• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.1
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• pp.33-40
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• 2000

In this paper, an integrated method for the path planning and motion control of wheeled mobile robots using a hybrid system model and control is presented. The hybrid model including the continuous dynamics and discrete dynamics with the continuous and discrete state vector is derived for a two wheel driven mobile robot. The architecture of the hybrid control system for real time path planning and following is designed which has the 3-layered hierarchical structure : the discrete event system using the digital automata as the higher process, the continuous state system for the wheel velocity controls as the lower process, and the interface system as the interaction process between the continuous system as the low level and the discrete event system as the high level. The reference motion commands for autonomous navigation are generated by the abstracted motion in the discrete event system. The motion control tasks including the feasible path planning and autonomous motion control with various initial conditions are investigated as the applications by the simulation studies.

• Proceedings of the Korea Water Resources Association Conference
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• 2023.05a
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• pp.35-35
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• 2023

The main reason for its instability is sediment scouring downstream of hydraulic structures. Both physical and numerical models have been used to investigate the influence of soil properties on scour hole geometry. Nevertheless, no research has been conducted on resistance parameters that affect sedimentation and erosion. In addition, auxiliary structures like wing walls, which are prevalent in many real-world applications, have rarely been studied for their impact on morphology. The hydraulic characteristics of steady flow through a boxed culvert are calibrated using a 3D Computational Fluid Dynamics model compared with experimental data in this study, which shows a good agreement between water depth, velocity, and pressure profiles. Test cases showed that 0.015 m grid cells had the lowest NRMSE and MAE values. It is also possible to quantify sediment scour numerically by testing roughness/d₅₀ ratios (c_s) and diversion walls at a meander flume outlet. According to the findings, c_s = 2.5 indicates a close agreement between numerical and analytical results of maximum scour depth after the culvert; four types of wing walls influence geometrical deformation of the meander flume outlet, resulting in erosion at the concave bank and deposition at the convex bank; two short headwalls are the most appropriate solution for accounting for small changes in morphology. A numerical model can be used to estimate sediment scour at the meander exit channel of hydraulic structures based on the roughness parameter of soil material and headwall type.

• Journal of Korean Society of Disaster and Security
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• v.12 no.4
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• pp.1-13
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• 2019

Recently, as the occurrence frequency of sudden floods due to climate change increased, it is necessary to install the facilities that can cope with the initial stormwater. Most researches have been conducted on the design of facilities applying the Low Impact Development (LID) and the reduction effect on rainfall runoff to examine with 1D or 2D numerical models. However, the studies on the examination about flow characteristics and stability of pipe network systems were relatively insufficient in the literature. In this study, the stability of the pipe network system in rainwater storage tank was examined by using 3D numerical model, FLOW-3D. The changes of velocity and dynamic pressure were examined according to the number of rainwater storage tank and compared with the design criteria to derive the optimal design plan for a rainwater storage tank. As a results of numerical simulation with the design values in the previous study, it was confirmed that the velocity became increased as the number of rainwater storage tank increased. And magnitude of the velocity in pipes was formed within the design criteria. However, the velocity in the additional rainwater storage pipe was about 3.44 m/s exceeding the allowable range of the design criteria, when three or more additional rainwater storage tanks were installed. In the case of turbulence intensity and bottom shear stress, the bottom shear stress was larger than the critical shear stress as the additional rainwater storage was increased. So, the deposition of sediment was unlikely to occur, but it should be considered that the floc was formed by the reduction of the turbulence intensity. In addition, the dynamic pressure was also satisfied with the design criteria when the results were compared with the allowable internal pressure of the pipes generally used in the design of rainwater storage tank. Based on these results, it was suitable to install up to two additional rainwater storage tanks because the drainage becomes well when increasing of the number of storage tank and the velocity in the pipe becomes faster to be vulnerable to damage the pipe. However, this study has a assumption about the specifications of the rainwater storage tanks and the inflow of stormwater and has a limitation such that deriving the suitable rainwater storage tank design by simply adding the storage tank. Therefore, the various storage tank types and stormwater inflow scenarios will be asked to derive more efficient design plans in the future.

