• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.301-303
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• 2018

This paper describes a robot control system and control method of a human arm type redundant manipulator. The control of a redundant manipulator suffer from computational complexity and singularity problem because of numerical inverse kinematics. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of inverse kinematics. In this research, we propose a numerical control method and weighted pseudo inverse kinematics algorithm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regard to the end-effector pose. Performance of the proposed algorithm was verified by various simulations. It is shown that the trajectory planning and using this algorithm provides correct results near the singular points and can utilize redundancy intuitively. We proved this system's validity through field test.

• Steel and Composite Structures
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• v.17 no.5
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• pp.601-621
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• 2014

Repairing and strengthening structural members by bonding composite materials have received a considerable attention in recent years. The major problem when using bonded FRP or steel plates to strengthen existing structures is the high interfacial stresses that may be built up near the plate ends which lead to premature failure of the structure. As a result, many researchers have developed several analytical methods to predict the interface performance of bonded repairs under various types of loading. In this paper, a numerical solution using finite - difference method (FDM) is used to calculate the interfacial stress distribution in beams strengthened with FRP plate having a tapered ends under thermal loading. Different thinning profiles are investigated since the later can significantly reduce the stress concentration. In the present theoretical analysis, the adherend shear deformations are taken into account by assuming a parabolic shear stress through the thickness of both beam and bonded plate. The shear correction factor for I-section beams is also included in the solution. Numerical results from the present analysis are presented to demonstrate the advantages of use the tapers in design of strengthened beams.

• Magazine of the Korean Society of Agricultural Engineers
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• v.38 no.3
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• pp.70-81
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• 1996

Solutions of geotechnical engineering problems require predictions of deformation and stresses during various stages of loading. Powerful numerical methods are available to make such predictions even for complicated problems. To get accurate results, realistic stress-strain relationships of soils are dependent on a number of factors such as soil type, density, stress level and stress path. Attempts are continuously being made to develope analytical models for soils incorporating all such factors. Isotropic compression-expansion test and a series of drained conventional triaxial tests with several stress path for Baekma river sand were performed to investigate stress-strain and volume change characteristics of Lade's single work hardening model dependant on the stress path. In order to predicted of stress-strain and volumetric strain behavior were determined the values of parameters for the mode by the computer program based on the regression analysis. Predicted stress-strain behavior of triaxial compression tests and optional stress path tests for increasing confining pressure with parameters obtained conventional triaxial compression tests agreed with several test results but the prediction results for decreasing confining pressure reduced triaxial compression tests make a little difference with test results.

• Journal of Electrical Engineering and Technology
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• v.7 no.6
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• pp.905-910
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• 2012

This paper reports an investigation of pulse width modulation (PWM) techniques for twophase brushless DC (BLDC) motors fed by a two-phase eight-switch inverter in a fan application. The three-phase BLDC motor is widely applied in industry; however, a lower-cost two-phase BLDC motor and drive circuit has been greatly in demand in recent years. In this paper, we introduce a mathematical model of the two-phase BLDC motor with sinusoidal back electromotive forces (EMFs) based on traditional three-phase BLDC motors. To simplify the drive algorithm and speed up its application, we analyze the principle of block commutation for a two-phase BLDC motor drive in the 180-electricaldegree conduction mode, and we further propose five PWM schemes to improve the commutation performance of the two-phase BLDC drive. The effectiveness of the proposed PWM methods is verified through experiments.

• Steel and Composite Structures
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• v.13 no.6
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• pp.501-519
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• 2012

As an alternative to current conventional force-based assessment methods, the energy-based seismic performance of a code-designed 20-storey high-rise steel building is evaluated in this paper. Using 3D nonlinear dynamic time-history method with consideration of additional material damping effect, the influences of different restoring force models and P-${\Delta}/{\delta}$ effects on energy components are investigated. By combining equivalent viscous damping and hysteretic damping ratios of the structure subjected to strong ground motions, a new damping model, which is amplitude-dependent, is discussed in detail. According to the analytical results, all energy components are affected to various extents by P-${\Delta}/{\delta}$ effects and a difference of less than 10% is observed; the energy values of the structure without consideration of P-${\Delta}/{\delta}$ effects are larger, while the restoring force models have a minor effect on seismic input energy with a difference of less than 5%, but they have a certain effect on both viscous damping energy and hysteretic energy with a difference of about 5~15%. The paper shows that the use of the hysteretic energy at its ultimate state as a seismic design parameter has more advantages than seismic input energy since it presents a more stable value. The total damping ratio of a structure consists of viscous damping ratio and hysteretic damping ratio and it is found that the equivalent viscous damping ratio is a constant for the structure, while the equivalent hysteretic damping ratio approximately increases linearly with structural response in elasto-plastic stage.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1718-1723
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• 2003

