• 한국정밀공학회지
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• 제15권1호
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• pp.78-86
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• 1998

This paper presents a numerical method of the minimum-time trajectory planning for a robot manipulator amid obstacles. Each joint displacement is represented by the linear combination of the finite-term quintic B-splines which are the known functions of the path parameter. The time is represented by the linear function of the same path parameter. Since the geometric path is not fixed and the time is linear to the path parameter, the coefficients of the splines and the time-scale factor span a finite-dimensional vector space, a point in which uniquely represents the manipulator motion. The displacement, the velocity and the acceleration conditions at the starting and the goal positions are transformed into the linear equality constraints on the coefficients of the splines, which reduce the dimension of the vector space. The optimization is performed in the reduced vector space using nonlinear programming. The total moving time is the main performance index which should be minimized. The constraints on the actuator forces and that of the obstacle-avoidance, together with sufficiently large weighting coefficients, are included in the augmented performance index. In the numerical implementation, the minimum-time motion is obtained for a planar 3-1ink manipulator amid several rectangular obstacles without simplifying any dynamic or geometric models.

• 한국해양공학회지
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• 제24권2호
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• pp.25-33
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• 2010

Collision between vessels may lead to structural damage and penetration of hulls. The structural damage of a hull may eventually bring about global collapse of the hull girder and outflow of oil, which would contaminate seawater. Therefore, various regulations require the strength of a vessel after collision to satisfy given criteria, and owners usually request collision analyses to confirm the structural safety of their vessels. In the process of designing a vessel to satisfy the collision strength criteria, the strength has been assessed mostly by conducting collision analyses using numerical techniques, such as dynamic, non-linear, finite-element analysis. Design is an inherently iterative process during which many changes are necessary due to the endless needs for reinforcement and modification. Numerical techniques are not adequate for coping with a situation in which collision analysis is frequently required to provide the revised results that reflect the repetitive changes in designs. Numerical techniques require a lot of time and money to conduct in spite of recent improvements in computing power and in the productivity of modeling tools. Therefore, in this paper, an analytical technique is introduced and a collision problem is idealized and simplified using reasonable assumptions based on appropriate background. The technique was applied to an example of an actual FPSO and verified by comparing the results with results from the numerical technique. A good correlation was apparent between the results of the analytical and numerical techniques.

• Journal of Power Electronics
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• 제16권2호
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• pp.805-814
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• 2016

Electric-field coupled power transfer (ECPT) systems have been proposed as an alternative wireless power transfer (WPT) technology in recent years. With the use of capacitive plates as a coupling structure, ECPT systems have many advantages such as design flexibility, reduced volume of the coupling structure and metal penetration ability. In addition, wireless communications are effective solutions to improve the safety and controllability of ECPT systems. This paper proposes a power and signal shared channel for electric-field coupled power transfer systems. The shared channel includes two similar electrical circuits with a band pass filter and a signal detection resistor in each. This is designed based on the traditional current-fed push-pull topology. An analysis of the mutual interference between the power and signal transmission, the channel power and signal attenuations, and the dynamic characteristic of the signal channel are conducted to determine the values for the electrical components of the proposed shared channel. Experimental results show that the designed channel can transfer over 100W of output power and data with a data rate from 300bps to 120 kbps.

• Journal of Power Electronics
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• 제11권4호
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• pp.471-478
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• 2011

This paper addresses the establishment of a kVA-range plug-in hybrid electrical vehicle (PHEV) integration test platform and associated issues. Advancements in battery and power electronic technology, hybrid vehicles are becoming increasingly dependent on the electrical energy provided by the batteries. Minimal or no support by the internal combustion engine may result in the vehicle being occasionally unable to recharge the batteries during highly dynamic driving that occurs in urban areas. The inability to sustain its own energy source creates a situation where the vehicle must connect to the electrical grid in order to recharge its batteries. The effects of a large penetration of electric vehicles connected into the grid are still relatively unknown. This paper presents a novel methodology that will be utilized to study the effects of PHEV charging at the sub-transmission level. The proposed test platform utilizes the power hardware-in-the-loop (PHIL) concept in conjunction with high-fidelity PHEV energy system simulation models. The battery, in particular, is simulated utilizing a real-time digital simulator ($RTDS^{TM}$) which generates appropriate control commands to a power electronics-based voltage amplifier that interfaces via a LC-LC-type filter to a power grid. In addition, the PHEV impact is evaluated via another power electronic converter controlled through $dSPACE^{TM}$, a rapid control systems prototyping software.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2014년도 추계학술대회 논문집
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• pp.495-496
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• 2014

The suction method is the substructure installation using the water pressure difference generated by discharging water inside the pile by the pumping operation, after the intrusion by the self-weights of a large hollow steel pipe or a concrete structure. It is known as the low-noise and low-vibration method against the general pile driven method and eco-friendly, also. Most current design and safety assessment of the support structure and considering only the static load, however, the importance of dynamic behavior becomes magnified as the size of wind power generator increases. This study measures the natural frequency of the suction pile prototype about the penetration depth as a part of basic research and analyzed the interaction between the soil and the structure.

