• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.6
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• pp.787-796
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• 2008

When the manipulator collides with surroundings, there occurs an impulse. To reduce the impulse, the self motion should maintain the manipulator's position by the minimally effective mass. At this time, we can use the local joint torque minimization algorithm to resolve the redundancy. In this study, to reduce the impulse and damages by the impact between the manipulator and surroundings, new control algorithm for the minimization of the joint torque using the kinetic redundancy and the impact minimization is proposed. It adapts fuzzy logic and genetic algorithm to the conventional local joint torque minimization algorithm. The proposed algorithm is applied to a 3-DOF redundant planar manipulator. Simulation results show that the proposed algorithm works well.

• Bulletin of the Korean Space Science Society
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• 2009.10a
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• pp.39.1-39.1
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• 2009

중성입자가 함께 존재하는 불균일한 플라즈마 내로 입사하는 전파들은 플라즈마의 전자 밀도와 전자-중성입자 충돌에 의해 영향을 받게 된다. 특히 전자들의 운동이 중요한 높은 주파수 파동들은 상위 혼합 공명(Upper Hybrid Resonance)과 주변 자기장 현상에 의한 파동 모드 변환(mode conversion)으로 전파의 성질이 변하게 된다. 그리고 전자-중성입자에 의한 충돌은 에너지의 감쇄 등의 영향을 미치게 된다. 이러한 조건을 모두 고려한 유체 수치 모델을 이용하여 지구의 전리층이나 약한 자기권을 가지고 있는 행성 대기와 같이 플라즈마와 중성입자가 섞여있는 매질에서의 전자기파 파동의 특성을 조사하였다. 주파수, 중성대기 밀도 및 입사 각도에 따라 파동의 공명 흡수량과 감쇄량을 각각 알아본다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.353-356
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• 2002

In vehicle accidents, the rolling, pitching, and yawing which are produced by collisions affect the motions of vehicle. Therefore, vehicle behavior under impact situation should be analyzed in three-dimension. In this study, three-dimensional vehicle dynamic equations based on impulse-momentum conservation principles under vehicle impact are introduced for simulation. This analysis has been performed by the real vehicle impact data from JARI and RICSAC. This study suggested each system modeling such as suspension, steering, brake and tire as well as the appropriate vehicle behavior simulation model with respect to pre and post impact.

• Electrical & Electronic Materials
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• v.3 no.2
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• pp.138-146
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• 1990

볼츠만 수송방정식에 관한 홀스타인의 식을 사용하여 온도는 273.deg.K, 상대전계의 세기가 1.leq.E/P..leq.30(V/cm Torr)인 때의 Na와 He 단일기체중을 통과하는 전자의 에너지분포함수와 수송계수를 계산하였다. 그리고 전자 이동속도의 결과치를 실험값과 비교하였으며 실험치와 계산치가 일치하도록 충돌단면적을 수정하여 계산에 적용하였다. 이러한 방법으로 Hesms 0.1[eV]-50[eV]까지 Na는 0.1[eV]-5[eV]까지의 에너지범위에서 결정된 운동량변환단면적의 값은 제한된 범위에서 Crompton 및 Nakamura의 값과 거의 일치하였다. 또한 이와 같이하여 계산된 Na와 He 단일기체의 충돌단면적을 이용하여 온도는 273.degK, 상대전계의 세기는 1.leq.E/P$_{o}$ .leq.30(V/cm Torr)의 범위에서 Na-He 혼합증기의 혼합비율을 He:Na는 99.5:0.5, 99:1, 9:1. 1:1로 변화시켜 특성에너지, 평균에너지, 전자이동속도, 전자에너지 분포함수를 게산하였다.

• Proceedings of the Korean Vacuum Society Conference
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• 2011.08a
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• pp.90-90
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• 2011

배기속도 2,500 L/s, 최고진공도 10-10 mbar를 구현할 대용량 복합 분자펌프 설계를 위한 2차원과 3차원 형상을 대상으로 실시하였다. 진공도가 10-5 mbar 이상이 되는 고진공도에서는 Knudsen 수가 102~107에 이르러 분자간 충돌을 거의 무시할 수 있게 되며, 이때의 유체해석 방법으로서는 통상 희박기체 해석법으로 많이 쓰이는 Direct Simulation Monte Carlo (DSMC) 방법보다, 충돌이 없는 분자의 자유운동을 모사하는 Monte Carlo 방법이 더 적합하게 된다. 본 연구에서는 다단계 rotor와 stator로 구성되는 복합분자 내 유동장에 Monte Carlo 해석법과 DSMC 방법을 모두 적용하여 유동해석을 실시하였다. 먼저 2차원 모델에 대한 해석을 실시하여 분자펌프의 성능에 중요한 영향을 미치는 설계변수로 날개각과 날개간격이 현저함을 확인하였으며, 이 설계변수들이 펌프의 주요성능 지표인 최대펌핑효율과 최대압축비에 미치는 영향을 다양한 3차원 유동해석을 통해 도출하였다. 유동해석 결과, 기체분자와 rotor 날개사이의 충돌 확률을 높이는 방안이 대체적으로 펌프의 성능을 향상시키는데 도움이 되는 것으로 나타났다.

