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Sliding-Mode Control of Container Cranes (컨테이너크레인 시스템의 슬라이딩모드제어)

  • Lee Suk-Jae;Park Hahn;Hong Keum-Shik
    • Journal of Navigation and Port Research
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    • v.29 no.8 s.104
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    • pp.747-753
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    • 2005
  • In this paper, as an anti-sway control strategy of container cranes, we investigate a variable structure control in which the moving load follows a given trajectory, whereas both the trolley and hoist controllers achieve their positioning problems. It is crucial, in an automated container terminal, that collisions should be avoided during the transference of containers from one place to another. It is also necessary, in the case of a quay crane, to select suitable loading and unloading trajectories of containers, so that possible collisions with surrounding obstacles are avoided. After a brief introduction of the mathematical model, a robust control scheme (i.e., a second-order sliding mode control that guarantees a fast and precise transference and a suppression of the resulted swing) is presented. Despite model uncertainties and unmodeled actuators dynamics, the swing suppression from the given trajectory is obtained by constraining the system motion on suitable sliding surfaces, which include both the desired path and the swing angle. The proposed controller has been tested with a laboratory-size pilot crane. Experimental results are provided.

Evaluation of Resistance of Concrete-Face Rockfill Dam to Seismic Loading Using Shaking Table Test (진동대시험을 이용한 콘크리트 표면 차수벽형 석괴댐의 내진성능 평가)

  • Ha, Ik-Soo;Kim, Yong-Seong;Seo, Min-Woo;Park, Dong-Soon
    • Proceedings of the Korean Geotechical Society Conference
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    • 2005.03a
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    • pp.1118-1125
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    • 2005
  • In this study, seismic safety of CFRD(Concrete-Face Rockfill Dam) type "D" dam in operation is evaluated from the results of 1-g shaking table test using similitude laws. Model dam is made by similitude law considering the grain size of prototype dam component. After the model dam is impounded to the normal water level(N.W.L), it is excited by artificial earthquake wave corresponding to standard design respond spectrum of the "D" dam site. Displacement response behavior of the dam is examined through the measurement of vertical and horizontal displacement of dam crest. Also, amplification characteristics of acceleration with dam height is examined through the measurement of acceleration with dam height. Finally, the purpose of this study is to evaluate seismic safety of "D" dam in operation. From the results of acceleration measurement, it was found that acceleration of dam crest was amplified about 1.52 times compared to the acceleration of dam bottom and amplification phenomenon is outstanding at three quarters of dam height from the bottom of dam. From the analysis of displacement behavior, it was estimated that vertical displacement of prototype dam is 6.8cm (0.1% of dam height) and horizontal displacement 12.3cm(0.2% of dam height). These percentages is much lower than 1% of dam height(general stability criteria). Therefore, it was concluded that seismic stability of "D" dam against an estimated earthquake is guaranteed.

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Bond Strength of Grout-Filled Splice Sleeve Considering Effects of Confinement (구속효과를 고려한 모르타르 충전식 철근이음의 부착강도)

  • Kim, Hyong-Kee;Ahn, Byung-Ik
    • Journal of the Korea Concrete Institute
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    • v.15 no.4
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    • pp.615-622
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    • 2003
  • The purpose of this study is to propose the more reasonable equation of bond strength of grout-filled splice sleeve. To accomplish this objective, total 60 full-sized specimens were tested under monotonic loading. The experimental variables are compressive strength of mortar, embedment length and size of reinforcing bars. Following conclusions are obtained; 1) If the adequacy of existing equations which estimate the bond strength of grout-filled splice sleeve are investigated, they underestimate the bond strength of grout-filled splice sleeve by 8-18%. Also the existing equations have a tendency to underestimate with decrease in the embedment length of reinforcing bars. 2) From the test result of bond failure, the equation which estimates the confining pressure of grout-filled splice sleeve was proposed by making multiple regression analyses of which independent variables are embedment length of reinforcing bars and compressive strength of mortar. This equation predicted the measured bond capacity of this test more accurately than existing equations and eliminated the deviation according to the embedment length of reinforcing bars.

FRACTURE STRENGTH OF THE IPS EMPRESS CROWN : THE EFFECT OF OCCLUSAL DEPTH AND AXIAL INCLINATION ON LOWER FIRST MOLAR (IPS Empress 도재관의 파절강도: 하악 제1대구치에서 교합면 두께와 축면경사도에 따른 영향)

