• 로봇학회논문지
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• 제15권2호
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• pp.139-146
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• 2020

In this paper, the slope of the footplate is adjusted to compensate for the centrifugal force with a series elastic actuator (SEA) attached to the Segway's body to improve the cornering characteristics during turning. To ensure Segway's driving safety in the curvature motion, it is necessary to compensate for the centripetal force by tilting the footplate to generate inward force from gravity. When the footplate is tilted under the control of SEA, the vertical load on both wheels has been changed accordingly. The frictional force of the wheel has been changed by the change of the vertical force, which requires adjustment of driving torque to keep the curvature trajectory. That is, the driving torque has been controlled to keep the curvature trajectory considering the frictional force caused by the turning motion. Four SEAs are attached to the footplate to control the slope of the footplate and the real curvature motion has been demonstrated to verify the effects of SEAs in the high- speed curvature motion.

• 한국식품위생안전성학회지
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• 제18권2호
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• pp.43-50
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• 2003

A liquid chromatographic method, using matrix solid-phase dispersion (MSPD) is developed for the extraction of residual furazolidone in chicken eggs. Blank or fortified egg samples (0.5 g) were blended with Octadecylsilyl (Bulk $C_{18}$, 40${\mu}{\textrm}{m}$, 18%. load, endcapped. 2 g) derivatized silica. After homogenization, $C_{18}$/egg and Na$_2$S $O_4$matrix were transferred to a column made of 10 ml glass syringe and filter paper and compressed 4.0∼4.5 ml volume. The column was washed with 8 ml of hexane and dried under $N_2$ gas. Furazolidone was eluted with acetonitrile (8 ml) under gravity. The eluate containing furazolidone was free from interfering compounds when analyzed by HPLC with UV detection (365 nm, photodiode array). Calibration curves were linear (r = 0.99985) and inter- (1.47%) and intra-assay (5.29%) variabilities for the concentration range examined (7.8∼497 ng/g of eggs, 20 ${mu}ell$ injection volume) were indicative of an acceptable methodology for the analysis of furazolidone. Average recovery of furazolidone added to egg was 96.2%. The limit of detection for the proposed method was 1 ng/g for furazolidone. The method using MSPD is proposed as an alternative assay to the classical method which involves the use of large volumes of a harmful solvent and requires a long tedious separation and clean-up processes prior to its determination.

• Structural Engineering and Mechanics
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• 제38권4호
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• pp.385-403
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• 2011

Continuous deep girders which transmit the gravity load from the upper wall to the lower columns have frequently long end shear spans between the boundary of the upper wall and the face of the lower column. This paper presents the results of tests and analyses performed on three 1:2.5 scale specimens with long end shear spans, (the ratios of shear-span/total depth: 1.8 < a/h < 2.5): one designed by the conventional approach using the beam theory and two by the strut-and-tie approach. The conclusions are as follows: (1) the yielding strength of the continuous RC deep girders is controlled by the tensile yielding of the bottom longitudinal reinforcements, being much larger than the nominal strength predicted by using the section analysis of the girder section only or using the strut-and-tie model based on elastic-analysis stress distribution. (2) The ultimate strengths are 22% to 26% larger than the yielding strength. This additional strength derives from the strain hardening of yielded reinforcements and the shear resistance due to continuity with the adjacent span. (3) The pattern of shear force flow and failure mode in shear zone varies depending on the amount of vertical shear reinforcement. And (4) it is necessary to take into account the existence of the upper wall in the analysis and design of the deep continuous transfer girders that support the upper wall with a long end shear span.

• Structural Engineering and Mechanics
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• 제21권2호
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• pp.205-220
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• 2005

This paper presents the possibilities of adapting artificial neural networks (ANNs) to predict the dimensionless parameters related to the maximum contact pressures of an elasticity problem. The plane symmetric double receding contact problem for a rigid stamp and two elastic strips having different elastic constants and heights is considered. The external load is applied to the upper elastic strip by means of a rigid stamp and the lower elastic strip is bonded to a rigid support. The problem is solved under the assumptions that the contact between two elastic strips also between the rigid stamp and the upper elastic strip are frictionless, the effect of gravity force is neglected and only compressive normal tractions can be transmitted through the interfaces. A three layered ANN with backpropagation (BP) algorithm is utilized for prediction of the dimensionless parameters related to the maximum contact pressures. Training and testing patterns are formed by using the theory of elasticity with integral transformation technique. ANN predictions and theoretical solutions are compared and seen that ANN predictions are quite close to the theoretical solutions. It is demonstrated that ANNs is a suitable numerical tool and if properly used, can reduce time consumed.

• 대한전기학회논문지:전력기술부문A
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• 제48권9호
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• pp.1147-1153
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• 1999

The attitude control of a double inverted pendulum with a periodical disturbance at link top is dealt in this paper. The proposed system is consisted of the double inverted pendulum and a disturbing link; a triple inverted pendulum with two motors. The lower link is hinged on the plate to free for rotation in the vertical plane. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The periodical disturbance can be generated by the additional like attached at the end of link 2 through another DC motor, which is the modeling of a posture for a biped supporting with one leg. The motor for the joint simulates the knee joint(or hip joint) and the disturbance for the legs moving in air. The algorithm for controlling the proposed inverted pendulum which is regarded as a virtual double inverted pendulum with a periodic disturbance, is consisted of a state feedback control and a fuzzy logic controller connected in parallel. The fuzzy controller keeps the center of gravity of the biped within the specified range through the nonlinear feedback compensator. The state feedback control takes over the role to maintain a desired posture regardless the disturbance at the link top. Simulations with a mathematical model and experiments are conducted to show the validity of the proposed controller.