• Journal of the Society of Naval Architects of Korea
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• v.28 no.1
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• pp.60-68
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• 1991

The updated Lagrangian Finite Element Method is introduced to analyse rigid body-fluid impact problem which is characterized by incompressible Navier-Stokes equations and impact-contact conditions between free surface and rigid body. For the convenience of numerical computation, velocity fields are splinted into vicous and pressure parts, and then the governing equations and boundary conditions are decomposed in accordance with the decomposition. However, Viscous stresses acting an the solid boundaries are neglected on the assumption that very small velocity gradients may occur during extremely small time interval of the impact. Four coded quadrilateral elements are used to discretize the space domain and the fully explicit time-marching algorithm is employed with a reasonably small time step. At the beginning of each time step, contact velocity of the rigid body is computed from the momentum balance between the body and the fluid. The velocity field is then computed to satisfy the discretized equations of motions and incompressibility and contact constraints as well as an exact free surface boundary condition. At the end of each time step, the fluid domain is updated from the velocity field. In the present time stepping numerical analysis, behaviour of the free surface near the body can be observed without any difficulty which is very important in the water impact problem. The applicability of the algorithm is illustrated by a wedge type falling body problem. The numerical solutions for time-varying pressure distributions and impact loadings acting ion the surface are obtained.

• Journal of the Korean Society of Hazard Mitigation
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• v.9 no.2
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• pp.23-30
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• 2009

Crash cushions are protective devices that prevent errant vehicles from impacting on fixed objects. This function is accomplished by gradually decelerating a vehicle to a safe stop in a relatively short distance. Commonly used crash cushions generally employ one of two concepts to accomplish this function. The first concept involves the absorption of the kinetic energy of a moving vehicle by crushable or plastically deformable materials and the other one involves the transfer of the momentum of a moving vehicle to an expendable mass of material located in the vehicle's path. Crash cushions using the first concept are generally referred to as compression crash cushions and crash cushions using the other concept are generally referred to as inertial crash cushion. The objective of this research is the development of a compression-type crash cushion by employing the two concepts simultaneously. To minimize the number of full-scale crash tests for the development of the crash cushion, preliminary design guide considering inertial and frictional energy absorption was constructed and computer simulation was performed. LS-DYNA program, which is most widely used to analyze roadside safety features, was used for the computer simulation. The developed crash cushion satisfied the safety evaluation criteria for various impact conditions of CC2 performance level in the Korean design guide.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.12
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• pp.8966-8976
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• 2015

Unshielded posts on roadside are a critical hazard to the safety of impact vehicle to the posts. A crashworthy post is developed. In the first phase, it dissipates the impact energy by the linear momentum conservation principle while the plastic impact between the post and vehicle takes place, then, the second phase dissipation follows by the deformation of the energy absorbing modules embedded in the guide trough of the foundation. Simulations of impacts to a rigidly connected post and crashworthy post were made using LS-DYNA program, which demonstrated the danger of unshielded rigidly connected post and the effectiveness of the proposed crashworthy post to the 0.9ton-80km/h impact.

• Computational Structural Engineering
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• v.7 no.3
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• pp.83-93
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• 1994

To design and study the dynamic performance of safety structures, crash tests are needed. Method to get the angular accelerations at the time of impact by integating the Euler equations are introduced. Numerically stable 9-array system contains several 7 and 8-array sub-systems in it. Numerical stability of those latent sub-systems are studied using test files. All of the 8-array subsystems were found to be numerically stable. Six of the 7-array sub-systems were stable and other six of the 7-array sub-systems were unstable. Using this findings fail-safe measurement system can be developed.

• Journal of the Korean Society of Propulsion Engineers
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• v.25 no.4
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• pp.1-11
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• 2021

To develop technologies for the stable operation of electric propulsion systems, the exhaust plume behavior of electric thrusters was studied using PIC-DSMC(particle-in-cell and direct simulation Monte Carlo). For the numerical analysis, the Simple Electron Fluid Model using Boltzmann relation was employed, and the charge and momentum exchanges due to atom-ion collisions were considered. The results of this study agreed with the plasma potentials measured experimentally. Near the thruster exit, active collisions among particles and charge exchanges created slow ions and fast atoms, which were expected to significantly affect the trajectory and velocity of the thruster exhaust plume.