• Geomechanics and Engineering
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• 제12권3호
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• pp.541-560
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• 2017

In this research, experimental and numerical simulations were adopted to investigate the effects of ligament angle on compressive strength and failure mode of rock-like material specimens containing two non-coplanar filled fissures under uniaxial compression. The experimental results show that with the increase of ligament angle, the compressive strength decreases to a nadir at the ligament angle of $60^{\circ}$, before increasing to the maximum at the ligament angle of $120^{\circ}$, while the elastic modulus is not obviously related to the ligament angle. The shear coalescence type easily occurred when ${\alpha}$ < ${\beta}$, although having the same degree difference between the angle of ligament and fissure. Numerical simulations using $PFC^{2D}$ were performed for flawed specimens under uniaxial compression, and the results are in good consistency with the experimental results. By analyzing the crack evolution process and parallel bond force field of rock-like material specimen containing two non-coplanar filled fissures, we can conclude that the coalescence and propagation of crack are mainly derived from parallel bond force, and the crack initiation and propagation also affect the distribution of parallel bond force. Finally, the displacement vectors in ligament region were used to identify the type of coalescence, and the results coincided with that obtained by analyzing parallel bond force field. These experimental and numerical results are expected to improve the understanding of the mechanism of flawed rock engineering structures.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.87-90
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• 2001

This paper presents a design of new type biped robot and dynamic walking simulation for this system. The robot is distinguished from other one by which has a parallel mechanism type trunk and lead-screw type actuators to drive the joints of the trunk, knee and ankle. The basic consideration on the design is that it is able to accommodate itself to human's daily environments without any other modification of around and also to operate its upper limbs more smoothly with a spine functional trunk. It is designed according to a human with about 130 cm height and about 30 kg weight. And it also is able to dynamically walk on an even ground. It has constructed with total 14 DOFs which have two legs, a hip, and a trunk. The joints of each leg and trunk are adopted with a parallel structure which has good kinematic characteristics and take light weight. To test of the capacity of joint actuators and to analysis of the dynamic properties of the biped robot, optimized trunk trajectory is determined by means of an approximated FFT method based on ZMP criteria, and dynamic simulation is performed using DADS with a 1.1 time/step velocity on the even ground during four steps.

• 로봇학회논문지
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• 제10권2호
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• pp.119-132
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• 2015

Two novel parallel mechanisms (PMs) employing two or three PaPaRR subchains are suggested. Each of those two PMs has translational 3-DOF motion and employs only revolute joints such that they could be adequate for haptic devices requiring minimal frictions. The position analyses of those two PMs are conducted. The mobility analysis, the kinematic modeling, and singularity analysis of each of two PMs are performed employing the screw theory. Then through optimal kinematic design, each of two PMs has excellent kinematic characteristics as well as useful workspace size adequate for haptic applications. In particular, by applying an additional redundantly actuated joint to the 2-PaPaRR type PM which has a closed-form position solution, it is shown that all of its parallel singularities within reachable workspace are completely removed and that its kinematic characteristics are improved.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2005년도 제24회 춘계학술대회논문집
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• pp.343-346
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• 2005

전산 해석과 병렬처리를 이용하여 정사각 관 내부를 전파하는 데토네이션파의 삼차원 구조를 살펴보았다. 가변 비열비 공식과 간략화 된 일단계 Arrhenius 반응 모델과 연계된 비점성 유체 방정식을 MUSCL 기반 TVD 해법과 4단계 Runge-Kutta 적분 방법을 이용하여 해석하였다. 삼차원에서의 비정상 해석 결과로부터 그을음 막 기록(smoked-foil record)에서 같은 길이와 다른 폭을 가지는 수평 및 대각 방향 불안정에 의한 상세한 파면 구조를 파악할 수 있었다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.201-203
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• 2007

The paper concerns the successive optimization for structure and parameters of fuzzy inference systems that is based on parallel Genetic Algorithms (PGA) and information data granulation (IG). PGA is multi, population based genetic algorithms, and it is used tu optimize structure and parameters of fuzzy model simultaneously, The granulation is realized with the aid of the C-means clustering. The concept of information granulation was applied to the fuzzy model in order to enhance the abilities of structural optimization. By doing that, we divide the input space to form the premise part of the fuzzy rules and the consequence part of each fuzzy rule is newly' organized based on center points of data group extracted by the C-Means clustering, It concerns the fuzzy model related parameters such as the number of input variables to be used in fuzzy model. a collection of specific subset of input variables, the number of membership functions according to used variables, and the polynomial type of the consequence part of fuzzy rules, The simultaneous optimization mechanism is explored. It can find optimal values related to structure and parameter of fuzzy model via PGA, the C-means clustering and standard least square method at once. A comparative analysis demonstrates that the Dnmosed algorithm is superior to the conventional methods.

