• Journal of Institute of Control, Robotics and Systems
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• v.12 no.11
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• pp.1102-1110
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• 2006

This paper addresses the problem of computing grasp stability of the object for two-fingered robots in two dimensions. The concepts of force-closure and dual space are introduced and discussed in novel point of view, and we transform friction cones in a robot work space to line segments in a dual space. We newly define a grasp stability index by calculating intersection condition between line segments in dual space. Moreover, we propose a method to find the optimal grasp points of the given object by comparing the defined grasp stability index. Its validity and effectiveness are investigated and verified by simulations for quadrangle object and elliptic objects.

• Journal of the Korea Organic Resources Recycling Association
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• v.14 no.2
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• pp.63-70
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• 2006

The purpose of this study was to develop the stability index of landfill sites to assess it's degree of stability. In order to develop the stability index, field data including leachate qualities, Landfill gas (LFG) composition and element composition of wastes from 50 closed landfills were collected. Three parameters-BOD/CODcr among leachate quality parameters, $CH_4$ among landfill gases, and C/N ratio from wastes-were found to be the best parameters for measuring the stability of landfill sites. The trend line of these parameters were used to Also, $CH_4$ from landfill gases and C/N ratio from wastes were found to be the best parameters. The trend lines of these parameters were used to develop the stability index of landfill sites. The equation for the index was as following; $I_{LS}=S_L+S_G+S_W$ $S_L=-\{4.892+16.587{\cdot}ln[BOD/COD_{Cr]\}$ $S_G=53.872-12.782{\cdot}ln[CH_4]$ $S_W=79.382-20.013{\cdot}ln[C/N]$ (The maximum score for $S_L$, $S_G$, and $S_W$ was 33.3.) where, $I_{LS}$ : The stability index of the landfill $S_L$ : The stability score of the leachate $S_G$ : The stability score of the landfill gas $S_W$ : The stability score of the waste.

• Water for future
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• v.26 no.4
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• pp.97-105
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• 1993

This paper presents the results of a study conducted to improve the understanding of the characteristics of cylindrical capsule flow in a pipeline by taking into account of the effect of capsule density uniformity. The effect of capsule density variation in the axial direction was studied both experimentally and anaytically. The experiments were conducted in a 190mm diameter straight pipe 17m long. The velocity, gap and tilt of capsules were measured under various conditions, In order to interpret the data on various capsule density conditions, the stability index given in the dimensionless number was introduced. The motion of capsules in pipelines is strongly affected by the stability of the capsules characterized by the stability index. The experiments conducted prover that the stability index is a valid criterion for explaining and correlating data on the capsule motion and the capsule density uniformity.

• Journal of Integrative Natural Science
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• v.8 no.3
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• pp.221-232
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• 2015

In this study, the vertical characteristics of wind were analyzed using the horizontal wind, vertical wind, and vertical wind shear, which are generated from a wind profiler during concentrated heavy rain, and the quantitative characteristics of concentrated heavy rain were analyzed using CAPE, SWEAT, and SRH, among the stability indexes. The analysis of the horizontal wind showed that 9 cases out of 10 had a low level jet of 25 kts at altitudes lower than 1.5 km, and that the precipitation varied according to the altitude and distribution of the low-level jet. The analysis of the vertical wind showed that it ascended up to about 3 km before precipitation. The analysis of the vertical wind shear showed that it increased up to a 1 km altitude before precipitation and had a strong value near 3 km during heavy rains. In the stability index analysis, CAPE, which represents thermal buoyancy, and SRH, which represents dynamic vorticity, were used for the interpretation of the period of heavy rain. As SWEAT contains dynamic upper level wind and thermal energy, it had a high correlation coefficient with concentrated-heavy-rain analysis. Through the case studies conducted on August 12-13, 2012, it was confirmed that the interpretation of the prediction of the period of heavy rain was possible when using the intensive observation data from a wind profiler and the stability index.

• Proceedings of the Korea Water Resources Association Conference
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• 1993.07a
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• pp.483-490
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• 1993

This paper presents the results of a study conducted to improve the understanding of the characteristics of cylindrical capsule flow in a pipeline by taking into account of the effect of capsule density uniformity. The effect of capsule density variation in the axial direction was studied both experimentally and analytically. The experiments were xonducted in a 190mm diameter straight pipe 18m long. The velocity, tilt of capsules and the gap between the capsule bottom and the pipe bottom were measured under various conditions. In order to interpret the data on the various capsule density conditions, the stability index given in the dimensionless numberwas introduced. The motion of capsules in pipelines is strongly affected by the stability of the capsules characterized by the stability index. The experiments conducted proved that the stability index is a valid criterion for explaining and correlating data on the capsule motion and the capsule density uniformity.

