• Structural Engineering and Mechanics
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• v.62 no.5
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• pp.619-629
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• 2017

This paper focuses on the study of complete dynamic modeling and maximum dynamic load carrying capacity computation of N-flexible links and N-flexible joints mobile manipulator undergoing large deformation. Nonlinear dynamic analysis relies on the Timoshenko theory of beams. In order to model the system completely and precisely, structural and joint flexibility, nonlinear strain-displacement relationship, payload, and non-holonomic constraints will be considered to. A finite element solution method based on mixed method is applied to model the shear deformation. This procedure is considerably more involved than displacement based element and shear deformation can be readily included without inducing the shear locking in the element. Another goal of this paper is to present a computational procedure for determination of the maximum dynamic load of geometrically nonlinear manipulators with structural and joint flexibility. An effective measure named as Moment-Height Stability (MHS) measure is applied to consider the dynamic stability of a wheeled mobile manipulator. Simulations are performed for mobile base manipulator with two flexible links and joints. The results represent that dynamic stability constraint is sensitive when calculating the maximum carrying load. Furthermore, by changing the trajectory of end effector, allowable load also changes. The effect of torsional spring parameter on the joint deformation is investigated in a parametric sensitivity study. The findings show that, by the increase of torsional stiffness, the behavior of system approaches to a system with rigid joints and allowable load of robot is also enhanced. A comparison is also made between the results obtained from small and large deformation models. Fluctuation range in obtained figures for angular displacement of links and end effector path is bigger for large deformation model. Experimental results are also provided to validate the theoretical model and these have good agreement with the simulated results.

• Journal of Oral Medicine and Pain
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• v.22 no.2
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• pp.295-307
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• 1997

This study was performed to investigate the reproductibility of eccentric mandibular movements according to preferred chewing side, range of mouth opening, type of lateral guidance and involvement of temporomandibular disorders. 50 patients with temporomandibular disorders and 65 dental students without any signs and symptoms were randomly selected for this study as the patients group and the control group, respectively. For recording and observation of eccentric mandibular movement trajectory, BioEGN$^\textregistered$ of Biopak$^\textregistered$ system (Bioresearch Inc., USA) was used. Each eccentric movement to anterior, right and left side was performed three times similar to the movement pattern for Pantronic Reproducibility Index. mandibular path was analyzed by three dimensional positional change and the three paths from one direction were compared with one another. From this, reproducibility index of one-directional lateral movement could be calculated, and total reproducibility index, named BioEGN reproducibility index(BERI), was also computed from three-directional eccentric movement likewise. BioEGN reproducibility Index could have four value of score by small or large scale, and by outgoing or incoming movement. The data were analyzed by SAS/stat program and the results obtained were as follows: 1. Right side chewing subjects showed more consistent pattern In reproducibility index in comparison between patients group and control group than left chewing subjects have done, and reproducibility was low in patients group. However, there was no difference between the two stoups in bilateral chewing subjects. 2. There were no difference in reproducibility index between preferred chewing side and contralateral side in unilateral chewing subjects whereas reproducibility index in left side on outgoing movement were higher than in right side in bilateral chewing subjects. 3. Difference in total reproducibility index(BERI) between canine guidance group and non-canine guidance group were not observed though difference in reproducibility index on lateral movement were observed in part. 4. There were no difference in reproducibility index between affected side and contralateral side in unilaterally affected patients, and between unilaterally affected patients and bilaterally affected patients in patients group. 5. Highly significant positive correlationship were shown among the four 쇼pes of total reproducibility index(BERI) in total subjects, and range of clinical mouth opening was negatively correlated with BEBI on outgoing movements and with index on outgoing movement to preferred side.

