• 대한토목학회논문집
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• 제29권4A호
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• pp.373-384
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• 2009

다공성 경량골재의 사전흡수수에 따른 콘크리트 수축 저감 효과의 정량적 평가와 부등수축해석모델 상수 제공을 위한 첫번째 단계로서, 수분이동모델을 설정하고 이에 따른 수분이동 특성상수인 유효수분확산계수, 수분용량, 습도공급도, 습도소모도를 물-결합재비, 골재 종류를 변수로 하여 측정하였다. 콘크리트 내, 외부 습도차에 의한 정상상태에서의 유효수분확산계수는 물-결합재비가 낮을수록 낮은 값을 나타내었으며 동일한 물-결합재비인 경우 일반골재를 사용한 배합이 경량골재를 사용한 배합보다 낮은 유효수분확산계수값을 나타내었다. 콘크리트 내 수분의 저장 능력 즉, 수분용량을 산정하기 위해 9가지 습도에서 콘크리트의 수분량을 측정하였으며 경량골재를 사용한 배합이 일반골재를 사용한 배합보다 모든 습도조건에서 수분량이 크게 나타났다. 일반 대기환경 습도 50% 이상 조건에서 적용할 수 있는 경량골재의 습도공급도를 측정하여 정량화 하였으며, 경량골재에서의 수분 방출량은 주변 습도에 반비례하고 시간에 비례하는 뚜렷한 경향을 나타내는 지수함수의 형태로 설정하였다. 시멘트 수화 자기건조에 의한 수분의 내부소모에 따른 콘크리트 내 습도소모도를 측정하였으며, 측정결과 물-결합재비 0.3의 경우 7~10일 이내의 초기재령에서 약 10% 내외의 급격한 습도감소를 나타내었으며 물-결합재비 0.4, 0.5의 경우 완만한 형태로 약 5%, 1% 내외의 습도 감소를 나타내었다.

• 제어로봇시스템학회논문지
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• 제7권1호
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• pp.1178-1186
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• 2001

This paper presents design and analysis of a 6 degree-of-freedom new haptic device using a par-allel mechanism for interfacing with virtual reality. The mechanism is composed of three pantograph mecha-misms that, driven by ground-fixed servomotors. stand perpendicularly to the base plate. Three spherical joints connect the top of the pantograph with connecting bars, and three revolute joint connect connecting bars with a mobile joystick handle. Forward and inverse kinematic analyses have been performed and the Jacobian matrix is derived by using the screw theroy. Performance indices such as GPI(Global Payload Index), GCI(Global Conditioning index), Traslation and Orientation workspaces, and Sensitivity are evaluated to find optimal pa-rameters in the design stage. The proposed haptic mechanism has better load capability than those of the ex-isting haptic mechanisms due to the fact that motors are fixed at the base. It has also wider orientation work-space mainly due to RRR type spherical joints.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2737-2742
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• 2003

Kinematic calibration enhances absolute accuracy by compensating for the fabrication tolerances and installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed. While the Cartesian postures are measured completely, all of the geometric parameters can be identified to their true values. With partial pose measurements, however, few geometric parameters may not be identifiable and effectiveness of the calibration results may vary significantly within the workspace. QR decomposition of the identification Jacobian matrix can reveal the non-identifiable parameters. Selecting postures for measurement is also an important issue for efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to find optimum postures. This paper investigates identifiable parameters and optimum postures for four different calibration procedures - measuring postures completely with inverse kinematic residuals, measuring postures completely with forward kinematics residuals, measuring only the three position components, and restraining the mobility of the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel HexaSlide type paralle manipulator, HSM. Results verify that all parameters are identifiable with complete posture measurements. For the case of position measurements, one and for the case of constraint link, three parameters were found non-identifiable. Optimal postures showed the same trend of orienting themselves on the boundaries of the search space.

• 한국주거학회논문집
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• 제23권2호
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• pp.25-36
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• 2012

The purpose of this study is to find out the commercialization characteristics of 2nd class residential district in innercity railway station area as basic research to protect urban residential area against the pressure of commercialization. Through the research that are based on literature, field survey and urban planning map, it analysed the commercialization characteristic of selected three sites under similar urban condition; to be a nearby subway station and to be a famous commercial street in site, etc. The consequences of this study are summarized as follows; First it finds the commercialized lots in all blocks that adjoin blocks of upper class zoning. Second it is in inverse proportion between the commercialization of lots and the distance from subway station to residential block. Third, the corner lot of a block and the access road directly connected collector road are very important factors to spread commercialization to residential area. Finally, it finds the difference of the commercialization degree of 2nd class residential zone according to arrange main commercial street and the 2nd class residential block; vertical arrangement and horizontal arrangement.

• The Korean Journal of Ecology
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• 제20권6호
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• pp.413-421
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• 1997

Ecological characteristics of Rumex acetosella have been studied both in the laboratory and in the field. R. acetosella grows well straight up after germination, elongating and thickening their rhizomes with sprouts erupting along their bodies of the rhizome. The number and development of leaves and ramets reach their peak by April. The size of leaves and the cover degree of the plant increase from April to May. R. acetosella is an ephemeral, a short life mode plant, finishing its life cycle in July or August. The germination and seedling growth of selected species exposed to aqueous extracts of R. acetosella were in inverse proportion to concentration. The growth of Rumex japonicus and Digitaria sanguinalis cultivated in soil with R. acetosella was more inhibited than that of the control. Twelve chemical compounds were identified from R. acetosella by GC and HPLC and verified by bioassay with the same chemical reagents. It would be assdumed that these chemical substances are responsible for the allelopathic effect of R. acetosella. In short, R. acetosella plants grow vigorously from April and maintain their superior competitive ability to other plants in forming their communities by emitting chemical substances into their environment.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.1018-1021
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• 2007