• 한국공작기계학회논문집
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• 제14권6호
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• pp.52-60
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• 2005

Ultra-precision positioning systems basically require high natural frequency and sufficient workspace. To cope with this requirement, flexure hinge mechanisms have been developed. However, previous designs are difficult to satisfy the functional requirements of the system due to difficulty in modeling and optimization process applying fur the independent axiomatic design. Therefore, this paper suggests a new design and design procedure based on semi-coupled, axiomatic design. A spatial 3-DOF parallel type micro mechanism is chosen aa an exemplary device. Based on preliminary kinematic analysis and dynamic modeling of the system, an optimum design is conducted. To check the effectiveness of the optimal parameters obtained by theoretical approach, simulation has been performed by FEM.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1045-1049
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• 2005

In this paper, the dynamic crawling of a five-bar planar mechanism is investigated. One complete cycle of the crawling selected in this study consists of four different steps, i) sliding at one contact point between the mechanism and the ground, ii) changing its configuration without sliding at two contact points, iii) sliding at the other contact point, and iv) again changing its configuration without sliding at two contact points. In this type of crawling, the crawling mechanism maintains the shape of the parallel structure throughout a complete crawling cycle. The modeling algorithm for serial manipulators proposed by M. Thomas and et al.[1] is employed by introducing imaginary joints and links which represent the contact interfaces between the one end of the mechanism and the ground, while the other end of the mechanism is regarded as an end-effector of the imaginary serial manipulator which treats the reaction force and torque at the contact point as external forces. Then, a complete cycle of dynamic crawling of the mechanism is investigated through various computer simulations. The simulation result show that the stable crawling characteristics of the mechanism could be secured when the proper configurations depending on specified frictional constraints are met.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 B
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• pp.790-792
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• 2002

The resistive type superconducting fault current limiter(SFCL) is a current limiter using the Quench mechanism of superconductors. When Quench occurs in superconductors, the resistance of superconductors increases abruptly. In order to increase SFCL capacity, current limiting elements were connected in series. If the Quench current of each element was different, voltage distribution was imbalanced. This imbalance could be removed by arrangement including series and parallel connection of elements. Based on this result, an SFCL of 1.8kV/50A was designed and experimented, expecially, in terms of increasing the voltage rating.

• 로봇학회논문지
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• 제6권4호
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• pp.323-333
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• 2011

Due to the limited pendulum motion range, the conventional one-pendulum driven spherical robot has limited driving capability. Especially it can not drive parallel direction with center horizontal axis to which pendulum is attached from stationary state. To overcome the limited driving capability of one-pendulum driven spherical robot, we introduce a spherical robot, called KisBot II, with a new type of curved two-pendulum driving mechanism. A cross-shape frame of the robot is located horizontally in the center of the robot. The main axis of the frame is connected to the outer shell, and each curved pendulum is connected to the end of the other axis of the frame respectively. The main axis and pendulums can rotate 360 degrees inside the sphere orthogonally without interfering with each other, also the two pendulums can rotate identically or independent of each other. Due to this driving mechanism, KisBot II has various motion generation abilities, including a fast steering, turning capability in place and during travelling, and four directions including forward, backward, left, and right from stationary status. Experiments for several motions verify the driving efficiency of the proposed spherical robot.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2004년도 제5회 압연심포지엄 신 시장 개척을 위한 압연기술
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• pp.72-82
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• 2004

The deformation mechanism of hexagonal close-packed materials is quite complicate including slips and twins. A deformation mechanism, which accounts for both slip and twinning, was investigated for polycrystalline hop materials. The model was developed in a finite element polycrystal model formulated with initial strain method where the stiffness matrix in FEM is based on the elastic modulus. We predicted numerically the texture of Mg alloy(AZ31B) sheet by using FEM based on crystal plasticity theory. Also, we introduced the recrystallized texture employed the maximum energy release theory after rolling. From the numerical study, it was clarified that the shrink twin could not be the main mechanism for shortening of c-axis, because the lattice rotation due to twin rejects fur c-axis to become parallel to ND(normal direction of plate). It was showed that the deformation texture with the pyramidal slip gives the ring type pole figure having hole in the center.