• 대한전기학회:학술대회논문집
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• 대한전기학회 1987년도 정기총회 및 창립40주년기념 학술대회 학회본부
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• pp.425-429
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• 1987

This paper describes a collision avoidance method for planning safe trajectories for multi-robot system in common work space. Usually objects have been approximated to convex polyhedra in most previous researches, but in case using such the approximation method it is difficult to represent objects analytically in terms of functions and also to describe tile relationship between the objects. In this paper, in order to solve such problems a modeling method which approximates objects to cylinder ended by hemispheres and or sphere is used and the maximum distance functions is defined which call be calculated simply. Using an objective function with inequality constraints which are related to minimum distance functions, work range and maximum allowable angular velocities of the robots, tile collision avoidance for two robots is formulated to a constrained function optimization problem. With a view to solve tile problem a penalty function having simple form is defined and used. A simple numerical example involving two PUMA-type robots is described.

• 비파괴검사학회지
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• 제10권1호
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• pp.10-17
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• 1990

Recently, object recognition ultrasonic sensor is being used with automatization of industrial machine. Points which characterize the object can be deleted by measuring the propagation time of ultrasonic impulse and azimuth which gives its maximum amplitude, and from these points shape, position and orientation of the object are deduced. A new measuring method is adopted, where the distance to the object is calculated by sound reflection time which is measured from O-cross point of sound wave, and azimuth is measured by angle indicating maximum amplitude. The measuring accuracy of 1.0mm for distance and $0.5-2^{\circ}$ for azimuth have been accomplished. By rotational scanning of sensor the characteristic point of an object can be known and it gives the information of its shape, position and orientation. Experimental results showed that the object of some complicated shape can be recognized, which suggest its applicability to robot.

• 대한기계학회논문집B
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• 제30권7호
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• pp.656-662
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• 2006

The effects of concave hemispherical surface with inclined angle on the local heat transfer from a turbulent round jet impinging were experimentally investigated using transient liquid crystal method. This method suddenly exposes a preheated wall to an impinging jet and then the video system records the response of liquid crystals for the measurement of the surface temperature. The Reynolds numbers were used 11000, 23000 and 50000, nozzle-to-surface distance ratio from 2 to 10 and the surface angles $\alpha=0^{\circ},\;15^{\circ},\;30^{\circ}\;and\;40^{\circ}$. Correlations of the stagnation point Nusselt number according to Reynolds number, jet-to-surface distance ratio and dimensionless surface angle are investigated. In the stagnation point, in term of $Re^n$, n ranges from 0.43 in case of $2{\leq}L/d\leq6$ to 0.45 in case of $6. The maximum Nusselt number occurs in the direction of upstream. The displacement of the maximum Nusselt number from the stagnation point increases with increasing surface angle or decreasing nozzle-to-surface distance. The maximum displacement is about 0.7 times of the jet nozzle diameter.

• 설비공학논문집
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• 제12권4호
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• pp.371-380
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• 2000

The turbulent heat transfer from a round oblique impinging jet on a concave surface were experimentally investigated. The transient measurement method using liquid crystal was used in this study. In this measurement, a preheated wall was suddenly exposed to an impinging jet while recording the response of liquid crystals to measure surface temperature. The Reynolds numbers were 11000, 23000 and 50000, nozzle-to-surface distance ratio was from 2 to 10 and the surface angles were a =$0^{\circ}\;15^{\circ},\;30^{\circ}and\;40^{\circ}$. Correlations of the stagnation point Nusselt numbers with Reynolds number, jet-to-surface distance ratio and dimensionless surface angle, which account for the surface inclined angle, are presented. The maximum Nusselt numbers, in this experiment, occurred in the direction of upstream. The displacement of the maximum Nusselt number from the stagnation point increases with increasing surface angle or decreasing nozzle-to-surface distance. In this experiment, the maximum displacement is about 0.7 times of the jet nozzle diameter when surface curvature, D/d is 10.

• 한국공작기계학회논문집
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• 제14권1호
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• pp.81-88
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• 2005

There have been many studies on generation equipment and plant piping, but there is no significant study result on the heat transportation pipe. As such, this study established basic theory on the compensated method among buried pipe for regional heating, and further obtained the following results by applying the conditions of AGFW and NCHPP respectively in calculation of friction and maximum installation distance for the buried pipe. Friction coefficient according to the types and physical properties of soil, friction and maximum installation distance were compared to set the application value of friction coefficient according to the location of works. Calculation formula of clay load to be applied for calculation of friction was introduced to the formula of AGFW and the formula of NCHPP that has been used in Nowon district since 1997 to determine the difference and applicability. $120^{\circ}C$ and $95^{\circ}C$ were applied in temperature difference for expansion volume to compare the arm length at the curve pipe so thai it can be reflected in the design in the future. Maximum installation distance according to thickness of pipe was compared to present the necessity of unified specification so that same kinds of pipe materials can be used for same kinds of works.