• 한국압력기기공학회 논문집
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• 제7권3호
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• pp.40-47
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• 2011

KSNPs(Korea Standard Nuclear Power Plant) have been applied the break exclusion criteria to the high energy lines passing through containment penetration area to ensure that piping failures would not cause the loss of containment isolation function, and to reduce the resulting dynamic effects. Systems with the criteria are the Main Steam system, Feed Water system, Steam Generator Blowdown system, and Chemical & Volume Control system. In accordance with FSAR(Final Safety Analysis Report), a 100% volumetric examination by augmented in-service inspection of all pipe welds appled the break exclusion criteria is required for the break exclusion application piping. However, it is difficult to fully satisfy the requirements of inspection because 12", 8" and 6" weldolet weldments of Main Steam pipe line have complex structural shapes. To resolve the difficulty on the application of conventional UT(Ultrasonic Testing) technique, realistic mock-ups and UT calibration blocks were made. Simulations of conventional UT were performed utilizing CIVA, a commercial NDE(Nondestructive Examination) simulation software. Phased array UT experiments were performed through mock-up including artificial notch type flaws. A phased array UT technique is finally developed to improve the reliability of ultrasonic test at main steam line pipe to 12", 8" and 6" branch connection weld.

• The Journal of the Acoustical Society of Korea
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• 제29권1E호
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• pp.38-44
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• 2010

This paper is based on our comments and proposed amendments to the documents, Annex A, Phantom for determining Maximum Depth of Penetration, and Annex B, Local Dynamic Range Using Acoustical Test Objects 87/400/CDV. IEC 61391-2 Ed. 1.0 200X, prepared by IEC technical Committee 87; Ultrasonics. The documents are concerned with the influence of microstructure of reference target material on the ultrasonic backscattering. Previous works on the attenuation due to backreflection and backscattering of reference target materials are reviewed. The drawback to the use of ungraded stainless steel and metallic materials without microstructural data such as, crystal structure, basic acoustic data of sound velocity and attenuation, grain size, roughness and elastic constants has been discussed. The analysis suggested that the insightful conclusion can be made by differentiating the influence arising from target size and microstructure on the backscattering measurements. The microstructural parameters are associated with physical, geometrical, acoustical and mechanical origins of variation with frequency. Further clarification of such a diverse source mechanisms for ultrasonic backscattering would make the target material and its application for medical diagnosis and therapy simpler and more reliable.

• Steel and Composite Structures
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• 제6권4호
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• pp.303-317
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• 2006

The connection with combined cross diaphragm is developed for the connection of square CFT column and steel beam and proposed to be used for the frame with asymmetric span length. The structural characteristics of this connection lie in the penetration of the beam flange in the direction of major axis through the column for the smooth flow of stress. The purpose of this study is to analyze the dynamic behavior and stress flow of suggested connection and to evaluate the resistance to shock of connection. Four T-type CFT column-to-beam specimens; two with combined cross diaphragm and the others with interior and through diaphragms, the existing connection types, were made for cyclic load test guided by the load program of ANSI/AISC SSPEC 2002. The results show that the proposed connection is more efficient than existing ones in terms of strength, stress flow and energy absorption and satisfies the seismic performance required in the region of weak/moderate earthquakes.

• 한국지반환경공학회 논문집
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• 제11권11호
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• pp.77-85
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• 2010

석탄회를 주재료로 하는 저강도 고유동화재의 특성을 분석하기 위해 일축압축강도시험을 수행하였으며, 경화 시간을 분석하였다. 동일한 배합비 상태에서 함수비가 낮을수록 일축압축강도 증가율이 큰 것으로 나타났으며, 초기 3일 동안에는 이와 같은 현상이 뚜렷하게 나타나고 있음을 확인하였다. 또한, 가장 경제적인 시멘트 첨가비로 소형 모형지반을 조성하여 동적콘관입시험을 통해 배합비에 따른 저강도 고유동화재의 특성을 분석한 결과, 목표 일축압축강도인 500kPa(콘관입률 20mm/blow) 도달시간은 약 10일 정도 소요되는 것으로 나타났으며, 10일이 경과한 후에는 배합비와 상관없이 경화속도가 급격하게 감소하는 것으로 나타났다.

• 지질공학
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• 제25권4호
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• pp.547-555
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• 2015

연구에서는 부산물석회 혼합토를 이용하여 조성된 시험성토체에 대한 지반공학적 특성에 대하여 고찰하였다. 연구에 사용한 부산물석회는 인천의 화학공장에서 소다회(Na₂CO₃)를 생산하는 공정에서 부수적으로 발생하는 부산물이다. 현장조성 후 3년이 경과된 후에 시험성토체를 대상으로 현장밀도, 평판재하시험, 동적콘관입시험, 현장 CBR시험을 수행하였다. 시험결과로부터 성토재료로써의 부산물석회 혼합토의 지반공학적 특성이 제시되었다.