• Composites Research
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• v.37 no.3
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• pp.143-149
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• 2024

This paper measures the mechanical properties of corrugated cardboard, an eco-friendly packaging material, and applies these measurements to the MAT_PAPER model in LS-DYNA for finite element analysis. Although MAT_PAPER is primarily designed for modeling the behavior of paper, this research demonstrates its applicability to corrugated cardboard as well. Tensile, compression, and shear behaviors of a corrugated cardboard were measured and analyzed, and based on these results, six yield surfaces were derived and integrated into the MAT_PAPER model. By comparing the finite element analysis of the material tests and the low velocity collapse analysis of the corrugated cardboard square boxes with each experimental results, it was shown that the behavior of corrugated cardboard could be equivalently considered well by the MAT_PAPER model. However, since the model is not rate-dependent, the high strain rate properties of liner materials were measured and used for strain rate correction. Consequently, this matches well with the results of the high-speed compression tests of the corrugated cardboard square boxes.

• Journal of Wetlands Research
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• v.19 no.4
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• pp.484-490
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• 2017

In order to examine flow characteristics according to the shape of the meandering low flow channel in the compound cross section typed straight channel, we assumed the representative channel type in Korea and confirmed the validity of the 3D numerical simulation by carrying out the hydraulic model. Based on this study, numerical simulations were also conducted on other types of river channel. As a result of the numerical model test (using the velocity value measured by the water depth observation from the hydraulic model test), it was confirmed that the numerical simulation results are in good agreement with the numerical simulation results. As a result of analyzing the flow field according to the changes in the shape of the low flow channel, it was confirmed that the secondary flow examined in the previous studies occurred. Also, it was confirmed that the maximum flow velocity point moves according to the expansion cross sectional area of flow in high flow plain. Ultimately, it is thought that it is necessary to understand the position of the water impingement (which is an important factor in river design) and the extent of the impact because the change of the channel width affects the flow.

• Transactions of Materials Processing
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• v.26 no.3
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• pp.137-143
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• 2017

In this study, a wear test method was proposed to predict the wear life of the CrN layer coated on the surface of the press tools for manufacturing the auto-parts with ultra high strength steel (UHSS) with a tensile strength of 1.5 GPa. The pin-on-disc type wear test was carried out to confirm the feasibility and the reproducibility of the wear amount according to the test conditions such as the normal force, the sliding velocity, and the sliding speed. The test conditions were obtained from the finite element stamping analysis and the wear simulation. With the wear amount from the wear test, a prediction model of the wear depth in the CrN coating layer was proposed according to the test conditions with the design of experiments such as Taguchi method and the response surface method. The derived prediction model was then compared to the result of the Archard wear model, fully describing that the proposed model can effectively predict the wear life of the press tools for the auto-parts with UHSS.

• The Bulletin of The Korean Astronomical Society
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• v.42 no.2
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• pp.43.1-43.1
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• 2017

A three-dimensional (3D) $Ly{\alpha}$ radiative transfer code is developed to study the Wouthuysen-Field effect, which couples the 21 cm spin temperature of neutral hydrogen and the $Ly{\alpha}$ radiation field, and the escape fraction of $Ly{\alpha}$ from galaxies. The Monte Carlo code is capable of treating arbitrary 3D distributions of $Ly{\alpha}$ source, neutral hydrogen and dust densities, gas temperature, and velocity field. It is demonstrated that the resonance-line profile at the center approaches to the Boltzmann distribution with the gas temperature. A plane-parallel ISM model, which is appropriate for the neutral ISM of our Galaxy, is used to calculate the $Ly{\alpha}$ radiation field strength as a function of height above the galactic plane. We also use a two-phase, clumpy medium model which is composed of the cold and warm neutral media (WNM). It is found that the $Ly{\alpha}$ radiation field is strong enough to thermalize the 21 cm spin temperature in the WNM to the gas kinetic temperature. The escape fraction of $Ly{\alpha}$ is found to be a few percent, which is consistent with the $Ly{\alpha}$ observations of our Galaxy and external galaxies.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.59 no.4
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• pp.411-416
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• 2010

Interest in application of ultraviolet light technology for primary disinfection of potable water in drinking water treatment plants has increased significantly in recent years. The efficacy of disinfection processes in water purification systems is governed by several key factors, including reactor hydraulics, disinfectant chemistry, and microbial inactivation kinetics. The objective of this work was to develop a computational fluid dynamics(CFD) model to predict velocity fields, mass transport, chlorine decay, and microbial inactivation in a continuous flow reactor. In this paper, It describe the how to design optimal UV disinfection device for ground water, BWT and rainwater. Spring shape instrument silver coated located in inner side of disinfection chamber. It make lead the active flowing movement target water and maximize disinfection performance. To search the optimal design method, it was performed computer simulation with 3D-CFD discrete ordinates model and manufactured prototype. Using proposed design method, performed simulation and proved satisfied performance.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.30 no.4
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• pp.543-549
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• 1997

