• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 B
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• pp.843-845
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• 1995

There are a variety of trajectory and control algorithms available for robot trajectory tracking. Before using the enhanced trajectory and control algorithms to reduce the tracking error, we introduce the new method which reduces the tracking error by clipping the joint velocity. A lot of robot trajectory tracking methods are proposed to enhance the robot tracking, but irregular tracking errors are always accompanied. Up to now, these irregular tracking errors are gradually but uniformly reduced by introducing more complicated control algorithms. It is intuitively obvious to reduce only the big errors selectively in the irregular ones for the better performance. By heuristic method, big tracking errors in these irregular ones are assumed mostly due to the fast moving of joint with respect to the same tracking and control method. So, in this paper, we introduce a new method which reduce the big tracking errors by clippings the joint velocity with the constraint of given path. Using this method, desired trajectory tracking is obtained within the far reduced error bound. Also, this method is successfully applied to generate the path-constrained error reducing trajectories for 2-axis SCARA type robot.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2018년도 추계 학술논문 발표대회
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• pp.8-9
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• 2018

3D printing has the unique advantage of the ability to customize freeform product even in small quantity. However, we need to select and apply the only necessary parts of it because of the high cost of the manufacturing technology. It is of critical importance in irregular-shaped curtain walls to ensure precision of construction as well as quality fo finish. Complex shape that have structural members at varying angles can have nodes of different shapes making it unfeasible to construct using a general node connection detail. Therefore, this study aims to utilize smart node system using 3D printing as a solution to complex irregular-shaped curtain wall design.

• 대한조선학회논문집
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• 제35권1호
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• pp.40-45
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• 1998

불규칙파중의 선박의 운동을 해석하는 방법으로 주파수 영역해석법과 시영역해석법이 있다. 주파수영역해석법은 스펙트럴해석기법에 의해 불규칙파중 선박의 운동특성을 구하는 방법이고, 시영역해석법은 불규칙파를 생성하여 이 파를 실제의 입력으로 하여 선박의 운동을 직접 계산하는 방법이다. 보통 취급이 간편한 주파수 영역해석법이 선박의 자동조타 시스템 평가에 자주 사용되고 있으나, 본 연구에서는 주파수 영역해석법과 시영역해석법에 의한 불규칙파중의 선박의 보침운동 및 자동조타 시스템 평가를 수행하고 두 방법을 비교 검토하였다.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2003년도 춘계학술대회 논문집
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• pp.128-134
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• 2003

Numerical study on interactions of waves and currents has considerable practical interests in coastal and ocean engineering. And wave-current interactions strongly influence wave characteristics, current profiles, and forces on offshore structures. Presence of currents affects wave properties such as wave height and wave profiles. Furthermore, in case of the irregular waves, it is more complicated problem. The propose of present study, using the one-dimensional wave-current numerical model is based on the extended Boussinesq equation(Madsen, 1991) and an alternative form of wave-current dispersion relation(Mohiuddin, 1999, 2000) including wave action concept, is to simulate wave propagation in a current field including the irregular waves and discuss applicability of the model in a wave-current field.

• 한국해안해양공학회지
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• 제5권1호
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• pp.45-50
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• 1993

구조물에 의한 파랑의 회절현상은 실제 현장에서 파랑상태를 분석하는 데 매우 중요한 요소이다. 그러나, 대부분의 경우 실제의 파랑을 불규칙파 대신 단순파로 가정하고 있으나, 이 경우 Goda(1985)가 지적한 바와 같이 많은 오차를 포함할 수 있다. 불규칙파를 계산하는 방법 중 스펙트럼 계산법은 파랑을 과조와 방향이 다른 여러 개의 단순파로 분류하여 변형현상을 계산한 뒤, 다시 선형적으로 중첩하는 방법이다. 본 연구에서는 Chen(1987)이 제안한 단순파 모형을 이용하여 스펙트럼 계산법으로 불규칙파의 회절현상을 계산하였다. 그 결과는 Goda 제(1978)에 의한 반무한 방파제에서의 회절도와 매우 비슷하다.

• 한국수자원학회논문집
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• 제46권5호
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• pp.491-504
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• 2013

본 연구에서는 shelf 지형을 대상으로 불규칙파를 적용한 2차원 쇄파변형 수리실험과 Boussinesq형 방정식을 이용한 수치해석을 수행하였다. 유의파고, 유의파봉고, 유의파곡고, 평균수위 및 안정파고와 같은 쇄파특성을 수리실험자료로부터 분석하였고, 실험결과와 Boussinesq형 방정식의 해석결과를 비교하였으며, 두 결과는 비교적 잘 일치하였다. 일정수심상에서의 불규칙파의 쇄파후 안정파고는 수심의 약 0.56배로 분석되었다.