• 대한기계학회논문집A
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• 제33권11호
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• pp.1306-1313
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• 2009

Dynamic and static behaviors of a three-dimensional catenary system for a high-speed railway are analyzed by using the finite element method. Considering tensions in the contact wire and the messenger wire, we drive the equations of motion for the catenary system. These equations are for the longitudinal, transverse, vertical and torsional motions. After establishing the weak form, the weak forms are spatially discretized with newly defined two-node beam elements. With the discretized equations, a finite element computer program is developed for the static and dynamic analyses. The static deflections of the catenary system, which are important for good contact between the pantograph and the contact line, are computed when the gravity is applied. On the other hand, we analyze the natural frequencies and the corresponding natural modes of the catenary system. The dynamic responses of the system are also investigated when applying a load to the contact line. For verification of the developed finite element program, vibrations of the catenary system are measured and they are compared to computed time responses.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2001년도 제16회 학술발표회 논문초록집
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• pp.91-94
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• 2001

A structural test of the wind turbine rotor blade must be required to evaluate the uncertainty in design assessment due to use of material, design concepts, production processes and so on, and the possible impact on the structural integrity. In the full-scale static strength test, the measuring parameters are strain, displacements, loads, weight and the center of gravity. There are test equipments, measuring sensors, a test rig and fixtures to obtain measuring parameters. In order to simulate the aerodynamics load, the three-point loading method instead of the one-point loading method is applied. There is slightly some difference between the measured results and the predicted results with the reference fiber volume fraction of 60%. However, the agreement between the measured results and the predicted results with the actual fiber volume fraction of 52.5% is good. Even though a slightly non-linearity from 80% loading to 100% loading, a linear static solution is sufficient for the design purpose as the amount of the non-linearity is relatively small. Comparison between measured and predicted strain results at the maximum thickness positions of the blade profile for 0.236R(5.56m), 0.493R(11.59m) and 0.574R(13.43m), under 20%, 40%, 60%, 80% and 100% loadings for the upper part of the blade. The predicted values are in good agreement with the measured values.

• Steel and Composite Structures
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• 제1권3호
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• pp.329-340
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• 2001

Cyclic response of "shear" connections between steel outrigger beams and reinforced concrete core walls is presented in this paper. The connections investigated in this paper consisted of a shear tab welded onto a plate that was connected to the core walls through multiple headed studs. The experimental data from six specimens point to a capacity larger than the design value. However, the mode of failure was through pullout of the embedded plate, or fracture of the weld between the studs and plate. Such brittle modes of failure need to be avoided through proper design. A capacity design method based on dissipating the input energy through yielding and fracture of the shear tab was developed. This approach requires a good understanding of the expected capacity of headed studs under combined gravity shear and cyclic axial load (tension and compression). A model was developed and verified against test results from six specimens. A specimen designed based on the proposed design methodology performed very well, and the connection did not fail until shear tab fractured after extensive yielding. The proposed design method is recommended for design of outrigger beam-wall connections.

• 대한기계학회논문집A
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• 제24권9호
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• pp.2371-2380
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• 2000

In this paper, we developed the proximity exposure system with the vertical structure of glass and mask stage to minimize the mask's warp caused by the pull of gravity. This system, which canirradiate the ultra violet through 1440 H 850 $\textrm{mm}^2$ and 1330X 1015 $\textrm{mm}^2$ exposure area, has the followingcharacteristics. The glass stage can be inclined by 80 degrees at vertical structure to load substrate withsafety on it. When the glass stage is the vertical state, the gap control, alignment control and exposureof ultra violet are executed. So, it enhances the pattern uniformity by minimizing the mask's warp. Theglass stage can also control the gap between the mask and the substrate by the coarse and fine motioncontrol. The mask stage can adjust the posture of photomask to the position of substrate by imageprecessing method. The galss stage for the gap control and the mask stage for the alignment aredesigned independently for each function.

• 한국해안·해양공학회논문집
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• 제23권6호
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• pp.407-413
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• 2011

응답면 기법을 사용하여 잔교식 안벽의 신뢰성 해석을 수행하였다. 잔교식 안벽은 중력식 안벽과 달리 상부가 강관파일에 의해 지지되는 유연구조물로 한계상태함수가 음함수로 존재한다. 따라서, 한계상태함수를 양함수로 근사하기 위해 응답면 기법을 사용하였다. 응답면 기법을 이용한 LevelII신뢰성해석 방법을 통해 지진하중에 의한 잔교식 안벽의 신뢰도지수를 계산하고, 중요도 추출법을 통해 검증하였다. 수치해석으로는 직항식, 사항식을 각각 해석하였다.