This paper presents a computational method for deformation modes of a flexible body in multibody system from the experimental modal analysis and an efficient method for flexible multibody dynamic analysis by use of the modes. It is difficult to directly use experimental modal parameters in flexible multibody dynamic analysis. The major reasons are that there are many inconsistencies between experimental and analytical modal data and experimental noises are inherent in the experimental data. So two methods, such as, a method for ortho-normalization of experimental modes and the other one for mode expansion, are suggested to gain deformation modes of a flexible body from the experimental modal parameters. Using the virtual work principle, the equation of motion of a flexible body is derived. The effectiveness of the proposed method will be verified in the numerical example of cab vibration of a truck by comparing analysis and test results.

• Nuclear Engineering and Technology
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• v.53 no.5
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• pp.1391-1402
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• 2021

The aim of this work is to prepare a neutron noise calculator based on the second order of average current nodal expansion method (ACNEM). Generally, nodal methods have the ability to fulfill the neutronic analysis with adequate precision using coarse meshes as large as a fuel assembly size. But, for the zeroth order of ACNEM, the accuracy of neutronic simulations may not be sufficient when coarse meshes are employed in the reactor core modeling. In this work, the capability of second order ACNEM is extended for solving the neutron diffusion equation in the frequency domain using coarse meshes. For this purpose, two problems are modeled and checked including a slab reactor and 2D BIBLIS PWR. For validating of results, a semi-analytical solution is utilized for 1D test case, and for 2D problem, the results of both forward and adjoint neutron noise calculations are exploited. Numerical results indicate that by increasing the order of method, the errors of frequency dependent coarse mesh solutions are considerably decreased in comparison to the reference. Accordingly, the accuracy of second order ACNEM can be acceptable for the neutron noise calculations by using coarse meshes in the nuclear reactor core.

• Journal of Korean Tunnelling and Underground Space Association
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• v.2 no.2
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• pp.62-71
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• 2000

The abandoned mines causing settlement of the surface above and collapse of the cavities are the major influencing factor on the stability of the nearby underground structures. To prevent the harmful effect, the backfill methods are commonly applied to the cavities although the design criteria and the analysis method are not properly addressed in some cases. An approximate analytical method together with the numerical technique is considered in this study to simulate the gradual deterioration of the rock masses around the cavities and, therefore, the influential zone to the underground structures passing through the cavities. Also considered in this study is the backfill effect on the stability of the rock masses around the cavities. Specifically, the incomplete backfill effect is compared with that of the idealized backfill method by adopting elasto-plastic analysis involving a strain softening material law.

• Structural Engineering and Mechanics
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• v.40 no.4
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• pp.563-581
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• 2011

Many novel materials, developed in recent years, have obvious properties with different modulus of elasticity in tension and compression. The ratio of their tensile modulus to compressive modulus is as high as five times. Nowadays, it has become a new trend to study the mechanical properties of these bimodular materials. At the present stage, there are extensive studies related to the strength analysis of bimodular structures, but the investigation of the buckling stability problem of bimodular rods seems to cover new ground. In this article, a semi-analytical method is proposed to acquire the buckling critical load of bimodular slender rod. By introducing non-dimensional parameters, the position of neutral axis of the bimodular rod in the critical state can be determined. Then by combining the phased integration method, the deflection differential equation of bimodular pin-ended slender rod is deduced. In addition, the buckling critical load is obtained by solving this equation. An example, which is conducted by comparing the calculation results between the three of the methods including the laboratory tests, numerical simulation method and the method we developed here, shows that the method proposed in the present work is reliable to use. Furthermore, the influence of bimodular characteristics on the stability is discussed and analyzed.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.16 no.3 s.108
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• pp.263-269
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• 2006

The objective of the present work is to develop a time-domain numerical method of broadband noise in a cascade of airfoils. This paper focuses on dipolar broadband noise sources, resulting from the interaction of turbulent inflows with the flat-plate airfoil cascade. The turbulence response of a two-dimensional cascade is studied by solving both of the linearised and the full nonlinear Euler equations employing accurate higher order spatial differencing, time stepping techniques and non-reflecting inflow/outflow boundary condition. The time-domain result using the linearised Euler equations shows good agreement with the analytical solution using the modified LINSUB code. Through the comparison of the nonlinear time-domain result using the full nonlinear Euler equations with the linear, it is found that the acoustic mode amplitude of the nonlinear response is less than that of the linear response due to the energy cascade from low frequency components to the high frequency ones. Considering the merits of the time-domain methods over the typical time-linearised frequency-domain analysis, the current method is expected to be promising tools for analyzing the effects of the airfoil shapes, non-uniform background flow, linear-nonliear regimes on the broadband noise due to turbulence-cascade interaction.