• Geomechanics and Engineering
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• 제21권2호
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• pp.215-226
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• 2020

The magnitude and distribution of tunnel deformation were widely discussed topics in tunnel engineering. In this paper, a three-dimensional (3D) finite element program was used for the analysis of various horseshoe-shaped opening expressway tunnels under different geologies. Two rock material models - Mohr-Coulomb and Hoek-Brown were executed in the process of analyses; and the results show that the magnitude and distribution of tunnel deformation were close by these two models. The tunnel deformation behaviors were relevant to many factors such as cross-sections and geological conditions; but the geology was the major factor to the normalized longitudinal deformation profile (LDP). If the time-dependent factors were neglected, the maximum displacements were located at the distance of 3 to 4 tunnel diameters behind the excavation face. The ratios of displacement at the excavation face to the maximum displacement were around 1/3 to 1/2. In general, the weaker the rock mass, the larger the ratio. The displacements in front of the excavation face were decreased with the increasement of distance. At the distance of 1.0 to 1.5 tunnel diameter, the displacements were reduced to one-tenth of the maximum displacement.

• 천문학회보
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• 제40권1호
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• pp.46.2-46.2
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• 2015

Modern methods in determining the value of the Hubble constant are divided into two main ways: the classical distance ladder method and the inverse distance ladder method. The classical distance ladder method is based on Cepheid calibrated Type Ia supernovae (SNe Ia), which are known as powerful distance indicator. The inverse distance ladder method uses cosmic microwave background radiation, which emitted from the high-z universe, and the cosmological model. Recent estimations of the Hubble constant based on these two methods show a $2{\sim}3{\sigma}$ difference, which called the "Hubble tension". It is currently an issue in the modern cosmology. We have been working on the luminosity calibration of SNe Ia based on the Tip of the Red Giant Branch (TRGB), which is a precise population I distance indicator. We present the TRGB distance estimates of 5 SNe Ia host galaxies with the archival Hubble Space Telescope image data. We derive the mean absolute maximum magnitude of 5 SNe Ia and the value of the Hubble constant. Cosmological implications of our estimate will be discussed.

• 한국정밀공학회지
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• 제24권8호통권197호
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• pp.41-49
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• 2007

In this paper, we proposed a new ultrasonic distance measurement system with high accuracy and long range. To improve accuracy and enlarge range, the time of flight of ultrasonic is calculated by the period detecting method. In the proposed ultrasonic distance measurement system, the ultrasonic transmitter and receiver are separated but synchronized by RF(Radio frequency) module. The experiment has been implemented from short distance 1m to maximum available distance 30m. And the period detecting method is compared with the conventional threshold level method. Experimental results show the accuracy and range of the distance measurement are improved by this period detecting method.

• 대한치과보철학회지
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• 제33권1호
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• pp.75-84
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• 1995

This study was designed as a reference of vertical dimension in prosthetic treatment. The author analyzed six facial measurements, namely, (1) the height of lower face at maximum intercuspal position, (2) the height of lower face at resting position, (3) midface, (4) external ear and lateral wall of orbit, (5) interpupillary distance, (6) distance between pupil and mouth in the 100 Won-kwang Univ. Dental collage students(50 : male, 50 : female), who have normal occlusion, no posterior prosthesis, no experience of orthodontic treatment, and no deformity of facial soft tissue and no temporomandibular dysfunction. The results of this study were as follows : 1. The length of midface was shortest and the inter-pupillary distance was longest in both male and female. 2. The length difference with the length of midface and lower face at maximum intercuspal position was 5.64mm in male and 2.23mm in female, so the lower face was longer, 3. The facial measuring component, similar to lower face at maximum intercuspation, was the length of between medial wall of external ear and lateral wall of orbit. It's difference was 1.3mm in male, 1.77mm in female, and the lower face was shorter. 4. The difference of lower facial length in resting position and maximum intercuspation was 2.48mm in male, 2.24mm in female, the length of resting position was therefore longer. 5. The most clost correlation with the height of maximum intercuspal positioning lower face was resting lower face in both groups.

• 대한기계학회논문집B
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• 제22권6호
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• pp.823-831
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• 1998

In order to investigate the impulsive noise at the exit of high-speed railway tunnel and the pressure transients inside the tunnel, numerical calculations using a Total Variation Dimishing difference scheme were applied to axisymmetric unsteady compressible flow field. Some compression wave forms were assumed to model the compression wave produced in real high-speed railway tunnel. The numerical data were extensively explored to analyze the peak over-pressure and maximum pressure gradient in the pressure wavefront. The effect of the distance and cross-sectional area ratio between two-continuous ducts on the characteristics of the pressure waves were investigated. The peak over-pressure inside the second duct decreases for the distance and cross-sectional area ratio between two tunnels to increase. The peak over-pressure and maximum pressure gradient of the pressure wavefront inside the second duct increase as the maximum pressure gradient of initial compression wave increases. The present results were qualitatively well agreed with the results of the previous shock tube experiment.