• 제어로봇시스템학회논문지
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• 제20권10호
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• pp.1057-1062
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• 2014

This paper proposes a tip-over detection method for a mobile robot using a support inscribed circle defined as an inscribed circle of a support polygon. A support polygon defined by the contact points between the robot and the terrain is often used to analyze the tip-over. For a robot moving on uneven terrain, if the intersection between the extended line of gravity from the robot's COG and the terrain is inside the support polygon, tip-over will not occur. On the contrary, if the intersection is outside, tip-over will occur. The terrain is detected by using an RGB-D sensor. The terrain is locally modeled as a plane, and thus the normal vector can be obtained at each point on the terrain. The support polygon and the terrain's normal vector are used to detect tip-over. However, tip-over cannot be detected in advance since the support polygon is determined depending on the orientation of the robot. Thus, the support polygon is approximated as its inscribed circle to detect the tip-over regardless of the robot's orientation. To verify the effectiveness of the proposed method, the experiments are carried out using a 4-wheeled robot, ERP-42, with the Xtion RGB-D sensor.

• 제어로봇시스템학회논문지
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• 제21권4호
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• pp.356-360
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• 2015

In this paper, we design and implement a mobile robot with variable structure for tip-over prevention. The mobile robot is designed for the purpose of stable drive and work in outdoor terrain. The outdoor terrain is rough and uneven. In this terrain, the tip-over of the mobile robot can occur while driving and working. Therefore, the structure of the mobile robot must be designed in consideration of stable drive and work. The proposed structure is defined as an X-shape for overall balance of the mobile robot. The shape is designed by using a multi-level structure for reducing the size of the robot. To verify the effectiveness of the proposed design, we analyze the tip-over characteristics according to the height of gravitational center and the extension length of the robot. Finally, we develop a prototype of the mobile robot with variable structure, taking the results of the tip-over analysis into consideration.

• 한국유체기계학회 논문집
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• 제12권1호
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• pp.35-42
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• 2009

The flow and heat/mass transfer characteristics on the squealer tip surface of a high-turning turbine rotor blade have been investigated at a Reynolds number of $2.09{\times}10^5$, by employing the oil-film flow visualization and naphthalene sublimation technique. The squealer rim height-to-chord ratio and tip gap height-to-chord ratio are fixed as typical values of $h_{st}/c$ = 5.5% and h/c = 2.0%, respectively, for turbulence intensities of Tu = 0.3% and 15%. The results show that the near-wall flow phenomena within the cavity of the squealer tip are totally different from those over the plane tip. There are complicated backward flows from the suction side to the pressure side near the cavity floor, in contrast to the plane tip gap flows moving toward the suction side after flow separation/reattachment. The squealer tip provides a significant reduction in tip surface thermal load with less severe gradient compared to the plane tip. In this study, the tip surface is divided into six different regions, and transport phenomena at each region are discussed in detail. The mean thermal load averaged over the squealer cavity floor is augmented by 7.5 percents under the high inlet turbulence level.

• 방사성폐기물학회지
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• 제4권3호
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• pp.245-253
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• 2006

사용후연료 건식저장용기의 전복사고조건에 대한 1/3 축소모델의 시험을 실시하여 전복해석에 대한 검증을 하였다. 전복해석은 전복각도에 따른 위치에너지와 동일한 운동에너지를 가지는 초기각속도를 이용하여 결정된 각 점에서의 속도를 충돌직전 모델에 대한 초기경계값으로 입력하여 해석하였다. 전복시험에 따른 캐니스터의 구조적 건전성을 확인하기 위하여 육안검사와 함께 액체침투법과 초음파 탐상법와 같은 비파괴검사를 실시하였다. 전복충격에 의하여 저장용기의 뚜껑 에 변형 이 발생되었지만 캐니스터의 구조적 건전성이 유지되었다. 시험에서 취득한 변형률과 가속도를 해석결과와 비교하여 해석 에 대한 검증을 실시하였다. 해석결과는 시험결과보다 대체로 두 배 정도의 큰 값을 주는 것으로 나타났다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1718-1723
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• 2007

The Probe Card is a test component which is to classify the good semiconductor chips before the packaging. The yield of semiconductor product can be better from analysis of probe test information. Recently the technology of the probe card needs narrow width and large amount of probe tip. In this research, the probe tip based on the MEMS(micro electro mechanical system) technology was designed and fabricated to improve the reliability of the test and to meet 2-dimensional Array of tip. The mechanical and electrical properties of proposed tip were evaluated and it has over 100,000 of repetition times in the condition of 5gf, $20{\mu}m$ Over Drive.

