• Journal of Institute of Control, Robotics and Systems
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• v.8 no.6
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• pp.477-483
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• 2002

This paper deals with a workspace analysis of multi-legged walking robots in velocity domain(velocity workspace analysis). Noting that when robots are holding the same object in multiple cooperating robotic arm system the kinematic structure of the system is basically the same with that of a multi-legged walking robot standing on the ground, we invented a way ot applying the technique for multiple arm system to multi-legged walking robot. An important definition of reaction velocity is made and the bounds of velocities achievable by the moving body with multi-legs is derived from the given bounds on the capabilities of actuators of each legs through Jacobian matrix for given robot configuration. After some assumption of hard-foot-condition is adopted as a contact model between feet of robot and the ground, visualization process for the velocity workspace is proposed. Also, a series of application examples will be presented including continuous walking gaits as well as several different stationary posture of legged walking robots, which validate the usefulness of the proposed technique.

• 한국전산유체공학회:학술대회논문집
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• 2008.03b
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• pp.707-710
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• 2008

The method suggested in this thesis is the safe and economic method when testing rocket engine because ground test facility copies high altitude. We have decided to use the schematic of testing facility based on already known design method and test result, and we have decided the test condition for ground firing test of solid fuel. In addition the pressure of nozzle exit area is 0.1bar, we have designed the testing facility structure to test in this condition. Moreover, we have designed to reduce the accident probability.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.7 no.1
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• pp.77-89
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• 1999

The atmosphere condition at Kimpo International Airport occasionally prevents the aircraft from landing and forces them to fly to an alternate airport, especially in October and November during a year. Many airlines designated foreign airports instead of Korean airports as alternate airports in the case of the bad weather condition preventing use of Kimpo Airport. This paper addresses 1) economic comparison of candidates for the alternate airport, 2) what are the criteria for the alternate airport selection and the relative importance among the criteria and 3) evaluation of candidates for alternate airport using Brown and Gibson's pair-wise comparison method. It is found to be possible to reduce costs related alternate flight by 36% using Korean airports rather than using Japan's Hukuoka Airport. However, airlines weigh more on the factors such as service level of ground handling, accommodation for passengers and ground access convenience than costs. Among Korean airports, Kimhae International Airport is found the most favorable airport as the alternate airport for Kimpo International Airport.

• Proceedings of the Korean Geotechical Society Conference
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• 2009.09a
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• pp.835-844
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• 2009

In this study, a database composed by 46 cases of tunnel collapses has been built up. Based on the database, comprehensive data analysis is carried out, providing us a number of the technical lessons, which can be considered in future design and construction to minimize possibility of tunnel collapse disaster. For making a better understanding, the technical lessons are given in two divisions: mountain tunnel and urban tunnel. Tunnel collapses taking place in the former tunnel are generally due to bad discontinuity condition of jointed rock mass. Otherwise, urban tunnel has weak condition generally on ground water and weathering of ground. Most of technical comments given in this paper are made based on the cases of tunnel collapses only used in this study, so that the comments seems to be hard to be available to all the tunnelling cases. However, the comment should be valuable technical lessons for tunnel engineers to consider in tunnel design or construction.

• Journal of the Korean Society of Safety
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• v.16 no.3
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• pp.99-105
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• 2001

This paper presents results km a series of model tests oil vertically loaded single piles to compare the behaviors of H and pipe piles under the same ground condition. The aims of this paper were to compare the bearing capacity of H-pile md pipe piles under in the same ground condition and to estimate the effect of gravity acceleration and relative soil density. Relative density of soil were made to be 40%, 80% and embedded length of pile on sand was increased by 10, 12, 14, 16 times of the diameter of pile, respectively. As a results of test series, allowable load of H-pile is from 6.4% to 18.2% larger than allowable load of pipe pile in relative density 80% and from 9.1% to 39.4% larger than allowable load of pipe pile in relative density 40%. As a results of numerical analysis, we were predicted behaviour of stress-displacement of pile with model test. In the case of relative density 80% and 40%, bearing capacity of H pile represent from 17.74% to 18.6% larger than allowable load of pipe pile.

