• Journal of Mechanical Science and Technology
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• v.18 no.7
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• pp.1094-1106
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• 2004

In this paper, a nonlinear controller based on sliding mode control is applied to a two-wheeled Welding Mobile Robot (WMR) to track a smooth curved welding path at a constant velocity of the welding point. The mobile robot is considered in terms of dynamics model in Cartesian coordinates under the presence of external disturbance, and its parameters are exactly known. It is assumed that the disturbance satisfies the matching condition with a known boundary. To obtain the controller, the tracking errors are defined, and the two sliding surfaces are chosen to guarantee that the errors converge to zero asymptotically. Two cases are to be considered: fixed torch and controllable torch. In addition, a simple way of measuring the errors is introduced using two potentiometers. The simulation and experiment on a two-wheeled welding mobile robot are provided to show the effectiveness of the proposed controller.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.9
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• pp.816-825
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• 2007

With a view to building up a program used in conceptual design of liquid rocket engine system, a preliminary performance-based code for an integrated engine system has been developed by incorporating sub-modular programs for each essential engine component. Modular descriptions for each component were formulated mathematically with essential parameters. In the whole iterative circuits for predicting engine performance, matching conditions of mass flow rate and pressure drop through each engine component have been considered. Mass balance calculations at each inter-component boundary are found smoothly converged. All the pressure drops through engine components as a function of mass flow rate are added up to provide turbo-pump outlet condition. In this paper, the flow chart for each iterative circuit and design methodologies are presented. Resultant predictions are validated with real engine data.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.31 no.2
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• pp.71-78
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• 2018

This paper presents the assembling of multiple patches based on the single patch isogeometric formulation for the shear deformable shell element given in the previous study. The geometrically exact shell formulation has been accomplished with the shell theory based formulation and the generalized curvilinear coordinate system directly derived from the given NURBS geometry. For the knot elements matching across adjacent surfaces, the zero-th and first parametric continuity conditions are considered and the corresponding coupling constraints are implemented by a master-slave formulation between adjacent patches. The constraints are then enforced by a substitution method for condensation of the slave variables, thereby reducing the model size. Through numerical investigations, the important features of the first parametric continuity condition are confirmed. The performance of the multi-patch shell models is also examined comparing the rate of convergence of response coefficients for the zero and first order continuity conditions and continuity in coupling boundary between two patches is confirmed.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.13 no.7
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• pp.667-678
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• 2002

In this paper, a new radiating structure with a multi-layered two-dimensional metallic disk array was proposed for shaping the flat-topped element pattern. It is an infinite periodic planar array structure with metallic disks finitely stacked above the radiating circular waveguide apertures. The theoretical analysis was in detail performed using rigid full-wave analysis, and was based on modal representations for the fields in the partial regions of the array structure and for the currents on the metallic disks. The final system of linear algebraic equations was derived using the orthogonal property of vector wave functions, mode-matching method, boundary conditions and Galerkin's method, and also their unknown modal coefficients needed for calculation of the array characteristics were determined by Gauss elimination method. The application of the algorithm was demonstrated in an array design for shaping the flat-topped element patterns of $\pm$20$^{\circ}$ beam width in Ka-band. The optimal design parameters normalized by a wavelength for general applications are presented, which are obtained through optimization process on the basis of simulation and design experience. A Ka-band experimental breadboard with symmetric nineteen elements was fabricated to compare simulation results with experimental results. The metallic disks array structure stacked above the radiating circular waveguide apertures was realized using ion-beam deposition method on thin polymer films. It was shown that the calculated and measured element patterns of the breadboard were in very close agreement within the beam scanning range. The result analysis for side lobe and grating lobe was done, and also a blindness phenomenon was discussed, which may cause by multi-layered metallic disk structure at the broadside. Input VSWR of the breadboard was less than 1.14, and its gains measured at 29.0 GHz. 29.5 GHz and 30 GHz were 10.2 dB, 10.0 dB and 10.7 dB, respectively. The experimental and simulation results showed that the proposed multi-layered metallic disk array structure could shape the efficient flat-topped element pattern.

• Journal of Internet Computing and Services
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• v.16 no.1
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• pp.57-65
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• 2015

As information technology fusion is accelerated, the researches to improve the quality and productivity of crops inside a plant factory actively progress. Advanced growth environment management technology that can provide thermal environment and air flow suited to the growth of crops and considering the characteristics inside a facility is necessary to maximize productivity inside a plant factory. Currently running plant factories are designed to rely on experience or personal judgment; hence, design and operation technology specific to plant factories are not established, inherently producing problems such as uneven crop production due to the deviation of temperature and air flow and additional increases in energy consumption after prolonged cultivation. The optimization process has to be set up in advance for the arrangement of air flow devices and operation technology using computational fluid dynamics (CFD) during the design stage of a facility for plant factories to resolve the problems. In this study, the optimum arrangement and air flow of air circulation fans were investigated to save energy while minimizing temperature deviation at each point inside a plant factory using CFD. The condition for simulation was categorized into a total of 12 types according to installation location, quantity, and air flow changes in air circulation fans. Also, the variables of boundary conditions for simulation were set in the same level. The analysis results for each case showed that an average temperature of 296.33K matching with a set temperature and average air flow velocity of 0.51m/s suiting plant growth were well-maintained under Case 4 condition wherein two sets of air circulation fans were installed at the upper part of plant cultivation beds. Further, control of air circulation fan set under Case D yielded the most excellent results from Case D-3 conditions wherein air velocity at the outlet was adjusted to 2.9m/s.