• Journal of Navigation and Port Research
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• v.42 no.4
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• pp.277-282
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• 2018

Recently, the Vessel Traffic Service (VTS) coverage has expanded to include coastal areas following the increased attention on vessel traffic safety. However, it has increased the workload on the VTS operators. In some cases, when the traffic volume increases sharply during the rush hour, the VTS operator may not be aware of the risks. Therefore, in this paper, we proposed a new method to recognize ship movement anomalies automatically to support the VTS operator's decision-making. The proposed method generated traffic pattern model without any category information using the unsupervised learning algorithm.. The anomaly score can be calculated by classification and comparison of the trained model. Finally, we reviewed the experimental results using a ship-handling simulator and the actual trajectory data to verify the feasibility of the proposed method.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.10
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• pp.796-804
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• 2013

The "Potato Gun," a simple heat engine, is fabricated, tested and analyzed as a part of engineering education program of combustion and propulsion classes. Combustor pressure is predicted by the chemical equilibrium analysis of a constant volume combustor. Then, the internal ballistics, the conversion of thermal energy into the mechanical energy of a projectile, is predicted though the expansion process. The trajectory of a projectile is estimated by considering the aerodynamic effect around the spherical projectile. The energy conversion efficiency and the equivalence ratio of the fuel-air mixture could be estimated by the comparison of the experimental results and the theoretical prediction. The present work would be an example of attracting the interest of students for the application of the engineering principles at undergraduate level by recycling the waste materials.

• 한국전산유체공학회:학술대회논문집
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• 2007.04a
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• pp.83-86
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• 2007

Turbulent flow analysis is conducted around the multi-stage launch vehicle including base region and detachment motion of strap-on boosters due to resultant aerodynamic forces and gravity is simulated. Aerodynamic solution procedure is coupled with rigid body dynamics for the prediction of separation behavior. An overset mesh technique is adopted to achieve maximum efficiency in simulating relative motion of bodies and various turbulence models are implemented on the flow solver to predict the aerodynamic forces accurately. At first, some preliminary studies are conducted to show the importance of base flow for the exact prediction of detachment motion and to find the most suitable turbulence model for the simulation of launch vehicle configurations. And then, developed solver is applied to the simulation of KSR-III, a three-stage sounding rocket researched in Korea. From the analyses, after-body flow field strongly affects the separation motions of strap-on boosters. Negative pitching moment at initial stage is gradually recovered and a strap-on finally results in a safe separation, while fore-body analysis shows collision phenomena between core rocket and booster. And a slight variation of motion is observed from the comparison between inviscid and turbulent analyses. Change of separation trajectory based on viscous effects is just a few percent and therefore, inviscid analysis is sufficient for the simulation of separation motion if the study is focused only on the movement of strap-ons.

• Journal of Korean Society for Atmospheric Environment
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• v.22 no.5
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• pp.604-613
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• 2006

The chemical composition of $PM_{2.5}$ such as ${SO_4}^{2-},\;{NO_3}^-,\;Cl^-,\;{NH_4}^+,\;Ca^{2+},\;K^+,\;Na^+,\;Mg^{2+}$, OC, and EC and the concentrations of reactive trace gases including $O_3,\;CO,\;NOx,\;SO_2,\;and\;H_2O_2$ were measured at Gosan in Jeju Island during March $13{\sim}30$, as a part of the Atmospheric Brown Clouds-East Asian Regional Experiment 2005(ABC-EAREX2005). The average mass concentrations of $PM_{2.5}$ was 27.3 ${\mu}g/m^3$, of which OC showed the highest concentration as 4.22 ${\mu}g/m^3$ and nss ${SO_4}^{2-}$ was the second highest as 3.34 ${\mu}g/m^3$. During that period, average concentrations of CO and $O_3$ was about 300 ppbv and 56 ppbv, respectively. For the whole experiment, the correlations of CO with ${SO_4}^{2-}$ and EC were very good, which suggests that CO can be used as tracer for the formation of fine aerosols. Several pollution and dust episodes were identified by the enhancement of CO, OC, EC, nss ${SO_4}^{2-},\;or\;Ca^{2+}$ concentrations or their ratios. In conjunction with factor analysis, air trajectory analysis, and comparison with emission inventories, these results indicate the spring aerosols collected at Gosan was strongly influenced by Asian outflows.

