• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1424-1429
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• 2004

In this paper a mathematical framework for deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.

• Magazine of the Korean Society of Agricultural Engineers
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• v.31 no.1
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• pp.82-95
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• 1989

This study was carried out for the stability analysis of earth dam by the variation of compaction density. The test samples were taken from five kinds of soil used for banking material and the degree of compaction for this samples were chosen 100, 95, 90, 85, and 80 percent. The stability problems were analysed by the settlement and camber( extra banking) of dam, strength parameter and dam slope, and coefficient of permeability and seapage flow through dam body. The results of the stability analysis of earth dam are as follows. 1. The more the fine particle increases and lower the compaction degree becomes, the lower the preconsolidation load becomes but the compression index becomes higher. 2. Sixty to eighty percent of settlement of dam occurs during the construction period and the settlement ratio after completion of dam is inversly proportional to the degree of compaction. 3. The camber of dam has heigher value in condition that it has more fine particle(N) and heigher dam height(H) with the relation of H= e(aN-bH-e). 4. The cohesion(C) decreases in proportion to compaction degree(D) and fine particle(N) with the relation of C= aD+ bN-c, but the internal friction angle is almost constant regardless of change of degree of compaction. 5. In fine soil, strength parameter from triaxial compression test is smaller than that from direct shear test but, they are almost same in coarse soil regardless of the test method. 6. The safety factor of the dam slope generally decreases in proportion to cohesion and degree of compaction but, in case of coarse soil, it is less related to the degree of compaction and is mainly afected by internal friction angle. 7. Soil permeability(K) decreases by the increases of the degree of compaction and fine particle with relation of K=e(a-bl)-cN) 8. The more compaction thickness is, the less vertical permeability (Kv) is but the more h6rzontal permeability (KH) is, and ratio of Kv versus KH is largest in range from 85 to 90 percent of degree of corn paction. 9. With the compaction more than 85 percent and coefficient of permeability less than ${\alpha}$X 10-$^3$cm/sec, the earth dam is generally safe from the piping action.

• Journal of the Korean Society of Safety
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• v.28 no.3
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• pp.44-50
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• 2013

Process gas piping is one of the most basic components frequently used in the refinery and petrochemical plants. Many kinds of by-product gas have been used as fuel in the process plants. In some plants, natural gas is additionally introduced and mixed with the byproduct gas for upgrading the fuel. In this case, safety or design margin of the changed piping system of the plant should be re-evaluated based on a proper design code such as ASME or API codes since internal pressure, temperature and gas compositions are different from the original plant design conditions. In this study, series of piping stress analysis were conducted for a process piping used for transporting the mixed gas of the by-product gas and the natural gas from a mixing drum to a knock-out drum in a refinery plant. The analysed piping section had been actually installed in a domestic industry and needed safety audit since the design condition was changed. Pipe locations of the maximum system stress and displacement were determined, which can be candidate inspection and safety monitoring points during the upcoming operation period. For studying the effects of outside air temperature to safety the additional stress analysis were conducted for various temperatures in $0{\sim}30^{\circ}C$. Effects of the friction coefficient between the pipe and support were also investigated showing a proper choice if the friction coefficient is important. The maximum system stresses were occurred mainly at elbow, tee and support locations, which shows the thermal load contributes considerably to the system stress rather than the internal pressure or the gravity loads.

• Transactions of the Korean Society of Mechanical Engineers
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• v.11 no.1
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• pp.105-109
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• 1987

Artificial roughness as a means of improving heat transfer gains more interest, especially for application to various heat exchanger. This study present experimental information for single-phase free and force convection heat transfer in a circular tube containing a internal spiral ribs. To examine the effect of inclined angle of tube, it was varied from 0 deg to 90 deg (0.deg., 22.5.deg., 45.deg., 90.deg.) with horizontal. Length of tube is 1.6m, and width, height and helix angle of rib are 4.2mm, 1.5mm, and 60 deg respectively. Water was used as a working fluid and test piece was heated with a constant heat flux by electric heater. Experiments have been performed with the range of modified Grashof number from 2 * 10$^{6}$ to 15 * 10$^{6}$ for free convection and with the range of Reynolds number from 3,000 to 40,000 for forced convection. Since the increase in heat transfer coefficients influence directly to the friction coefficient of the tube, the changes of the friction factors are also presented for several different cases considered in this investigation.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.11 no.1
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• pp.10-17
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• 1999

The present work presents condensation heat transfer and pressure drop data for the flow of R-12 in flat extruded aluminum tubes with small hydraulic diameters. The tube outside dimensions are $18mm(width){\times}1.7mm(height)$. Three types of internal geometry with the same outside dimensions are tested : sample 1 (7 tube holes), sample 2 (13 tube holes) and sample 3 (7 tube holes, micro-fin). The overall heat transfer coefficient is obtained for air-to-refrigerant heat transfer, and the Wilson plot method is used to determine the heat transfer coefficient for refrigerant flow. The sample 2 and sample 3 show significantly higher performance than sample 1. The heat transfer rates for the sample 2 and sample 3 are 9% and 12% higher, respectively, than sample 1. The friction factors for the sample 2 and sample 3 are 11.9% and 2.4% higher, respectively, than sample 1.

