• The Transactions of the Korean Institute of Electrical Engineers P
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• v.51 no.1
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• pp.45-51
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• 2002

In this paper are presented dynamic modeling and path-tracking of differential drive wheeled-mobile robots(WMRs) having the limited drive-torques. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to induce the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling method. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

• Transactions of the Korean Society of Mechanical Engineers
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• v.11 no.2
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• pp.287-295
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• 1987

The general equation of equilibrium is presented for a stiffened plate on which the stiffeners having rectangular cross-sections are attached by one or both sides with arbitrarily angles. The principle of minimum potential energy is applied using the concept of adjusted-centroid to derive the equilibrium equation for the stiffened plate. Equivalent rigidities in the present theory are in good agreement with the experiments by the vibration method.

• Proceedings of the Korea Information Processing Society Conference
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• 2014.04a
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• pp.908-911
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• 2014

본 논문은 진공을 이용한 흡착방식과 바퀴형 이동방식을 이용하고 환경 탐지용 센서를 부착한 벽면 이동형 로봇의 물리적 해석을 통한 이동 성능 개선에 관한 연구로서, 대형 구조물의 안전 검사 및 위험한 시설물의 보수 작업 등을 보조하기 위한 목적이 있다. 로봇의 무게에 따른 중력을 견딜 수 있는 강력한 진공흡착방식과 고성능 모터제어에 의한 바퀴 이동방식을 혼합하고 효율적으로 평형을 유지 또는 제어하기 위하여 로봇에 미치는 다양한 힘과 모멘트를 분석하고 수식화 하였으며 기존의 수직이동 속도를 개선하기 위한 로봇의 물리적 변수를 추출하여 변수와 이동력간의 관계를 고찰하였다.

• Korean Journal of Agricultural Science
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• v.30 no.2
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• pp.164-174
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• 2003

This study was performed to suggest a rational method for the stability evaluation of agricultural reservoir in the very soft ground. The stability methods for agricultural reservoir was used to compare and analyze with various condition by limit equilibrium method. The behavior of settlement-displacement obtained by field monitoring system was used to compare and analyze with various stability methods, and to investigate the applicability of the methods for stability evaluation of agricultural reservoir. The horizontal displacement was abruptly increased when physical properties of soft clay reached its maximum values and therefore, the values of these properties could be used to the fundamental data for stability evaluation. The evaluation of the stability of agricultural reservoir was suggested to use the inclination of curve rather than critical line.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.9
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• pp.907-915
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• 2008

The computational fluid dynamic analysis has been conducted for the thermo-chemical flow field in an arcjet thruster with mono-propellant Hydrazine (N2H4) as a working fluid. The Reynolds Averaged Navier-Stokes (RANS) equations are modified to analyze compressible flows with the thermal radiation and electric field. the Maxwell equation, which is loosely coupled with the fluid dynamic equations through the Ohm heating and Lorentz forces, is adopted to analyze the electric field induced by the electric arc. The chemical reactions of Hydrazine were assumed to be infinitely fast due to the high temperature field inside the arcjet thruster. The chemical and the thermal radiation models for the nitrogen-hydrogen mixture and optical thick media respectively, were incorporated with the fluid dynamic equations. The results show that performance indices of the arcjet thruster with 1kW arc heating are improved by amount of 180% in thrust and 200% in specific impulse more than frozen flow. In addition thermo-physical process inside the arcjet thruster is understood from the flow field results.

• Journal of the Korea Concrete Institute
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• v.14 no.6
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• pp.1010-1021
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• 2002

The current ACI design code does not take into account the contribution of concrete for the torsional moment of reinforced concrete(RC) beams subjected to pure torsion. This code is not capable of evaluating the inter-effects between concrete and torsional reinforcement on the torsional resistance of the RC beams. Some test results indicated that the current ACI code was not successful in predicting the observed torsional moment of the RC beams with reasonable accuracy. The research reported in this paper provides an evaluation equation to predict the torsional moment of the RC beams subjected to pure torsion. The proposed equation is derived from the equilibrium as well as compatibility equations of the truss model for the cracked RC beams. Comparisons between the observed and calculated torsional moments of the 66 tested beams, showed reasonable agreement.

