• Journal of Advanced Navigation Technology
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• v.21 no.1
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• pp.132-137
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• 2017

This paper proposes a transformation method of the zero moment point (ZMP) and the center of mass (CoM) from one walking pattern to other patterns by considering the structure of a robot or walking situations in real time. In general, a humanoid robot has own structure characteristics like height and mass. The structure characteristics make the given CoM/ZMP walking pattern of one human or one humanoid robot to be difficult to apply to other robot directly. For this purpose, we analyze the characteristics of walking patterns according to the step length, duration of walking support phase and the CoM height by using the cart-table model as the simple humanoid robot model. A transformation equation is derived from the analyzation and it is verified with simulation.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2007.10a
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• pp.93-95
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• 2007

Studies on ski-end shape control at the top end of rolling plate in heavy thick plate mill by using FEM analysis and measuring system have been performed. Plate shape behaviour at the top-end on rolling by the two different methods in finishing rolling process has been observed. One is to minimize the height of ski-end by using pass line based on the relational model between shape factor and pick-up and the other one is to prevent turn down problem caused by the impact between table roller and down bended plate on rolling by using roll speed difference. To minimize the height of ski-end, the prediction models based on the FEM analysis and measuring data was developed. The control method of ski - end shape on finishing rolling process was applied in actual mill and the height of ski-end was reduced by about 50% compared with conventional operation.

• Journal of the Korean Society of Food Culture
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• v.1 no.2
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• pp.127-141
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• 1986

This paper attempts to study the court food based on the historic ceremony book, Jung Ri Eui Gwiea which describes the king's visit to the royal tomb, 'Hyun Neung Won', during the rein of Chung Jo, the 22th King of Yi Dynasty. According to this book, the foods used for the ceremony of the court and the courtesy of dinner party appears as follows. 1. At the birthday party of Bong-su Dang, the main table with 70 dishes and the side table of extraodinary flavor with 12 dishes were served to Mrs. Hong of Hea Kyung Kung, the mother of Chung Jo. As soon as they were served, the napkins, menu card, flowers and soups followed them, and a cup (Jack) of wine (with soup) was served to her seven times. This party was held by Sang Chim, Sang Kung, Sang Eui, Jun Chan, Chan Chang, Jun Eui, In Eui, Sa Chan and Jun Bin. 2. At the birthday party of Yun-hee Dang;the main table with 82 dishes and the side table of extraodinary flavor with 40 dishes were served to her. And the napkins and menu cards followed them and a cup(Jack) of wine was served to her four times. The courtesy of this party was held by Sang Chim, Sang Kung, Sang Eui, Jun Sun and Yeo Jeo Jip Sa. 3. At the party of Yak No Yun for the oldman, there were some soups (Doo Po Tang), cooked sliced meats (Penn Yeuk), steamed legumes (Heuk Tea Zeung), and some fruits on the main table. The napkins, menu cards and flowers followed them, and wine was served on the table for the king. The feast was held by Chan Eui, In Eui, and Tong Rea. 4. Foods used in these parties were classified into 9 groups such as Rice cakes, Rice and Noodles, Dessert Cakes, Sugars, Fruits, Side Dishes, Beverages, Sauces and Wine. 5. The units of height, amount, weight, and number measured for cooking were used variously. 6. The foods accumulated highly on the dishes were decorated with paper and silk flowers. 7. The containers for cooking and the utensils for the feast were used variously.

• Journal of the Korean Society of Food Culture
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• v.5 no.1
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• pp.1-41
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• 1990

