• Journal of the Korean Institute of Intelligent Systems
• /
• v.21 no.1
• /
• pp.36-41
• /
• 2011

Configuration space(C-space) including configuration obstacle(C-obstacle) is one of the most important concepts in mobile robot path planning. Using C-space and C-obstacles, the robot with different shapes and moving mechanisms can be considered as a point in the C-space. And, as a result, the collision-free path for the robot can be easily achieved. To make C-space including C-obstacle, many researchers used circular approximation method for the efficient caluculation time. This method can help us to save our time by approximating the shape of a robot as the minimum sized circle which can cover all the area of robot. But, by using the circle larger than the robot, more space are considered as the part of robot and, as a result, some obstacles which are very near each other may be considered as a combined one obstacle. To solve this problem, multi-level configuration space is proposed by this paper. This multi-level method also use the circular approximation method as the initial step. But, after finding the initial path, it will check how many obstacles are combined. And then, for each combined obstacle, more accurate C-space generation will be continued. To check the efficiency of the proposed algorithm, time for c-space generation are compared with the well-known accurate C-space generation method using various types of robot shape.

• Korean Chemical Engineering Research
• /
• v.45 no.4
• /
• pp.400-409
• /
• 2007

Morphology of methane/propane clathrate hydrate crystal was investigated under different undercooling conditions. After the water pressurized with compound guest gas was fully saturated by agitation, medium within the vessel was rapidly undercooled and maintained at the constant temperature while the visual observations using microscope revealed detailed features of subsequent crystal nucleation, migration, growth and interference occurring within liquid pool. The growth of hydrate was always initiated with film formations at the bounding surface between bulk gas and liquid regions under all tested experimental conditions. Then a number of small crystals ascended, some of which settled beneath the hydrate film. When undercooling was relatively small, some of the settled crystals slowly grew into faceted columns. As the undercooling increased, the downward growth of crystals underneath the hydrate film became dendritic and occurred with greater rate and with finer arm spacing. The shapes of the floating crystals within liquid pool were diverse and included octahedron and triangular or hexagonal platelet. When the undercooling was small, the octahedral crystals were found dominant. As the undercooling increased, the shape of the floating crystals also became dendritic. The detailed growth characteristics of floating crystals are reported focused on the influences caused by undercooling and memory effect.

• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.30 no.6
• /
• pp.531-539
• /
• 2017

This paper deals with the development of bonded joints for fibre reinforced plastic (FRP) hull structures using moulding-in concept. Focus is placed on bonded in-plane connections between two adjacent panels that could form the boundaries of hull structural module. Traditional construction in FRP hull structures requires the construction of a mould, usually from steel or aluminium. In this construction the FRP materials are laid in the mould, and resin is saturated, and then the structural member is cured. This is expensive since it involves the fabrication of metal hull mould for every different hull type, which is sacrificed after the production of the FRP ship. One way of encouraging greater use of FRP in ship construction is to investigate the possible construction of FRP hull structures in a similar manner to metallic ships, that is in terms of blocks or modules. Such a manner of construction would eliminate the need for expensive hull moulds permitting greater flexibility in the construction of FRP ships. The main issue then would be the design and construction of adequate bonded connections between adjacent panels. To fulfill this object, the simplified and automated way of manufacturing joint edge shapes for bonded joints is developed, and their structural assessment is performed in both experimentally and numerically.

• Journal of Bio-Environment Control
• /
• v.24 no.2
• /
• pp.63-68
• /
• 2015

This study was conducted to find out optimum cultivars, and growth temperature and stage in peanut sprout for resveratrol production. Morphological characteristic, days to 50% of the final germination percentage($T_{50}$) and early growth vigor were measured in 8 different peanut varieties. In result 'Jopyeong' appeared to be the most appropriate cultivar for peanut production because of its lower contamination rate, lesser lateral root formation, and thicker hypocotyl length. Optimum temperature for growing peanut sprouts was determined 27. Content of resveratrol was examined by high performance liquid chromatography(HPLC) to investigate appropriate growth stage of peanut sprouts for resveratrol production. Resveratrol was higher than $17.0{\mu}g/g$ in peanuts sprouts 9 days after plating. Considering peanut sprout's shapes and content of resveratrol into account, it was most appropriate to harvest in 9-day after germination.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.20 no.4
• /
• pp.451-460
• /
• 2014

