• Journal of the Korean Society of Manufacturing Process Engineers
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• v.9 no.6
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• pp.87-94
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• 2010

In this paper, a new simulator of the biped robot for planning walking patterns was showed. And this simulator(MHBiped) is able to not only visualize the plan of patterns but also verify whether a biped robot design is suitable. In addition, MHBipd can modify various kinds of walking parameters and the trajectory of biped robot. Therefore, a new biped robot can be designed easily by the this simulator before you apply to a robot. As a result, a well-balanced parameters of walking patterns watching the movement of CG and ZMP can be obtained. Walking patterns should be changed according to both the existence of obstacles and conditions of ground and it can be described by the trajectory of hip and ankles. All those trajectorys can be also obtained by the cubic spline functions and the way of modeling walking patterns. The results of simulator, the movement function of CG and ZMP, the cubic spline functions and modeling of biped robot were introduced in this paper. And the effectiveness of this simulator was confirmed by the simulations.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.4
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• pp.441-448
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• 2012

This paper describes the optimal home positioning algorithm of Eclipse-II, a new conceptual parallel mechanism for motion simulator. Eclipse-II is capable of translation and 360 degrees continuous rotation in all directions. In unexpected situations such as emergency stop, riders have to be resituated as soon as possible through a shortest translational and rotational path because the return paths are not unique in view of inverse kinematic solution. Eclipse-II is man riding. Therefore, the home positioning is directly related to the safety of riders. To ensure a least elapsed time, ZYX Euler angle inverse kinematics is applied to find an optimal home orientation. In addition, the subsequent decrease of maximum acceleration and jerk values is achieved by combining the optimal return path function with cubic spline, which consequently reduces delivery force and vibration to riders.

• Journal of Mechanical Science and Technology
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• v.16 no.6
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• pp.799-809
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• 2002

In order to utilize a parallel mechanism as a machine tool component, it is important to estimate the errors of its end-effector due to the uncertainties in parts. This study proposes an error analysis for a new parallel device, a cubic parallel mechanism. For the parallel device, we consider two kinds of errors. One is a static error due to link stiffness and the other is a dynamic error due to clearances in the parts. In this study, we propose a stiffness model for the cubic parallel mechanism under the assumption that the link stiffness is a linear function of the link length. Also, from the fact that the errors of u-joints and spherical joints are changed with the direction of force acting on the link, they are regarded as a part of link errors, and then the error model is derived using forward kinematics. Lastly, both the error models are integrated into the total error, which is analyzed with a test example that the platform moves along a circular path. This analysis can be used in predicting the accuracy of other parallel devices.

• Journal of the Korean Society for Railway
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• v.13 no.5
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• pp.509-515
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• 2010

Primary function of a transition curve is to accomplish gradual transition from the straight to circular curve, so that curvature changes from zero to a finite value. The transition curve enhances the running safety and ride comfort of the vehicle in curve. There are a couple of transition curve such as clothoid, cubic parabola and cosinusoidal curve, etc. In this study, running behaviors of cubic parabola and cosinusoidal curve were investigated and compared by numerical analysis result using VAMPIRE program. Ride comforts for an individual transition curve were evaluated for each transition curve and running behavior and safety were also evaluated to compare the capacity of transition curves.

• Economic and Environmental Geology
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• v.25 no.1
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• pp.73-77
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• 1992

This paper compares numerical quadrature techniques for computing an inverse Fourier transform integral in two-dimensional resistivity modeling. The quadrature techniques using exponential and cubic spline interpolations are examined for the case of a homogeneous earth model. In both methods the integral over the interval from 0 to ${\lambda}_{min}$, where ${\lambda}_{min}$, is the minimum sampling spatial wavenumber, is calculated by approximating Fourier transformed potentials to a logarithmic function. This scheme greatly reduces the inverse Fourier transform error associated with the logarithmic discontinuity at ${\lambda}=0$. Numrical results show that, if the sampling intervals are adequate, the cubic spline interpolation method is more accurate than the exponential interpolation method.