• Journal of the Korean Geotechnical Society
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• v.30 no.10
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• pp.55-65
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• 2014

Recent researches on debris flow is focused on understanding its movement mechanism and building a numerical simulator to predict its behavior. However, previous simulators emulating fluid-like debris flow have limitations in numerical stability, geometric modeling and application of various boundary conditions. In this study, depth integration is applied to continuity equation and force equilibrium for debris flow. Thickness of sediment, and average velocities in x and y flow direction are chosen for main variables in the analysis, which improve numerical stability in the area with zero thickness. Petrov-Galerkin formulation uses a discontinuous test function of the weighted matrix from DG scheme. Presented mechanical constitutive model combines fluid and granular behaviors for debris flow. Effects on slope angle, inducing debris height, and bottom friction resistance are investigated for a simple slope. Numerical results also show the effect of embankment at the bottom of the slope. Developed numerical simulator can assess various risk factors for the expected area of debris flow, and facilitate embankment design in order to minimize damage.

• Journal of the Korean Geotechnical Society
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• v.29 no.6
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• pp.77-86
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• 2013

Embankments on soft ground experience significant deformation during time-dependent consolidation settlement, as well as an initial undrained settlement. Since infinitesimal strain theory assumes no configuration change and minute strain during deformation, finite strain analysis is required for better prediction of geotechnical problems involving large strain and geometric change induced by imposed loadings. Updated Lagrangian formulation is developed for time-dependent consolidation combining both force equilibrium and mass conservation of fluid, and mechanical constitutive equation is written in Janumann stress rate. Numerical convergence during Newton's iteration in large deformation analysis is improved by Nagtegaal's approach of considering the effect of rotation in mechanical constitutive relationship. Numerical simulations are conducted to discuss numerical reliability and applicability of developed numerical code: deformation of cantilever beam, two-dimensional consolidation. The numerical results show that developed formulation can efficiently describe large deformation problems. Proposed formulation is expected to facilitate the upgrading of a numerical code based on infinitesimal strain theory to that based on finite strain analysis.

• Journal of the Korean Geotechnical Society
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• v.30 no.9
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• pp.67-75
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• 2014

Methane gas hydrate which is considered energy source for the next generation has an urgent need to develop reliable numerical simulator for coupled THM phenomena in the porous media, to minimize problems arising during the production and optimize production procedures. International collaborations to improve previous numerical codes are in progress, but they still have mismatch in the predicted value and unstable convergence. In this paper, FEM code for fully coupled THM phenomena is developed to analyze methane hydrate dissociation in the porous media. Coupled partial differential equations are derived from four mass balance equations (methane hydrate, soil, water, and hydrate gas), energy balance equation, and force equilibrium equation. Five main variables (displacement, gas saturation, fluid pressure, temperature, and hydrate saturation) are chosen to give higher numerical convergence through trial combinations of variables, and they can analyze the whole region of a phase change in hydrate bearing porous media. The kinetic model is used to predict dissociation of methane hydrate. Developed THM FEM code is applied to the comparative study on a Masuda's laboratory experiment for the hydrate production, and verified for the stability and convergence.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.2A
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• pp.247-260
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• 2006

In this paper, an analytical method which can describe the structural behavior of prestressed concrete (PSC) bridges reinforced with the unbonded external tendon is developed. Since the unbonded external tendon is directly installed to the deviators while maintaining a straight configuration, it has a different deformation field from that of concrete and accompanies the secondary effect caused by the change of the primary eccentricity between concrete and external tendon. In advance, the friction slip at the deviators is also taken into consideration on the basis of the force equilibrium between the friction force and the driving force. Through correlation studies between experimental data and analytical results, it is verified that the proposed numerical model can effectively predict the structural behavior of PSC beam bridges with comparative precision.