• 한국정밀공학회지
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• 제23권4호
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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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• 제11권3호
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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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• 제13권1호
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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.

• 대한기계학회논문집
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• 제12권1호
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• pp.137-151
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• 1988

본 논문에서는 아래 평판은 높은 온도 $T_{h}$로 유지되고, 위의 평판은 낮은 온도 $T_{i}$로 유지되어 있을 때 온도차에 의하여 발생하는 난류 열대류 문제를 난류모델 방정식을 사용하여 수치적으로 해석하고자 한다.다.다.

• Journal of Mechanical Science and Technology
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• 제18권7호
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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.

• 한국전자통신학회논문지
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• 제13권6호
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• pp.1191-1198
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• 2018

윈드프로파일러 레이더는 고정점에서 대기물리 신호와 바람 벡터의 연직 프로파일을 제공한다. 바람 벡터는 제조사의 자료 처리 프로그램으로 산출되기 때문에 품질 관리에 한계가 있다. 따라서 바람 벡터의 품질을 향상시키기 위해서 원시 스펙트럼 자료의 이해와 활용이 이루어져야 한다. 바람 벡터의 원시 자료는 바이너리 형태로 저장되는 파워 스펙트럼 밀도이다. 본 연구에서는 원시 자료를 실수형 스펙트럼 밀도로 변환하는 알고리즘을 완성하고 스펙트럼 기반 0차와 1차 모멘트를 구현하여 원시 자료의 활용을 평가하였다.

• 천문학회보
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• 제36권2호
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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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• 제34권1호
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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.

• 에너지공학
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• 제25권1호
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• pp.185-191
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• 2016

피동충수용 혼합형 안전주입탱크는 한국원자력연구원에서 제안한 원자력 피동안전계통의 한 종류로, 안전주입탱크의 상부와 가압기를 연결하여 모든 운전압력 조건에서 냉각수 주입이 가능하도록 개선한 시스템이다. 본 연구에서는 피동충수용 혼합형 안전주입탱크, 가압기와 원자력압력용기에 대한 압력 네트워크를 통해 피동충수용 혼합형 안전주입탱크와 가압기의 압력이 평형이 되는 조건을 이론적으로 도출하였으며, 개별효과시험장치를 이용하여 안전주입탱크에서 발생하는 다양한 열수력 현상(증기응축 및 열혼합 현상)들을 파악하였다.