• Journal of the Korean Ceramic Society
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• v.54 no.5
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• pp.422-428
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• 2017

Single-phase yellow phosphor, $CaGd_{2-x}ZrSc(AlO_4)_3:xCe^{3+}$ ($CGZSA:Ce^{3+}$), possessing cubic symmetry with varied $Ce^{3+}$ concentrations, was synthesized using the solid-state reaction method. The samples were characterized using X-ray diffraction (XRD), excitation spectra, emission spectra, thermal quenching, and decay curves. The cubic phase of $CGZSA:Ce^{3+}$ phosphor was confirmed via XRD analysis. The photoluminescence spectra of $CGZSA:Ce^{3+}$ phosphor demonstrated that the phosphor could be excited at the wavelength of 440 nm; a broad yellow emission band was centered at 541 nm. These results indicate that the phosphors are adequately excited by blue light and have the potential to function as yellow-emitting phosphors for applications in white light-emitting diodes.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.10C
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• pp.1402-1413
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• 2004

In non-rigid image registration, the Jacobian determinant of the estimated deformation should be positive everywhere since physical deformations are always invertible. We propose a constrained optimization technique at ensures the positiveness of Jacobian determinant for cubic B-spline based deformation. We derived sufficient conditions for positive Jacobian determinant by bounding the differences of consecutive coefficients. The parameter set that satisfies the conditions is convex; it is the intersection of simple half spaces. We solve the optimization problem using a gradient projection method with Dykstra's cyclic projection algorithm. Analytical results, simulations and experimental results with inhale/exhale CT images with comparison to other methods are presented.

• Advances in aircraft and spacecraft science
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• v.6 no.5
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• pp.391-407
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• 2019

Flight trajectory optimization has become an important factor not only to reduce the operational costs (e.g.,, fuel and time related costs) of the airliners but also to reduce the environmental impact (e.g.,, emissions, contrails and noise etc.) caused by the airliners. So far, these factors have been dealt with in the context of 2D and 3D trajectory optimization, which are no longer efficient. Presently, the 4D trajectory optimization is required in order to cope with the current air traffic management (ATM). This study deals with a cubic spline approximation method for solving 4D trajectory optimization problem (TOP). The state vector, its time derivative and control vector are parameterized using cubic spline interpolation (CSI). Consequently, the objective function and constraints are expressed as functions of the value of state and control at the temporal nodes, this representation transforms the TOP into nonlinear programming problem (NLP). The proposed method is successfully applied to the generation of a minimum length optimal trajectories along 4D waypoints, where the method generated smooth 4D optimal trajectories with very accurate results.

• Applied Microscopy
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• v.50
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• pp.7.1-7.10
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• 2020

Tantalum nitride (TaN_x) thin films were grown utilizing an inductively coupled plasma (ICP) assisted direct current (DC) sputtering, and 20-100% improved microhardness values were obtained. The detailed microstructural changes of the TaN_x films were characterized utilizing transmission electron microscopy (TEM), as a function of nitrogen gas fraction and ICP power. As nitrogen gas fraction increases from 0.05 to 0.15, the TaN_x phase evolves from body-centered-cubic (b.c.c.) TaN_0.1, to face-centered-cubic (f.c.c.) δ-TaN, to hexagonal-close-packing (h.c.p.) ε-TaN phase. By increasing ICP power from 100 W to 400 W, the f.c.c. δ- TaN phase becomes the main phase in all nitrogen fractions investigated. The higher ICP power enhances the mobility of Ta and N ions, which stabilizes the δ-TaN phase like a high-temperature regime and removes the micro-voids between the columnar grains in the TaN_x film. The dense δ-TaN structure with reduced columnar grains and micro-voids increases the strength of the TaN_x film.

• Journal of Biosystems Engineering
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• v.20 no.4
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• pp.333-342
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• 1995

The resistance to air flow through fruits and vegetables in bulk was an important consideration in the design of the pressure cooling system. The amount of resistance to air flow through produce in bulk normally depended upon air flow rate, stacking depth, porosity, stacking patterns and shape and site of product. But, there was not enough information relating the effects of those factors on air flow resistance. The objectives of this study were to investigate the effect of stacking depth, stacking patterns, porosity and airflow rate on airflow resistance and to develop a statistical model to predict static pressure drop across the produce bed as a function of air flow rate, stacking depth, bed porosity, and product size. Mandarins and tomatoes were used in the experiment. The airflow rate were in the range of 0.1~1.0 ㎥/s.$m^2$, the porosity were in the range of 0.25~0.45, the depth were in the range of 0.3~0.9m and the equivalent diameters were 5.3cm and 6.3cm for mandarins, and 6.5cm and 8.5cm for tomatoes. Three methods of stacking arrangement were used i.e. cubic, square staggered, and staggered stacking arrangement. The results were summarized as follows. 1. The pressure drops across produce bed increased in proportion to stacking depth and superficial air velocity and decreased in proportion to porosity. 2. The increasing rates of pressure drop according to stacking patterns with the increase of superficial air velocity were different one another. The staggered stacking arrangement produced the highest increasing rate and the cubic stacking arrangement produced the lowest increasing rate. But it could be assumed that the stacking patterns had not influenced greatly on pressure drops if it was of equal porosity. 3. The statistical models to predict the pressure drop across produce bed as a function of superficial air velocity, stacking depth, porosity, and product diameter were developed from these experiments.