In this paper, we examined the problem of the structural stability according to the patch load of a rectangular plate that reflects the material properties of A6082-T6 is used primarily for marine plant structure. it applied to the four patch loading shapes, the effect of aspect ratio, a boundary condition and calculated the critical elastic buckling load. Calculating the critical elastic buckling load, During the eigenvalue buckling analysis it is applied to the shell181 as 4 node shell element. when the plate subjected to patch loading compare to the plate under a uniform axial compression load, it is possible observed to occur the different elastic buckling behaviour and it could be confirmed that it is affected significantly on a variable position and type of loadings, such as the effect of the aspect ratio. Also, Critical elastic buckling load according to th patch loading type in simply supported rectangular plate a/b=1.0, ${\gamma}b$=200mm are calculated 67%(Loading type I), 119 %(Loading type II), 76 %(Loading type III), 160 %(Loading type IV), respectively. Loading type I and III could be determined with the strong elastic buckling behavior much more than Loading type II and IV.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.40 no.7
• /
• pp.417-427
• /
• 2016

This paper is the first investigation of the steady flow characteristics of an SI engine with a semi-wedge combustion chamber as a function of the port shape. For this purpose, the planar velocity profiles were measured at the 1.75B position by particle image velocimetry. The flow patterns were examined with both a straight and a helical port. Two swirls were observed up to 4 mm valve lift with the straight port and up to 2 mm with the helical one; however, only one swirl was present after these lifts. The flow characteristics changed suddenly between 4 and 5 mm lift in the straight port; on the other hand, the change with lift was gradual with the helical port - the transition points between flow regimes were different with the port shapes. In addition, the centers of the swirls were relatively far from the cylinder center so that the effect of eccentricity may not be negligible at 1.75B, regardless the shape. The eccentricity values with the straight port were especially high - over 0.5 for all lifts. Finally, real velocities were found to be much lower than those predicted by the assumption of ISM evaluation, with the profiles differing qualitatively as well.

• Publications of The Korean Astronomical Society
• /
• v.30 no.2
• /
• pp.559-563
• /
• 2015

Monitor of All-sky X-ray Image (MAXI) is a Japanese X-ray all-sky surveyer mounted on the International Space Station (ISS). It has been scanning the whole sky since 2009 during every 92-minute ISS rotation. X-ray transients are quickly found by the real-time nova-search program. As a result, MAXI has issued 133 Astronomer's Telegrams and 44 Gamma-ray burst Coordinated Networks so far. MAXI has discovered six new black holes (BH) in 4.5 years. Long-term behaviors of the MAXI BHs can be classified into two types by their outbursts; a fast-rise exponential-decay type and a fast-rise flat-top one. The slit camera is suitable for accumulating data over a long time. MAXI issued a 37-month catalog containing 500 sources above a ~0.6 mCrab detection limit at 4-10 keV in the region ${\mid}{b}{\mid}$ > $10^{\circ}$. The SSC instrument utilizing an X-ray CCD has detected diffuse soft X-rays extending over a large solid angle, such as the Cygnus super bubble. MAXI/SSC has also detcted a Ne emission line from the rapid soft X-ray nova MAXI J0158-744. The overall shapes of outbursts in Be X-ray binaries (BeXRB) are precisely observed with MAXI/GSC. BeXRB have two kinds of outbursts, a normal outburst and a giant one. The peak dates of the subsequent giant outbursts of A0535+26 repeated with a different period than the orbital one. The Be stellar disk is considered to either have a precession motion or a distorted shape. The long-term behaviors of low-mass X-ray binaries (LMXB) containing weakly magnetized neutron stars are investigated. Transient LMXBs (Aql X-1 and 4U 1608-52) repeated outbursts every 200-1000 days, which is understood by the limit-cycle of hydrogen ionization states in the outer accretion disk. A third state (very dim state) in Aql X-1 and 4U 1608-52 was interpreted as the propeller effect in the unified picture of LMXB. Cir X-1 is a peculiar source in the sense that its long-term behavior is not like typical LMXBs. The luminosity sometimes decreases suddenly at periastron. It might be explained by the stripping of the outer accretion disk by a clumpy stellar wind. MAXI observed 64 large flares from 22 active stars (RS CVns, dMe stars, Argol types, young stellar objects) over 4 years. The total energies are $10^{34}-10^{36}$ erg $s^{-1}$. Since MAXI can measure the spectrum (temperature and emission measure), we can estimate the size of the plasma and the magnetic fields. The size sometimes exceeds the size of the star. The magnetic field is in the range of 10-100 gauss, which is a typical value for solar flares.