• 한국학교ㆍ지역보건교육학회지
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• 제20권2호
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• pp.13-24
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• 2019

Objective: Recently, Korean adolescent has the problems of nutrition unbalance due to bad eating habits. Also, single-parent and step-parent families have consistently increased because of the increase of divorce rates. Adolescent who lives with a single or step family tends to have unhealthy behaviors and habits. The purpose of this study was to analyze relationship between family structure and irregular breakfast among Korean adolescent. Method: We analyzed 60,040 participants from Korean Youth Risk Behavior Web-based Survey 2018. Study variables included family structure and irregular breakfast. Control variables were sex, school, economic status, parent education levels, drinking, smoking and nutrition education. In terms of this study, descriptive, Chi-square and multivariate logistic regression analysis were performed. Results: After adjusting for socio-demographic variables among boys, family structure was associated with irregular breakfast (living with both parents reference group vs living with single-parent : OR 1.250, 95% CI: 1.142, 1.368). Among girls, after adjusting for control variables, family structure was also associated with irregular breakfast (living with both parents reference group vs living with no both parents : OR 1.409, 95% CI: 1.065, 1.865). Conclusion: According to this study, family structure would be a risk factor of adolescent breakfast habit. Nutrition programs for adolescent should consider these factors.

• Journal of Forest and Environmental Science
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• 제34권6호
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• pp.451-456
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• 2018

The use of single component distribution to describe the irregular stand structure of degraded forest often lead to bias. Such biasness can be overcome by the application of finite mixture distribution. Therefore, in this study, finite mixture distribution was used to characterise the irregular stand structure of the Gmelina arborea plantation in Omo forest reserve. Thirty plots, ten each from the three stands established in 1984, 1990 and 2005 were used. The data were pooled per stand and fitted. Four finite mixture distributions including normal mixture, lognormal mixture, gamma mixture and Weibull mixture were considered. The method of maximum likelihood was used to fit the finite mixture distributions to the data. Model assessment was based on negative loglikelihood value ($-{\Lambda}{\Lambda}$), Akaike information criterion (AIC), Bayesian information criterion (BIC) and root mean square error (RMSE). The results showed that the mixture distributions provide accurate and precise characterisation of the irregular diameter distribution of the degraded Gmelina arborea stands. The $-{\Lambda}{\Lambda}$, AIC, BIC and RMSE values ranged from -715.233 to -348.375, 703.926 to 1433.588, 718.598 to 1451.334 and 3.003 to 7.492, respectively. Their performances were relatively the same. This approach can be used to describe other irregular forest stand structures, especially the multi-species forest.

• Advances in concrete construction
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• 제7권3호
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• pp.131-141
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• 2019

Irregular distribution of mass in elevation is regarded as a structural irregularity by which the modes with high energy levels are excited and in addition, it can lead the structure to withstanding concentration of nonlinear deformations and consequently, suffer from unpredictable local or global damages. Accordingly, with respect to the lack of knowledge and insight towards the performance of concrete buildings making use of tunnel-form structural system in seismic events, it is of utmost significance to assess seismic vulnerability of such structures involved in vertical mass irregularity. To resolve such a crucial drawback, this papers aims to seismically assess vulnerability of RC tunnel-form buildings considering effects of irregular mass distribution. The results indicate that modal responses are not affected by building's height and patterns of mass distribution in elevation. Moreover, there was no considerable effect observed on the performance levels under DBE and MCE hazard scenarios within different patterns of irregular mass distribution. In conclusion, it appears that necessarily of vertical regularity for tunnel-form buildings, is somehow drastic and conservative at least for the buildings and irregularity patterns studied herein.

• International Journal of Naval Architecture and Ocean Engineering
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• 제12권1호
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• pp.168-177
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• 2020

Many coastal engineering designs utilize empirical formulas containing the Equivalent Deep-water Wave Height (EDWH), which is normally given a priori. However, no studies have explicitly discussed a method for determining the EDWH and the resulting design wave heights (DEWH) under irregular wave conditions. Unfortunately, it has been the case in many design practices that the EDWH is incorrectly estimated by dividing the Shallow-water Wave Height (SWH) at the structural position with its corresponding shoaling coefficient of regular wave. The present study reexamines the relationship between the Shallow-water Wave Height (SWH) at the structural position and its corresponding EDWH. Then, a new procedure is proposed to facilitate the correct estimation of EDWH. In this procedure, the EDWH and DEWH are determined differently according to the wave propagation model used to estimate the SWH. For this, Goda's original method for nonlinear irregular wave deformation is extended to produce values for linear shoaling. Finally, exemplary calculations are performed to assess the possible errors caused by a misuse of the wave height calculation procedure. The relative errors with respect to the correct values could exceed 20%, potentially leading to a significant under-design of coastal or harbor structures in some cases.