The problems in the existing modeling rules for fishing nets, especially in the Tauti's rule which had been used most commonly, were investigated and it was found that the rules could not give a good similarity between the prototype and model nets because they din neither analyze the flow resistance of nets accurately nor decide the ratio of flow velocity between the two nets properly. Thus, the modeling rule was newly derived by regarding the nets as holey structures sucking water into their mouth and then filtering water through their meshes as in the previous paper. The similarity conditions obtained, between the two nets distinguished by subscript 1 and 2, are as follows; $$\frac{d_2}{d_1}=\sqrt{\frac{l_2}{l_1}},\;\frac{N_2}{N_1}=(\frac{d_1}{d_2})^{1.5}\frac{L_2}{L_1},\;\varphi_1=\varphi_2,\;\frac{d_{r2}}{d_{r1}}=\sqrt{\frac{L_2{(\rho_{r1}-\rho_{w1})}}{{L_1{(\rho_{r2}-\rho_{w2})}}$$ $$\frac{N_{a2}}{N_{a1}}=\frac{W_{a1}}{W_{a2}}(\frac{L_2}{L_1})^2,\;\nu_1=\nu_2\;and\;\frac{R_2}{R_1}=(\frac{L_2}{L_1})^2$$, where L is the length of nettings, d the diameter of netting twines, 2l the mesh size, $2\varphi$ the angle between two adjacent bars, N the number of meshes at the sides of nettings, $d_r$, the diameter of ropes, $\rho_r$, the specific gravity of ropes, $W_a$ the weight in water of one piece of float or sinker, $N_a$ the number of floats or sinkers, $\nu$ the flow velocity, and R the flow resistance of net. In the case where the model experiments aim at investigating the influence of weight in water of nettings on their shapes in nets subjected to the water flow of very low velocity, however, the following condition is added; $$\frac{\rho_2-\rho_{w2}}{\rho_1-\rho_{w1}}=\frac{d_1}{d_2}$$ where $\rho$ is the specific gravity of netting twines.

• Journal of Korean Society of Disaster and Security
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• v.14 no.2
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• pp.61-75
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• 2021

Recently, as the occurrence frequency of sudden floods due to climate change increased and the aging of the existing spillway, it is necessary to establish a plan to utilize an auxiliary spillway to minimize the flood damage of downstream rivers. Most studies have been conducted on the review of flow characteristics according to the operation of auxiliary spillway through the hydraulic experiments and numerical modeling. However, the studies on examination of flood damage in the downstream rivers and the stability of the revetment according to the operation of the auxiliary spillway were relatively insufficient in the literature. In this study, the stability of the revetment on the downstream river according to the outflow conditions of the existing and auxiliary spillway was examined by using 3D numerical model, FLOW-3D. The velocity, water surface elevation and shear stress results of FLOW-3D were compared with the permissible velocity and shear stress of design criteria. It was assumed the sluice gate was fully opened. As a result of numerical simulations of various auxiliary spillway operations during flood season, the single operation of the auxiliary spillway showed the reduction effect of maximum velocity and the water surface elevation compared with the single operation of the existing spillway. The stability of the revetment on downstream was satisfied under the condition of outflow less than 45% of the design flood discharge. However, the potential overtopping damage was confirmed in the case of exceeding the 45% of the design flood discharge. Therefore, the simultaneous operation with the existing spillway was important to ensure the stability on design flood discharge condition. As a result of examining the allocation ratio and the total allowable outflow, the reduction effect of maximum velocity was confirmed on the condition, where the amount of outflow on auxiliary spillway was more than that on existing spillway. It is because the flow of downstream rivers was concentrated in the center due to the outflow of existing spillway. The permissible velocity and shear stress were satisfied under the condition of less than 77% of the design flood discharge with simultaneous operation. It was found that the flood damage of downstream rivers can be minimized by setting the amount allocated to the auxiliary spillway to be larger than the amount allocated to the existing spillway for the total outflow with simultaneous operation condition. However, this study only reviewed the flow characteristics around the revetment according to the outflow of spillway under the full opening of the sluice gate condition. Therefore, the various sluice opening conditions and outflow scenarios will be asked to derive more efficient utilization of the auxiliary spillway in th future.