This paper explores the use of BEM based NAH to reconstruct the surface vibration of a plate in a rectangular finite cavity, in which the distances between sensors and the nearest points on the source surface are not equal. In such circumstances, different degree of information on propagating and non-propagating wave components will be detected by sensors at different positions, as well as the influence of measurement noise will vary significantly from the nearest points of measurement to the farthest ones. On the other hand, the condition number of the vibro-acoustic transfer function matrix relating normal surface velocities and field pressures will becomes high, numerically indicating an increase of linear dependency between rows of transfer function matrix. The combination of poor measurement and high condition number will result inaccurate reconstruction. Therefore, one approach to be investigated in this work is to select the measurement positions in such ways that reduce measurement redundancy, as it indicated by the condition number. The improvement is found to be significant in the numerical simulations utilizing two different criterions, spanning from over-determined to under-determined cases, and in the validation experiment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.948-951
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• 1996

High-speed/high-accuracy control of robot manipulator becomes more and more stringent because of the external disturbance and nonlinear characteristics. To meet this ends, lots of control strategies were proposed in the past such as the computed torque control, the nonlinear decoupled feedback control, and adaptive control. These control methods need computations of the inverse dynamics and require much computational effort. Recently, a disturbance observer with unmodeled robot dynamics and simple algorithms to motion control have been widely studied. This paper proposes a motor control strategy based on the disturbance observer which estimate the disturbance of each joint from input-output relationship of the actuator and eliminate the estimated disturbance including the torque due to modeling errors, coupling force, nonlinear friction, and so on. To apply the disturbance observer to closedloop system like velocity servo pack, the modified control structure was constructed and shown that it is equivalent to a disturbance observer in open-loop system. Finally, using the proposed approach, simulation and experiments were carried out for a two-degree-of-freedom SCARA type direct drive robot, and show some results to verify the effectiveness of the proposed algorithms.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 하계학술대회 논문집 D
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• pp.2631-2633
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• 2004

This paper describes the construction of a half sphere screen driving tilting simulator that can perform six degree-of-freedom( DOF) motions simmulator to a tilting train. The mathematical equations of Tilting Train dynamics are first derived from the 6-DOF bicycle model and incorporated with the bogie. carbody, and suspension subsystems. The equations of motion are then programmed by visual C++ code. To achieve the simulator functions. a motion platform that is constructed by six electric-driven actuators is designed. and its kinetics/inverse kinetics analysis is also conducted. Driver operation signals such as carbady angle, accelerator. and tilting positions are measured to trigger the Tilting dynamics calculation and further actuate the cylinders by the motion platform control program. In addition. a digital PID controller is added to achieve the stable and accurate displacements of the motion platform. The experiments prove that the designed simulator is adequate in performing some special rail mad driving situations discussed in this paper.

• 대한수학교육학회지:수학교육학연구
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• 제13권1호
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• pp.25-55
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• 2003

In the school mathematics, the negative numbers have been instructed by means of intuitive models(concrete situation models, number line model, colour counter model), inductive-extrapolation approach, and the formal approach using the inverse operation relations. These instructions on the negative numbers have caused students to have the difficulty in understanding especially why the rules of signs hold. It is due to the fact that those models are complicated, inconsistent, and incomplete. So, students usually should memorize the sign rules. In this study we studied on the didactical phenomenology of the negative numbers as a foundational study for the improvement of teaching negative numbers. First, we analysed the formal nature of the negative numbers and the cognitive obstructions which have showed up in the historic-genetic process of them. Second, we investigated what the middle school students know about the negative numbers and their operations, which they have learned according to the current national curriculum. The results showed that the degree they understand the reasons why the sign rules hold was low Third, we instructed the middle school students about the negative number and its operations using the formal approach as Freudenthal suggest ed. And we investigated whether students understand the formal approach or not. And we analysed the validity of the new teaching method of the negative numbers. The results showed that students didn't understand the formal approach well. And finally we discussed the directions for improving the instruction of the negative numbers on the ground of these didactical phenomenological analysis.

• 말소리와 음성과학
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• 제8권3호
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• pp.11-20
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• 2016

It is well known that vowels are shorter before voiceless consonants than voiced ones in English, as in many other languages. Research has shown that the ratio of vowel durations in voiced and voiceless contexts in English is in the range of 0.6~0.8. However, little work has been done as to whether the ratio of vowel durations varies depending on English variety. In the production experiment in this paper, seven speakers from three varieties of English, New Zealand, British, and American English, read 30 pairs of (C)VC monosyllabic words which differ in coda voicing (e.g. beat-bead). Vowel height, phonemic vowel length, and consonant manner were varied as well. As expected, vowel-shortening effects were found in all varieties: vowels were shorter before voiceless than before voiced codas. Overall vowel duration was the longest in American English and the shortest in New Zealand (NZ) English. In particular, vowel duration before voiceless codas is the shortest in New Zealand English, indicating the most radical degree of shortening in this variety. As a result, the ratio of vowel durations in varying voicing contexts is the lowest in NZ English, while American and British English do not show a significant difference each other. In addition, consonant closure duration was examined. Whereas NZ speakers show the shortest vowel duration before a voiceless coda, their voiceless consonants have the longest closure duration, which suggest an inverse relationship between vowel duration and closure duration.