To analyze dialy meal of royal meal, studied Bankwa Sang(Fruit Table) were on record Wonheng Ulmyo Jungri Euigwae (1795). Historic book 'Jungri Euigwae' described the king's visit to his father's royal tomb 'Hyun Neung Won', during the domain of Cheung Jo, the 22nd king of Choson Dynasty. The results obtained from this study areas follows. The fruit table, which similar in concept to desert in the west but quite different in service, was prepared for a guest. The table consisted of two kinds of trays, on which serveral kinds of fruit were stacked to a height of between 4 chon (4寸 : about 12 cm) and 1 chuk(1尺 : about 30.3 cm) according to Korean measurement system. The table was decorated with beautiful artificial flowers made of paper and silk. The number of sets to be arranged on the table were different according to the royal status of the eater: 12 sets-25 sets for king's mother, 7 sets-11 sets for the king. Soy sauce mixed with vinegar and pine-nu meal, mustard were ruled out from kind of sets. Kinds of dishes served with a meal generally were noodles (麵), soup (湯), fried fish (煎油花), fried meats and vegetables (花陽灸), slices of raw fish (魚膾), minced raw meat (肉膾), slices of boiled beef (片肉), stew (蒸), rice cake (餠), sweet rice dish (藥飯), patterned savory cake (茶食), fried cake made of wheat flour, honey and oil (藥果), fried glutinous rice cake (强精), various fruits preserved in honey (正果), sugar candies (各色糖), fruits (果物) honey (淸), soy sauce mixed with vinegar and pine-nut meal (醋醬), mustard (莽子).

• Journal of the Korean Society for Precision Engineering
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• v.15 no.8
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• pp.46-59
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• 1998

This paper presents shape design, surface construction, and cutting path generation for the surface of marine ship propeller blades. A propeller blade should be designed to satisfy performance constraints that include operational speed which impacts rotations per minutes, stresses related to deliverable horst power, and the major length of the marine ship which impacts the blade size and shape characteristics. Primary decision variables that affect efficiency in the design of a marine ship propeller blade are the blade diameter and the expanded area ratio. The blade design resulting from these performance constraints typically consists of sculptured surfaces requiring four or five axis contoured machining. In this approach a standard blade geometry description consisting of blade sections with offset nominal points recorded in an offset table is used. From this table the composite Bezier surface geometry of the blade is created. The control vertices of the Hazier surface patches are determined using a chord length fitting procedure from tile offset table data. Cutter contact points and path intervals are calculated to minimize travel distance and production time while maintaining a cusp height within tolerance limits. Long path intervals typically generate short tool paths at the expense of increased however cusp height. Likewise, a minimal tool path results in a shorter production time. Cutting errors including gouging and under-cut, which are common errors in machining sculptured surfaces, are also identified for both convex and concave surfaces. Propeller blade geometry is conducive to gouging. The result is a minimal error free cutting path for machining propeller blades for marine ships.

• Earthquakes and Structures
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• v.12 no.1
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• pp.67-77
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• 2017

In this paper, it is aimed to present a comparative study about the structural behavior of tall buildings consisting of different type of materials such as concrete, steel or timber using finite element analyses and experimental measurements on shaking table. For this purpose, two 1/60 scaled 28 and 30-stories wooden building models with $40{\times}40cm$ and $35{\times}35cm$ ground/floor area and 1.45 m-1.55 m total height are built in laboratory condition. Considering the frequency range, mode shapes, maximum displacements and relative story drifts for structural models as well as acceleration, displacement and weight limits for shaking table, to obtain the typical building response as soon as possible, balsa is selected as a material property, and additional masses are bonded to some floors. Finite element models of the building models are constituted in SAP2000 program. According to the main purposes of earthquake resistant design, three different earthquake records are used to simulate the weak, medium and strong ground motions. The displacement and acceleration time-histories are obtained for all earthquake records at the top of building models. To validate the numerical results, shaking table tests are performed. The selected earthquake records are applied to first mode (lateral) direction, and the responses are recorded by sensitive accelerometers. Comparisons between the numerical and experimental results show that shaking table tests are enough to identify the structural response of wooden buildings. Considering 20%, 10% and 5% damping rations, differences are obtained within the range 4.03-26.16%, 3.91-65.51% and 6.31-66.49% for acceleration, velocity and displacements in Model-1, respectively. Also, these differences are obtained as 0.49-31.15%, 6.03-6.66% and 16.97-66.41% for Model-2, respectively. It is thought that these differences are caused by anisotropic structural characteristic of the material due to changes in directions parallel and perpendicular to fibers, and should be minimized using the model updating procedure.

