• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.1
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• pp.16-22
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• 2016

The research on two-wheeled inverted pendulum (TWIP) mobile robots has been ongoing in a number of robotic laboratories around the world. In this paper, we consider a robust controller design for the TWIP mobile robot driving on uniform slopes. We use a 2 degree-of-freedom (DOF) model which is obtained by restricting the spinning motion in a 3 DOF motion dynamic equation. In order to design the robust controller guaranteeing stability of the TWIP mobile robot driving on inclined surface, we propose a sliding mode control based on the theory of variable structure systems and design a sliding surface using the theory of the linear quadratic regulation (LQR). For simulation, the dynamic model of the TWIP mobile robot is constructed using Mathworks' Simulink and the sliding mode control is also implemented using Simulink. From simulation results, we show that the proposed controller effectively controls the TWIP mobile robot driving on slopes.

• Journal of Digital Convergence
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• v.13 no.9
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• pp.419-430
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• 2015

This study is to conceptualize nurses' satisfaction, patient satisfaction about nurses and hospital, and patients' revisit and recommendation intention as linear structural equation model, and then, identify the significance of the path coefficient and goodness of the research model. Data were collected from 2,079 nurses and 6,776 patients in 5 university hospitals. The results were as follows: The research model was generally found to be good in terms of goodness of fit. The significance of the path coefficients are as follows. 1)A nurse's satisfaction has great influence on a patient's satisfaction about nurses, 2)A patient's satisfaction about nurses has influence on patient's satisfaction about the hospital, 3)A patient's satisfaction about the hospital has great influence on patient's revisit intention, 4)A patient's satisfaction about the hospital has great influence on patient's recommendation intention. These results will provide basic data for the hospital managers practicing customer satisfaction strategies in their health care marketing.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.9
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• pp.1562-1570
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• 2003

The prediction of the inelastic behavior of the structure is an essential part of reliability assessment procedure, because most of the failures are induced by the inelastic deformation, such as creep and plastic deformation. During decades, there has been much progress in understanding of the inelastic behavior of the materials and a lot of inelastic constitutive equations have been developed. The complexity of these constitutive equations generally requires a stable and accurate numerical method. The radial return mapping is one of the most robust integration scheme currently used. Nonlinear kinematic hardening model of Armstrong-Fredrick type has recovery term and the direction of kinematic hardening increment is not parallel to that of plastic strain increment. In this case, The conventional radial return mapping method cannot be applied directly. In this investigation, we expanded the radial return mapping method to consider the nonlinear kinematic hardening model and implemented this integration scheme into ABAQUS by means of UMAT subroutine. The solution of the non-linear system of algebraic equations arising from time discretization with the generalized midpoint rule is determined using Newton method and bisection method. Using dynamic yield condition derived from linearization of flow rule, the integration scheme for elastoplastic and viscoplastic constitutive model was unified. Several numerical examples are considered to demonstrate the efficiency and applicability of the present method.

• Journal of the Korean Society of Hazard Mitigation
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• v.8 no.2
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• pp.159-164
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• 2008

This study simulated the flood inundations of the Nakdong River catchment running through Yangsan, a small city located in the south eastern area of Korea by using the depth averaged two-dimensional hydrodynamic numerical model. The numerical model employs the staggered grid system including moving boundary and a finite different method to solve the Saint-Venant equations. A second order upwind scheme is used to discretize the nonlinear convection terms of the momentum equations, whereas linear terms are discretized by a second order Leap-frog scheme(Cho and Yoon, 1998). The numerical model was applied to a real topography to simulate the flood inundation of the Yangsan basin in Yangsan. The numerical result for urban district was visualization for three dimension. These results can be essentially utilized to construct the three dimensional inundation map after building the GIS-based database in local public organizations in order to protect the life and property safely.

• Journal of Biosystems Engineering
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• v.41 no.4
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• pp.342-356
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• 2016

Purpose: The drying of a thin layer of native cassava starch in a tray dryer was modeled to establish an equation for predicting the drying behavior under given conditions. Methods: Drying tests were performed using samples of native cassava starch over a temperature range of $40-60^{\circ}C$. We investigated the variation in the drying time, dynamic equilibrium moisture content, drying rate period, critical moisture content, and effective diffusivity of the starch with temperature. The starch diffusion coefficient and drying activation energy were determined. A modification of the model developed by Hii et al. was devised and tested alongside fourteen other models. Results: For starch with an initial moisture content of 82% (db), the drying time and dynamic equilibrium moisture content decreased as the temperature increased. The constant drying rate phase preceded the falling rate phase between $40-55^{\circ}C$. Drying at $60^{\circ}C$ occurred only in the falling rate phase. The critical moisture content was observed in the $40-55^{\circ}C$ range and increased with the temperature. The effective diffusivity of the starch increased as the drying temperature increased from 40 to $60^{\circ}C$. The modified Hii et al. model produced randomized residual plots, the highest $R^2$, and the lowest standard error of estimates. Conclusions: Drying time decreased linearly with an increase in the temperature, while the decrease in the moisture content was linear between $40-55^{\circ}C$. The constant drying rate phase occurred without any period of induction over a temperature range of $40-55^{\circ}C$ prior to the falling rate period, while drying at $60^{\circ}C$ took place only in the falling rate phase. The effective diffusivity had an Arrhenius relationship with the temperature. The modified Hii et al. model proved to be optimum for predicting the drying behavior of the starch in the tray dryer.