  • Kim Sung-Hoon;Lee Jin-Han;Kim Yu-Lee;Dong Jin-Keun
    • The Journal of Korean Academy of Prosthodontics
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    • v.41 no.1
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    • pp.48-60
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    • 2003
  • The purpose of this study was to compare the fracture strength of the IPS Empress ceramic crown according to the occlusal depth (1.5mm, 2.0mm, 2.5mm) and axial inclination ($4^{\circ},\;8^{\circ},\;12^{\circ}$) of the lower First Molar. After 10 metal dies were made for each group, the IPS Empress ceramic crowns were fabricated and cemented with resin cement(Bistite resin cement, Tokuyama Soda Co. LTD., Japan). The cemented crowns were mounted on the testing jig with inclination of 30 degrees and the universal testing machine(Zwick Z020, Zwick, Germany)was used to measure the fracture strength. The results of this study were as follows : 1. The fracture strength of the ceramic crown with 2.5mm depth and $12^{\circ}$ inclination was the highest (1789 N). Crowns of 1.5mm depth and $4^{\circ}$ inclination had the lowest strength (1091 N). 2. There were no significant differences in the fracture strength by axial inclination of the same occlusal depth group. 3. Most fracture lines began at the loading area and extended through proximal surface perpendicular to the margin, irrespective of occlusal depth. Size of fragment was affected by the amount of occlusal reduction.

Impact of Complex Hemodynamics to the Management of ArterioVenous(AV) Fistula (동정맥루의 복합성 혈류학 소견이 그 관리에 미치는 영향)

  • Lee Byung-Boons
    • Proceedings of the KSME Conference
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    • 2002.08a
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    • pp.9-10
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    • 2002
  • Human circulatory system between heart and tissue is not directly connected in normal condition but mandatory to go through the capillary system in order to fulfill its physiologic aim to deliver oxygen and nutrients, etc. to the tissue and retrieve used blood together with waste products from the tissue properly. When abnormal connection between arterial and venous system (AV fistula), these two circulatory systems respond differently to the hemodynamic impact of this abnormal connection between high pressure (artery) and low pressure (vein) system. Depending upon the location and/or degree (e.g. size and flow) of fistulous condition, each circulatory system exerts different compensatory hemodynamic response to this newly developed abnormal inter-relationship between two systems in order to minimize its hemodynamic impact to own system of different hemodynamic characteristics. Pump action of the heart can assist the failing arterial system directly to maintain arterial circulation against newly established low peripheral resistance by the AV fistula during the compensation period, while it affects venous system in negative way with increased venous loading. However, the negative impact of increased heart action to the venous system is partly compensated by the lymphatic system which is the third circulatory system to assist venous system independently with different hemodynamics. The lymphatic system with own unique Iymphodynamics based on peristaltic circulation from low resistance to high resistance condition, also increases its circulation to assist the compensation of overloaded venous system. Once these compensation mechanisms should fail to fight to newly established hemodynamic condition due to this abnormal AV connection, each system start to show different physiologic ${\underline{de}compensation}$ including heart and lymphatic system. The vicious cycle of decompensation between arterial and vein, two circulatory system affecting each other by mutually negative way steadily progresses to show series of hemodynamic change throughout entire circulation system altogether including heart. Clinical outcome of AV fistula from the compensated status to decompensated status is closely affected by various biological and mechanical factors to make the hemodynmic status more complicated. Proper understanding of these crucial biomechanical factors iii particular on hemodyanmic point of view is mandatory for the advanced assessment of biomechanical impact of AV fistula, since this new advanced concept of AY fistula based on blomechanical information will be able to improve clinical control of the complicated AV fistula, either congenital or acquired.

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Characteristics of α-Tocopherol-loaded Nanostructured Lipid Carriers and their Stabilization Effect (α-Tocopherol을 함유한 Nanostructured Lipid Carriers의 특성과 안정화 효과)

  • Jun, Yoon Kyung;Lim, Yoon Mi;Jin, Byung Suk
    • Applied Chemistry for Engineering
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    • v.26 no.6
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    • pp.659-665
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    • 2015
  • Loading of hydrophobic ${\alpha}$-tocopherol into nanostructured lipid carrier (NLC) was performed for improving its oxidative stability. First, various NLCs with different constituents and mixing ratios were prepared and their characteristics were investigated. While the stable NLCs were made when cetyl palmitate (CP) or glyceryl monosterate (GMS) was used as a solid lipid, the phase separation occurred in the NLCs consisting of stearic acid. Particle sizes of the NLCs were several hundreds of nanometers and the size decreased with increasing the ratio of solvent to lipid. It was examined from DSC thermogram and anisotropy test that the degree of crystallinity of the lipid phase decreased and the lipid matrix became less ordered when octyldodecanol, a long chain fatty alcohol, was added into the solid lipid. The oxidative stability of ${\alpha}$-tocopherol in NLC was remarkably improved compared to that in solution or emulsion under high temperature ($45^{\circ}C$) and UV radiation, which was verified through DPPH test and peroxide value measurement.