• 한국전산유체공학회:학술대회논문집
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• 1995.10a
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• pp.203-212
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• 1995

In this paper the upwind flux difference splitting Navier-Stokes method has been applied to study the perfect gas and the equilibrium chemically reacting hypersonic flow over an axisymmetric sphere-cone($5^{\circ}$) geometry. The effective gamma($\bar{r}$), enthalpy to internal energy ratio was used to couple chemistry with the fluid mechanics for equilibrium chemically reacting air. The test case condition was at altitude(30Km) and Mach number(15). The equilibrium shock thickness over the blunt body region was much thinner than that of perfect gas shock. The pressure difference between perfect gas and equilibrium gas was about $3\sim5$ percent. The skin friction coefficient and heat transfer coefficient were also calculated.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2012.11a
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• pp.167-168
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• 2012

Analysis on structural effects which are reduction of friction coefficient and increase of tendon area by HDPE greased and large size strand in post-tensioning system of reactor containment building was carried out. Effective ratio of tendon force increases 67% to 83% by HDPE greased strand and vertical, horizontal internal section forces increased maximum 51%, 41% respectively. Tendon quantity could be reduced 30% by large size and HDPE greased strand that can maintain safety of ultimate internal pressure same as at present.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.6
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• pp.650-655
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• 2016

In this study, a computational simulation of the internal flow characteristics was carried out for a Urea-SCR Injector. A single hole swirl injector with a swirl disk and slanted nozzle was used in this simulation. The maximum needle lift and opening velocity were selected as the design parameters. To analyze the unsteady internal flow characteristics of the Urea-SCR injector, the moving grid technique was applied to simulate the delicate needle movement. According to the simulation results, the injected mass flow rate from the Urea-SCR injector decreased with increasing needle opening velocity and maximum needle lift. This is because the Urea-solution tends to fill the empty space that the needle previously occupied. The swirl flow is decreased as the flow goes through the injector nozzle, because of the friction with the nozzle wall. Also, during the maximum needle lift period, the swirl coefficient and mean swirl coefficient increase with increasing needle lift. The results of this study may be used as the basic design data of related injectors.

• Aerospace Engineering and Technology
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• v.12 no.1
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• pp.105-110
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• 2013

The gimbal expansion joint for the pipe line of a liquid rocket engine undergoes high pressure and cyclic rotational displacement loadings. In present study, the moment analyses and tests of the internal-type gimbal expansion joint for the engine were performed. The moment components due to spring stiffness, friction and lateral force were obtained using a analytic method and their sums at low and high pressures were compared with the test results. Also, applying a $MoS_2$ dry film lubricant to the pin of a external hinge expansion joint, it is tested that the galling of the pin was removed and the friction coefficient was decreased for low pressures.

• Geomechanics and Engineering
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• v.20 no.1
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• pp.19-28
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• 2020

The spatial variability of geotechnical properties can lead to the uncertainty of settlement for frozen soil foundation around the oil pipeline, and it can affect the stability of permafrost foundation. In this paper, the elastic modulus, cohesion, angle of internal friction and poisson ratio are taken as four independent random fields. A stochastic analysis model for the uncertain settlement characteristic of frozen soil foundation around an oil pipeline is presented. The accuracy of the stochastic analysis model is verified by measured data. Considering the different combinations for the coefficient of variation and scale of fluctuation, the influences of spatial variability of geotechnical properties on uncertain settlement are estimated. The results show that the stochastic effects between elastic modulus, cohesion, angle of internal friction and poisson ratio are obviously different. The deformation parameters have a greater influence on stochastic settlement than the strength parameters. The overall variability of settlement reduces with the increase of horizontal scale of fluctuation and vertical scale of fluctuation. These results can improve our understanding of the influences of spatial variability of geotechnical properties on uncertain settlement and provide a theoretical basis for the reliability analysis of pipeline engineering in permafrost regions.