• Communications for Statistical Applications and Methods
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• v.30 no.6
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• pp.631-652
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• 2023

In the two-condition within-subject mediation design, pairs of variables such as mediator and outcome are observed under two treatment conditions. The main objective of the design is to investigate the indirect effects of the condition difference (sum) on the outcome difference (sum) through the mediator difference (sum) for comparison of two treatment conditions. The natural condition variables mean the original variables, while the rotated condition variables mean the difference and the sum of two natural variables. The outcome difference (sum) is expressed as a linear model regressed on two natural (rotated) mediators as a parallel two-mediator design in two condition approaches: the natural condition approach uses regressors as the natural condition variables, while the rotated condition approach uses regressors as the rotated condition variables. In each condition approach, the total indirect effect on the outcome difference (sum) can be expressed as the sum of two individual indirect effects: within- and cross-condition indirect effects. The total indirect effects on the outcome difference (sum) for both condition approaches are the same. The invariance of the total indirect effect makes it possible to analyze the nature of two pairs of individual indirect effects induced from the natural conditions and the rotated conditions. The two-condition within-subject design is extended to the addition of a between-subject moderator. Probing of the conditional indirect effects given the moderator values is implemented by plotting the bootstrap confidence intervals of indirect effects against the moderator values. The expected indirect effect with respect to the moderator is derived to provide the overall effect of moderator on the indirect effect. The model coefficients are estimated by the structural equation modeling approach and their statistical significance is tested using the bias-corrected bootstrap confidence intervals. All procedures are evaluated using function lavaan() of package {lavaan} in R.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.14 no.4
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• pp.257-264
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• 2002

This paper is concerned with the analysis of wave reflection and transmission from multiple floating breakwaters. Linear potential theory was used for modeling wave field, and the behaviors of the floating breakwaters was represented as linearized equation of motions. The boundary value problem for the wave field was discretized by Galerkin technique. The radiation condition at infinity was modeled as infinite elements developed by Park et al.(1991). The validation of the developed model was given through the comparison with hydraulic experimental data conducted by Park et al.(2000). The possibility for the application of multiple floating breakwaters was also discussed based on the numerical experiments.

• Steel and Composite Structures
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• v.36 no.6
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• pp.643-656
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• 2020

This article presents a comprehensive static analysis of simply supported cross-ply carbon nanotubes reinforced composite (CNTRC) laminated nanobeams under various loading profiles. The nonlocal strain gradient constitutive relation is exploited to present the size-dependence of nano-scale. New higher shear deformation beam theory with hyperbolic function is proposed to satisfy the zero-shear effect at boundaries and parabolic variation through the thickness. Carbon nanotubes (CNTs), as the reinforced elements, are distributed through the beam thickness with different distribution functions, which are, uniform distribution (UD-CNTRC), V- distribution (FG-V CNTRC), O- distribution (FG-O CNTRC) and X- distribution (FG-X CNTRC). The equilibrium equations are derived, and Fourier series function are used to solve the obtained differential equation and get the response of nanobeam under uniform, linear or sinusoidal mechanical loadings. Numerical results are obtained to present influences of CNTs reinforcement patterns, composite laminate structure, nonlocal parameter, length scale parameter, geometric parameters on center deflection ad stresses of CNTRC laminated nanobeams. The proposed model is effective in analysis and design of composite structure ranging from macro-scale to nano-scale.

• Journal of the Society of Naval Architects of Korea
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• v.35 no.2
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• pp.29-37
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• 1998

Linear equations of motion for submersibles are one of the rest important design parameters, which are used as a governing equation for the shape design and the controller design. But, the estimated maneuvering coefficients in equations of motion by using empirical formulae, theoretical calculations or model tests might have some errors. Therefore the maneuvering coefficients should be verified from sea trial test. In this study, parallel extended Kalman filter method, Nelder & Mead Simplex method and genetic algorithm were applied to the parameter identification of roll maneuvering coefficients based on sea trial data. As a result, it was verified that Nelder & Mead Simplex method gave the most satisfactory results for the mathmatical models and the sea trial data used in this study.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.46 no.1
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• pp.70-81
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• 2010

A mathematical model is formulated to study the effect of wall mass on the thermal performance of four different houses of different construction. This analytical study was motivated by the experimental work of Burch et al. An analytical solution of one -dimensional, linear, partial differential equation for wall temperature profiles and room air temperatures is obtained using the Laplace transform method. Typical Meteorological Year data are processed to yield hourly average monthly values. These discrete data are then converted to a continuous, time dependent form using a Fast Fourier Transform method. This study is conducted using weather data from four different locations in the United States: Albuquerque, New mexico; Miami, Florida; Santa Maria, California; and Washington D.C. for both winter and summer conditions. A computer code is developed to calculate the wall temperature profile, room air temperature, and energy consumption loads. Three sets of results are calculated one for no auxiliary energy and two for different control mechanism -- an on-off controller and a proportional controller. Comparisons are made for the cases of two controllers. Heavy weight houses with insulation in mild weather areas (such as August in Santa Maria, California) show a high comfort level. Houses using proportional control experience a higher comfort level in comparison to houses using on-off control. The result shows that there is an effect of mass on the thermal performance of a heavily constructed house in mild weather conditions.