Comparative behaviour of stiffened and unstiffened welded tubular joints of offshore platforms

  • Thandavamoorthy, T.S.
    • Steel and Composite Structures
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    • v.3 no.5
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    • pp.321-331
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    • 2003
  • The paper presents the results of an experimental investigation conducted on welded tubular joints, that are employed in offshore platforms, to study the behaviour and strength of these joints under axial brace compression loading. The geometrical configuration of the joints tested were T and Y. The nominal diameter of the chord and brace members of the joint were 324 and 219 mm respectively. The chord thickness was 12 mm and the brace 8 mm. The tested joints are approximately quarter size when compared to the largest joints in the platforms built in a shallow water depth of 80 m in the Bombay High field. Some of the joints were actually fabricated by a leading offshore agency which firm is directly involved in the fabrication of prototype structures. Strength of the internally ring-stiffened joints was found to be almost twice that of the unstiffened joints of the same configuration and dimensions. Bending of the chord as a whole was observed to be the predominant mode of deformation of the internally ring-stiffened joints in contrast to ovaling and punching shear of the unstiffened joints. It was observed in this investigation that unstiffened joint was stiffer in ovaling mode than in bending and that midspan deflection of unstiffened joint was insignificant when compared to that of the internally ring stiffened joint. The measured midspan deflection of the unstiffened joint in this investigation and its relation with the applied axial load compares very well with that predicted for the brace axial displacement by energy method published in the literature. A comparison of the measured deflection and ovaling of the unstiffened joint was made with that published by the author elsewhere in which numerical prediction of both quantities have been made using ANSYS software package. The agreement was found to be quite good.

An Intercell Interference Reduction Technique for OFDM-based Cellular Systems Using Virtual Multiple Antenna (OFDM 기반 셀룰러 시스템에서 가상 다중안테나를 이용한 셀간 간섭 감쇄 기법)

  • Lee Kyu-In;Ko Hyun-Soo;Ahn Jae-Young;Cho Yong-Soo
    • Journal of the Institute of Electronics Engineers of Korea TC
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    • v.43 no.3 s.345
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    • pp.32-38
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    • 2006
  • In this paper, an intercell interference (ICI) reduction technique is proposed for OFDM-based cellular systems using the concept of virtual multiple antenna where multiple antenna techniques are performed on a set of subcarriers, not on the actual antenna array. The proposed technique is especially effective for user terminals with a single antenna at cell boundary in fully-loaded OFDM cellular systems with a frequency reuse factor equal to 1. Proposed ICI reduction techniques developed for SISO and MISO environments are shown to be robust to symbol timing offsets and efficient for various cell environments by adjusting group size depending on the number of adjacent cells. Also, the concept of a virtual signature randomizer (VSR) is introduced to improve channel separability in the virtual MIMO approach. It is shown by simulation that the proposed techniques are effective in reducing ICI and inter-sector interference compared with the conventional methods.

Disturbed State Modeling for joints of Rock(Theory and Implementation) (암반절리에 대한 교란상태 모델링 (이론과 응용))

  • 박인준;전석원
    • Tunnel and Underground Space
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    • v.8 no.3
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    • pp.200-208
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    • 1998
  • This research is intended to investigate the behavior of the jointed rock under various loading conditions: static or dynamic load. The distributed state concept (DSC) is based on the idea that the response of the joint can be related to and expressed as the response of the reference states : relative intact (RI) and fully adjusted (FA) states. In the DSC, an initially RI joint modifies continuously through a process of natural self-adjustment, and a part of it approaches the FA state at randomly disturbed locations in the joint areas. In this study, based on the DSC concept, RI state, FA state, and disturbance function (D) are defined for characterizing the behavior of rock joint. From the results of this research, it can be stated that DSC model is capable of capturing the physical behavior of jointed rock such as softening and hardening and considering the size of joint and roughness of joint surface.

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A Study on Embedded Crack at the Hatch Coaming FCA Butt Weldment in an Ultra Large Containership on the Basis of Fracture Mechanics (초대형 컨테이너선의 해치 코밍 용접부의 내부 균열에 대한 파괴역학적 연구)

  • Shin, Sang-Beom;Lee, Joo-Sung
    • Proceedings of the KWS Conference
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    • 2010.05a
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    • pp.61-61
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    • 2010
  • The purpose of this study is to prevent the unstable fracture at the FCA butt weldment of hatch coaming deck in the ultra large containership during service life. In order to do it, the behavior of the embedded crack at the weldment under design loading conditions was evaluated in accordance with BS7910. Here, the level of primary stress induced by ship motion was evaluated by the design code of classification society and FEA. The level of residual stress as secondary stress was calculated in consideration of the restraint degree of weldment and welding heat input by using the predictive equation proposed by authors in the previous study. The fatigue crack growth rate at the weldment was evaluated using CT specimen in accordance with ASTM E647. According to the results, although the allowable defect for embedded crack specified in the classification society exists at the weldment, the occurrence possibility of unstable fracture at the weldment could not be negligible, regardless of CTOD value given in this study. So, in this study, the effect of initial defect size, welding heat input, restraint degree and CTOD on the fracture mechanical characteristics of embedded crack at the weldment was evaluated by the comprehensive fracture assessment. Based on the results, the design criteria including allowable defect, residual stress level and CTOD value was established to prevent the unstable fracture at the FCA butt weldment of hatch coaming deck in an ultra large containership during service life of 20years.

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