• Geophysics and Geophysical Exploration
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• v.1 no.2
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• pp.92-100
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• 1998

Array CSAMT surveys were conducted in two areas where it was not easy to identify the presence of faults only with geological survey because of thick overburden. The purpose of these surveys were to locate the faults and to delineate the deep resistivity structures around the faults. The steep dip lineaments having high contrast in resistivity laterally and the low resistive zones having some width in the resistivity sections were interpreted as faults and fracture zones associated with faults, respectively, The good applicability of array CSAMT to the investigation of fault was recognized owing to the agreement between the interpretation results of array CSAMT and the conclusive evidences collected by the following geological survey. The evidences includes the recent exposure of fault and the trajectory of fault evidences of the survey line. A comparison of the applicabilities of array CSAMT method and the resistivity method using dipole-dipole array was presented with the results of both methods along a same traverse line.

• The Bulletin of The Korean Astronomical Society
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• v.37 no.2
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• pp.132.2-132.2
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• 2012

We have investigated the characteristics of magnetic cloud (MC) and ejecta (EJ) associated coronal mass ejections (CMEs) based on the assumption that all CMEs have a flux rope structure. For this, we used 54 CMEs and their interplanetary counter parts (interplanetary CMEs: ICMEs) that constitute the list of events used by the NASA/LWS Coordinated Data Analysis Workshop (CDAW) on CME flux ropes. We considered the location, angular width, and speed as well as the direction parameter, D. The direction parameter quantifies the degree of asymmetry of the CME shape, and shows how closely the CME propagation is directed to Earth. For the 54 CDAW events, we found several properties of the CMEs as follows: (1) the average value of D for the 23 MCs (0.62) is larger than that for the 31 EJs (0.49), which indicates that the MC-associated CMEs propagate more directly to the Earth than the EJ-associated CMEs; (2) comparison between the direction parameter and the source location shows that the majority of the MC-associated CMEs are ejected along the radial direction, while many of the EJ-associated CMEs are ejected non-radially; (3) the mean speed of MC-associated CMEs (946 km/s) is faster than that of EJ-associated CMEs (771 km/s). For seven very fast CMEs (>1500 km/s), all CMEs with large D (>0.4) are associated with MCs and the CMEs with small D are associated with EJs. From the statistical analysis of CME parameters, we found the superiority of the direction parameter. Based on these results, we suggest that the CME trajectory essentially decides the observed ICME structure.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.1
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• pp.424-430
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• 2021

Determining the cause of a traffic signal violation is difficult if the drivers' claims are contradictory. In this study, the process of identifying signal violations using a simulation was presented based on cases. First, statements from the driver or witness whose cause of the signal violation is unclear were excluded. Second, the final position, final location, damaged area, steering status, braking status, and road surface traces of the vehicle were collected. The impact point was investigated from the stop line. Third, simulation data were modified and entered until the collision situation of the accident vehicle and the final stop position were met. Fourth, if the simulation results were consistent with the crash situation, the facts were verified by cross-validation to conform to the driver's statement. The results of the simulation showed that the Lexus entered the left turn signal in the intersection at approximately 55 km/h. In comparison, the Sonata driver saw the vehicle straight ahead at the intersection, entered the 72 km/h intersection, and collided with the Lexus. Therefore, the Sonata was identified as a signal violation, and the claims of the Sonata driver, witnesses, and police were contradictory.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.12
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• pp.989-996
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• 2021

In the case of an unmanned aerial vehicle using a battery as a power source, there are restrictions in performing the mission because the battery capacity is limited. To extend the mission capability, it is important to minimize battery usage while the flight to the mission area. In addition, by using the battery usage prediction model, the possibility of mission completeness can be determined and it can be a criterion for selecting an emergent landing point in the mission planning stage. In this paper, we propose a battery usage prediction model considering as one of the environmental factors in the three-dimensional space. The required power is calculated according to the flight geometry of an unmanned aerial vehicle. True battery usage which is predicted from the required power is verified through the comparison with the battery usage prediction model. The optimal flight trajectory that minimizes battery usage is produced and compared with the shortest travel distance.