• Journal of the Korean Society of Industry Convergence
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• v.7 no.1
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• pp.63-68
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• 2004

There are a lot of manholes such as for water supply, sewage, telecommunication cable, traffic sign, electricity supply, and rainwater, etc. Conventional manholes installed on a road are impossible to adjust height, so that they should be entirely excavated to reinstall or repair. This entire excavation of a manhole causes too much time-consuming work, waste of resources, and obstruction of traffic. In this study, in order to solve the above mentioned problems, a cover, outer and inner parts of a manhole are integrated by gear-shaped parts located between outer and inner parts of a manhole. Mechanical design is performed to determine dimension of gear-shaped parts by Taguchi orthogonal array table. Cast molds for a gear-shaped manhole are also manufactured.

• Journal of Korean Society of Forest Science
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• v.76 no.3
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• pp.181-192
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• 1987

The purpose of this study is to develop the method of stand volume estimation by the plotless sampling method. The required data were obtained from 164 sampling plots in the red pine(Pinus densiflora) stands which were located in Kyeong-gi, Chung-nam, Chung-buk and Kang-won areas, and related factors were measured actually. The method of stand volume estimation and several tables were drivel from these data. 1. The relationship between the values of stand average height, basal area per ha, and basal area height obtained from the plotless sampling method and values measured actually could be described by the equation Y=bx, where b approached nearly 1.0 and there were no significant differences between them. Therefore stand volumes could be estimated by the plotless sampling method. 2. The estimated equations of the stand voulumes, which were estimated using factors to be measured by dendrometer, are as follows ; logV=-0.0208+0.8497 logGH, logV=-0.0028+0.7981 logG+0.9313 logH. Stand volume tables by these estimated equations were shown in table 4, 5 and estimation error percentages were 9.16% and 8.50% respectively. FH=D/(1.5205+0.0994D) logFH=0.0451+0.2429 logD+0.3474 logH logFG=-0.0380+0.7758logG-0.0066logH F=H/ (-5.1697+2.6013H) F=FH/(-3.1256+2.7611FH) logF=-0.0634-0.0848 logGH-0.1224 logDi 4. Stand form height tables(table7, 8), form basal area tables(table 9), and stand form factor tables(table 10, 11) were prepared using the above estimated equations, and the estimation error percentages were less than 10%.

• KOREAN JOURNAL OF CROP SCIENCE
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• v.60 no.4
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• pp.470-474
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• 2015

This study was carried out to compare botanical and amylogram characteristics including table quality in waxy corn kernel. The used materials in this experiment were producted and evulated at Corn Breeding Laboratory, Coll. of Agri. & Life Sci., in CNU. In botanical characteristics CNU H09-26 among used hybrids was highest in stem height as 228.5 cm, but that of CNU H09-30 was lowest. Ear height was highest in CNU H09-23 as 78.2 cm, but that of CNU H09-30 was lowest. Ear length among hybrids were also variable as 21.2 cm to 10.8 cm. in amylogram analysis CNU H09-23 hybrid was lowest in pasting temperature, while break down of this hybrid was highest These results appeared highly in table quality. Accordingly we thought that this hybrid will be adapted as a leading variety for edible waxy corn.

• Computers and Concrete
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• v.27 no.2
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• pp.163-173
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• 2021

In this paper, the parameters of haunch height, reinforcement ratio and site condition were evaluated for the influence on the seismic performance of a composite precast fabricated utility tunnel by shaking table test and numerical simulation. The dynamic response laws of acceleration, interlayer displacement and steel strain under unidirectional horizontal seismic excitation were analyzed through four specimens with a similarity ratio of 1:6 in the test. And a numerical model was established and analyzed by the finite element software ABAQUS based on the structure of utility tunnel. The results indicated that composite precast fabricated utility tunnel with the good anti-seismic performance. In a certain range, increasing the height of haunch or the ratio of reinforcement could reduce the influence of seismic wave on the utility tunnel structure, which was beneficial to the structure earthquake resistance. The clay field containing the interlayer of liquefied sandy soil has a certain damping effect on the structure of the utility tunnel, and the displacement response could be reduced by 14.1%. Under the excitation of strong earthquake, the reinforcement strain at the side wall upper end and haunches of the utility tunnel was the biggest, which is the key part of the structure. The experimental results were in good agreement with the fitting results, and the results could provide a reference value for the anti-seismic design and application of composite precast fabricated utility tunnel.