• Journal of Welding and Joining
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• 제2권1호
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• pp.41-48
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• 1984

Recrystallization technique was applied to analyze plastic strain at the notch tip of coarse grain HAZ in mild steel (SB 41) and high strength steel (SA 588). The notch tip of specimen was deformed by three point bending. Accumulated displacement (Crack Opening Displacement ${delta}t$) by the monotonic and cyclic loading under room temperature and hot strain embrittlement temperature ($250^{\circ}C$) was 0~1.0mm. Recrystallization heat treatment conditions were $650^{circ}C{ imes}3hr$ for SB 41 and $700^{circ}C{ imes}3hr$ for SA 588. The experimental results obtained were as follows ; 1) Distribution of the effective plastic strain at plastic zone was appeared by the function of crack opening displacement, and plastic zone or the effective plastic strain increased with crack opening displacement. 2) Plastic strain at notch tip of HAZ due to accumulated hot strain calculated as follows. .epsilon. over bar $_{p}$ = .epsilon. over bar $_{cr}$ (x/ $R_{x}$ ) $^{m}$ (m=0.25) 3) Work hardending ratio of notch tip for hot strain was linearly increased with .epsilon. over bar $_{max}$ and dependent upon the material types.s.

• Nuclear Engineering and Technology
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• 제56권10호
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• pp.4446-4454
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• 2024

This paper presents a seismic analysis method that can evaluate a very large number of cases for the free standing dry storage cask by proposing a methodology that has short analysis time as well as accuracy. This study also performed a seismic analysis of a dry storage facility with multiple casks to show a tip-over phenomenon from earthquake accident conditions. The earthquake accident condition is long-term event that occur during about 20 s long, and lots of seismic analysis cases should be performed to consider various real conditions because the free-standing spent-fuel dry storage cask has many nonlinear responses. The soil-concrete pad-cask interaction was considered in the seismic analysis and finite element model was made using concrete pad, soil and cask models. In the reinforced concrete pad, the rebar was excluded to reduce the analysis time, but the thickness was corrected to maintain the bending rigidity. Additionally, the analysis time reduced by modeling the cask as a rigid body rather than a flexible body. 35-cases of seismic analysis were performed to determine a tip-over phenomenon from each earthquake. The analysis revealed that no tip-over phenomenon of the cask was observed in all analyses from 0.2 g to 0.6 g, however the tip-over of the cask were observed from 0.8 g with friction coefficients of 0.8 and 1.0.

• 재활복지공학회논문지
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• 제10권2호
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• pp.133-139
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• 2016

전동휠체어는 장애인들이 편리하게 이동할 수 있는 이동수단이다. 하지만 전동휠체어를 사용하다가 전복되는 사고가 매년 증가하고 있다. 현재 전동휠체어 관련한 KS P 7176 규격에는 동적안전성 시험항목이 있지만 이는 전동휠체어의 안전성을 확보하지 못하였다. 본 연구에서는 새롭게 개발한 장애인 차량에 적재 가능한 접이식 전동휠체어를 소개하고 본 휠체어를 기본으로 주행 중 동적 전도해석 기법에 관한 내용을 소개하고자 한다. 전도해석은 force-moment 안정성 측정법을 사용하였으며 회전반경, 가속도, 무게중심점에 대한 영향을 평가하였다. 본 해석 방법으로 전동휠체어의 안정성을 확보할 수 있으며 동적 안정성 평가 항목 개발에 기초자료로 제공할 수 있다.

• 한국유체기계학회 논문집
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• 제15권6호
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• pp.5-10
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• 2012

The effect of pressure-side opening length on three-dimensional flow fields and aerodynamic losses downstream of a cavity squealer tip has been investigated in a turbine rotor cascade for the squealer rim height-to-chord ratio and tip gap height-tochord ratio of $h_{st}/c$ = 5.05% and h/c = 2.0% respectively. The opening length-to-camber ratio is changed to be $OL/c_c$ = 0.0, 0.1, 0.2, 0.3, 0.4, 0.5, and 0.7 The results show that longer OL leads not only to weaker secondary flow but also to lower aerodynamic loss in the tip leakage vortex region, while it significantly widens the area with high aerodynamic loss in the passage vortex region. The aerodynamic loss coefficient mass-averaged all over the measurement plane is kept almost constant for $0.0{\leq}OL/c_c{\leq}0.3$, whereas it increases rapidly for $OL/c_c$ > 0.3 in proportion to $OL/c_c$. There is little deterioration in flow turning with increasing $OL/c_c$.

• 대한기계학회논문집A
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• 제36권8호
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• pp.851-856
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• 2012

마이크로 프로브 팁의 설계는 매우 복잡하고 많은 비용이 든다. 이 논문에서는 새로운 타입의 프로브 팁을 유한요소해석을 이용하여 설계하였다. 유한요소해석을 이용하여 설계를 함으로써 복잡한 설계과정을 단순화 할 수 있다. 우선, 기존 프로브 팁의 실험 결과를 이용하여 유한요소해석기법을 검증하였다. 기존 프로브 팁의 물성은 $100{\mu}m$의 압축 길이시 12.5 gf 의 접촉하중이 측정되었다. 본 연구에서는 새로운 타입의 프로브 팁을 제안하였다. 새로 설계된 프로브 팁의 재료는 NiCo 이며 프로브 팁의 물성은 $100{\mu}m$의 압축 길이시 1~2 gf 의 접촉하중을 나타내었다.