• Journal of Korea Water Resources Association
• /
• v.41 no.5
• /
• pp.491-501
• /
• 2008

In order to describe runoff characteristics of urban drainage area, outflow from subbasins divided by considering topography and flow path, is analyzed through stormwater system. In doing so, concentration time and time-area curve change significantly according to basin shape, and runoff characteristics are changed greatly by these attributes. Therefore, in this development study of FFC2Q model by MLTM, we aim to improve the accuracy in analyzing runoff by adding a module that considers basin shape, giving it an advantage over popular urban hydrology models, such as SWMM and ILLUDAS, that can not account for geometric shape of a basin due to their assumptions of unit subbasin as having a simple rectangular form. For subbasin shapes, symmetry types (rectangular, ellipse, lozenge), divergent types (triangle, trapezoid), and convergent types (inverted triangle, inverted trapezoid) have been analyzed in application of time-area curve for surface runoff analysis. As a result, we found that runoff characteristic can be quite different depending on basin shape. For example, when Gunja basin was represented by lozenge shape, the best results for peak flow discharge and overall shape of runoff hydrograph were achieved in comparison to observed data. Additionally, in case of considering subbasin shape, the number of division of drainage basin did not affect peak flow magnitude and gave stable results close to observed data. However, in case of representing the shape of subbasins by traditional rectangular approximation, the division number had sensitive effects on the analysis results.

• Korean Journal of Plant Resources
• /
• v.12 no.1
• /
• pp.50-61
• /
• 1999

The leaf morphological and anatomical characters about 17 taxa of Aster and its allied taxa were investigated to estimate taxonomic values. Leaf shapes of the treated taxa were divided into five types; elliptic, spathulate, lanceolate, linear, ovatodeltoid. These types were fixed in same taxa, but variable among different taxa, therefore useful as taxonomic character. Leaf margins were divided into four types; entire, serrate, dentate, incised, these types were invariable in most taxa, but variable among individual in same taxa such as Kalimeris incise, Aster spathulifolius. The size and shape of leaf epidermal cell, the size and distributional numbers per 10$\textrm{mm}^2$ of stomata, deposit feature of cuticle were not distinguished clearly from treated taxa, but presence of stomata on adaxial surface, size and distributional numbers per 10$\textrm{mm}^2$ of stomata were useful taxonomic characters in some taxa such as Gymnaster koraiensis, Aster altaicus var. uchiyamae, Aster tripolium, Heteropappus arenarius. The leaf trichomes were divided into five types by basic form, sculpturing on their outer surface and cell arrangement; uniseriate granulate conical type, uniseriate psilate conical type, uniseriate psilate filiform type, globular type, biseriate vesicular capitate type. In spite of various habitat, basic morphology of trichomes were not changed, therefore, it was thought to be good taxonomic character.

• Journal of the Korean Geotechnical Society
• /
• v.29 no.9
• /
• pp.17-29
• /
• 2013

The geophysical methods have an advantage for investigating the wide area with low cost, and thus the application of these methods has been increased. The objective of this paper estimates the characteristics of alluvium through the geophysical methods including elastic wave, electrical resistivity and ground penetration radar. And the standard penetration test is also carried out for verifying the geophysical data with comparison. The sources of elastic wave method are divided into hammer and sissy and the electrical resistivity method is applied with different sizes, shapes and arrays of electrode for deciding the effective way. The center frequency is determined to be 270 MHz for considering the characteristics of soil. The results of ground penetration radar are also compared with those of standard penetration test. The high resolution shows when the source is a sissy in elastic wave method, however, the water level is not identified. In the electrical resistivity method, the non-polarizable electrode and schlumberger array show highly reliable data and the resolution of ground penetration radar is low. Thus, the results of this study are widely applied for determining the appropriate method when investigating the characteristics of alluvium.