• Geomechanics and Engineering
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• v.28 no.5
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• pp.463-475
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• 2022

In the mine exploitation stage; one of the critical issues is the stability assessment of post-pillars. The instability of post-pillars leads to serious safety hazards in mining operations. The focus of this study is to assess the stability of post-pillars in the 130# stope in the central ore body at Trepça hard rock mine by employing both conventional (i.e., critical span curve) and numerical methods (i.e., FLAC3D). Moreover, a new numerical based index (i.e., Pillar Yield Ratio-PYR) was proposed. The aim of PYR index is to determine a border line between stable, potentially unstable, and failure state of post-pillars at a specific mine site. The critical value of pillar width to height ratio is 2.5 for deep production stopes (e.g., > 800 m). Results showed that pillar size, mining height and mining depth significantly have affected the post-pillar stability. The reliability of numerical based index (i.e., PYR) is verified based on empirical underground pillar stability graph developed by Lunder, 1994. The proposed pillar yield ratio index and pillar stability graph can be used as a design tool in new mining areas at Trepça hard rock mine and for other situations with similar geotechnical conditions.

• The Journal of Asian Finance, Economics and Business
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• v.8 no.2
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• pp.317-328
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• 2021

This study examines the impact of bank competition and efficiency in the financial stability of the banking sector in Bangladesh. The study used the Lerner index and the Boone indicator to represent the bank competition, while the non-performing loan (NPL) and Z-score are used to represent financial stability. The secondary data were collected from the annual reports of 28 DSE listed commercial banks of Bangladesh over the period from 2011 to 2018. Using a dynamic panel GMM model, the study found the Lerner index is significantly negatively related with Z-score, which means that higher bank competition results in higher bank stability. It is also seen that higher cost efficiency results in higher bank stability. The Lerner index has negative, but insignificant impact on NPL. Similarly, using the Boone indicator, this study found that lower competition increases NPL. In terms of the Z-score, the Boone indicator found that 1 unit of increment results in decrease of the Z-score by 6.15 units. The study suggests that, as more competition results in more financial soundness, the banking industry competition should be ensured by policymakers or regulators. Banks could enhance financial stability by cost control to achieve cost efficiency as well as by improving loan-to-asset ratio.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.66 no.4
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• pp.206-212
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• 2017

In this paper, using the power system information obtained from real-time monitoring device, to analyze the voltage stability margin index and described the voltage stability control scheme for voltage stability enhancement. Based on the utilization of the voltage stability monitoring index based on local information provided by the PMU(Phasor Measurement Unit), the purpose of the plan is to control the system stably in real time. In order to apply the load control scheme, the voltage stability margin is calculated using the data acquired through the PMU installed in each load bus. If the voltage drops below a certain level, load control is performed for each. The effectiveness of the voltage stability control measures is applied to the actual KEPCO system to analyze the effectiveness.

• Journal of Power System Engineering
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• v.14 no.3
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• pp.39-45
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• 2010

The dynamic stability of a robot vehicle can be enhanced by the Force-Angle Stability Margin concept that considers a variety of dynamic effects. To evaluate the robot vehicle stability, a SPI(stability performance index), which is a function of the suspension arm angles, was used. If the SPI has a minimum value, the robot vehicle has maximum stability. The FASM and SPI concepts were incorporated in the mobility simulation by using ADAMS and MATLAB/Simulink. The simulation results using these concepts showed significant improvements of the vehicle stability on rough terrains.

• Proceedings of the KSR Conference
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• 2003.10b
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• pp.397-402
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• 2003

Infiltration of rainfall causes railway embankment to be unstable and may result in failure. Basic relationship between the rainfall and stability of railway embankment are defined to analyze the stability of embankment by rainfall. An experimental study for defining of infiltration rate of rainfall into slope is conducted in the lab. The results of Rainfall infiltration show that rainfall infiltration is not equal to infiltration as like reservoir because rate of rainfall infiltration is controlled by slope angle. Based on these results, boundary condition of rainfall is altered and various numerical analysis are performed. The variation of shear strength, the degree of saturation and pore-water pressure for railway slope during rainfall can be predicted and the safety factor of railway slope can be expressed as the function of rainfall amount, namely rainfall index. Therefore, it is judged that this rainfall index can be a good tool for the rail-transport operation control.