• Journal of the Korea Institute of Military Science and Technology
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• v.10 no.2
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• pp.12-20
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• 2007

The aiming ability is a key to improve the accuracy performance of the gun pointing system in the ground military vehicle. This paper describes the new detection method of chatter vibration using disturbance acceleration in the pointing structure. In order to analysis the vibration trends of the pointing system occurred while the vehicle driving, acceleration data obtained from vehicle was processed by using data processing algorithm with moving average and Hilbert transform. The specific mode constants of acceleration were obtained from various disturbances. Vehicle velocity, road condition and property of pointing structure were considered as factors which make the change of vibration trend in vehicle dynamics. Finally, back propagation neural networks have been applied to the pattern recognition of the classification of vibration signal in various driving conditions. Results of signal processing were compared with other condition result and analysed.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.18 no.6
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• pp.590-597
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• 2009

The final quality of the workpiece is affected by the grinding process that has been conducted in final manufacturing stage. However the quality-satisfaction of ground workpiece depends on the skill of an expert in this process. Therefore, the process models of grinding have been developed to predict the states according to grinding process. In this paper, in order to find the optimized grinding condition to reduce the manufacturing expense and to meet requirements of ground workpiece optimization algorithm using E.S.(Evolutionary Strategy) is proposed. The proposed algorithm has been employed to find the optimal grinding and dressing condition using the grinding process models and nonlinear grinding constraints. The optimized results also presents the guide line of grinding process. The effectiveness of the proposed algorithm is verified through the experimental results.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.1
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• pp.85-89
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• 2012

Conventional grinding of BK7 glass will normally result in brittle fracture at the surface, generating severe sub-surface damage and poor surface finish. The precision grinding of BK7 glass in parallel grinding modes has been investigated. Grinding process, maximum chip thickness, ductile/brittle regime, surface roughness and sub-surface damage have been addressed. Special attention has been given to the condition for generating a ductile mode response on the ground surface. Experiments reveal that the level of surface roughness and depth of sub-surface damage vary differently for different condition. This study gives an indication of the strategy to follow to achieve high quality ground surfaces on brittle materials.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 1999.04a
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• pp.178-185
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• 1999

Minimum life-cycle cost helps to evaluate cost effectiveness of base-isolated bridges under specific condition. Life-cycle cost mainly consists of the initial construction cost and the expected damage cost. Damage cost estimation needs proper model of input ground motion failure probability evaluation method and limit states definition. We model the input ground motion as spectral density function compatible with the response spectra defined at each seismicity and site condition. Spectrum analysis and crossing theory is suitable for reseating calculation of failure probabilities in the process of cost minimization. Limit states of base-isolated bridges re defined for superstructure isolator and pier respectively The method is applied to both base-isolated bridges and conventional bridges under the same conditions to investigate cost effectiveness of base isolation in low and moderate seismic region. the results show that base-isolation of bridges are more effective in low and moderate seismic region and that the site effects on the economical efficiency may not be negligible in such a region.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.4
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• pp.219-227
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• 2014

Natural disasters such as a ground collapse and a landslide have broken out due to the climate change of the Korea and the reckless expansion of cities and roads. The climate changes and the reckless urbanization have made the ground weak. Thus, it is important to keep a close eye on the highly weakened landslide and to prevent its natural disasters. In order to prevent these disasters, this paper presents a system of recognizing the road slide condition by measuring the displacements using laser scanner instrument. The previous system of monitoring the road slide has some problems as inaccurate recognition due to using only images from a camera, or expensive system such as artificial satellites and aircraft systems. To solve this problem, our proposed system uses the 3D range data from the laser scanner for measuring the accurate displacement of the road slide and optical flows from the Lucas-Kanade algorithm for recognizing the road slide in the image.