinates under the presence of external disturbance, and its parameters are exactly known. It is assumed that the disturbance satisfies the matching condition with a known boundary. To obtain the controller, the tracking errors are defined, and the two sliding surfaces are chosen to guarantee that the errors converge to zero asymptotically. Two cases are to be considered: fixed torch and controllable torch. In addition, a simple way of measuring the errors is introduced using two potentiometers. The simulation and experiment on a two-wheeled welding mobile robot are provided to show the effectiveness of the proposed controller.

• The Journal of the Korea institute of electronic communication sciences
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• v.13 no.6
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• pp.1191-1198
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• 2018

The wind profiler radar provides a standing profile of the wind vector and the atmospheric physical signal for the fixed point. Since the wind vector is calculated by the manufacturer's data processing program, the quality control of the date is limited. Therefore, understanding and exploiting the raw spectrum data need to improve the quality of the wind vector. The raw data of the wind vector is the power spectral density stored in binary form. In this study, an algorithm was completed to transform the raw data into the real spectral density, and the use of raw data was evaluated by retrieving zero-order and first-order moments of the spectral based on the spectrum quality control.

• The Bulletin of The Korean Astronomical Society
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• v.36 no.2
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• pp.115.1-115.1
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• 2011

We analyzed the line profiles of the planetary nebula (PN) NGC 7009 secured with the Keck I HIES and BOES's spectral data. The 5 positions were taken over the nebular image, 4 points on the bright rim plus 1 point at the central position. The covered spectral wavelength range was $3250{\AA}-8725{\AA}$ in these observations. We decomposed the lines of HI, HeI, HeII, CII, NIII, [ClIII], [NII], [OII], [OIII], [SII], [SIII], [ClIII], and [ArIII] using the IRAF and StarLink/Dipso. After correcting the Earth's movement and the PN's radial velocities, -48.6 & -48.9 km/s, respectively, for the Keck & BOES, we produced the line profiles in a velocity scale. The zero velocity at each line profile clearly indicates which part of the components is approaching or receding, giving a general information of the kinematical structure. Almost all of the low-to-medium excitation lines, such as [NII], [SII], [O III], and [ArIII], secured at the central position and four positions along the major & minor axes, showed 3 components, double peak + a wide wing component, suggesting the fast outflow structures are present. The overall geometry is a prolate shell which also has a fainter outer shell in the halo zone, but there appears to be some peculiar sub-structures inside the main shell. The high excitation He I, HeII, NIII lines which might be formed close to the inner boundary of the shell show unusual features, completely different from the other lines. The HeII and these high excitation lines may be indicative of a relative recent fast outflow from the central star and the permitted lines such as NIII might be affected by the innermost structure. We discuss a possible presence of a jet-like fast outflow structure in an out-flow axis different from the main axis of the spheroid shell.

• Wind and Structures
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• v.34 no.1
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• pp.15-27
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• 2022

This work comes within the framework of the "Benchmark on the Aerodynamics of a Rectangular Cylinder" that investigates a rectangular cylinder of length-to-depth ratio equal to 5. The present study reports and discusses velocity fields acquired using planar Particle Image Velocitmetry for several angles of attack and Reynolds numbers. In particular, for a cylinder depth-based Reynolds number of 2 × 10⁴ and zero incidence angle, the flow features along the lateral (parallel to the freestream) upper and lower surfaces of the cylinder are reported. Using first and second order statistics of the velocity field, the main flow features are discussed, especially the size and location of the time-averaged flow structures and the distribution of the Reynolds stresses. The variation of the flow features with the incidence is also studied considering angles of attack up to 6°. It is shown that the time-averaged flow is fully detached for incidence higher than 2°. For an angle of attack of 0°, the effects of the Reynolds number varying between 5 × 10³ and 2 × 10⁴ are investigated looking at flow statistics. It is shown that the time-averaged location of the reattachment point and the shape and position of the time-averaged main vortex are mostly constant with the Reynolds number. However, the size of the inner region located below the time-averaged shear layer and just downstream the leading edge corner appears to be strongly dependent on the Reynolds number.

• Journal of Energy Engineering
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• v.25 no.1
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• pp.185-191
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• 2016

The Hybrid Safety Injection Tank is a passive safety injection system that enables the safety injection water to be injected into the reactor pressure vessel throughout all operating pressures by connecting the top of the SIT and the pressurizer(PZR). In this study, the condition for balancing the pressure between the Hybrid SIT and PZR was derived theoretically. The pressure balancing condition was set at the point where the velocity of the Hybrid SIT coolant injected into the Direct Vessel Injection(DVI) line was at or above zero. If the condition was derived from a pressure network for the Hybrid SIT, pressurizer, and reactor pressure vessel, the pressure difference between the pressurizer and SIT is less than 0.07 MPa.