• 한국생산제조학회지
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• 제25권6호
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• pp.504-510
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• 2016

Robots are widely utilized in many fields, and various demands need customized robots. This study proposes an optimal design method based on swarm intelligence for selecting the kinematic parameter of a manipulator according to the task space trajectory desired by the user. The optimal design method is dealt with herein as an optimization problem. This study is based on swarm intelligence-based optimization algorithms (i.e., ant colony optimization (ACO) and particle swarm optimization algorithms) to determine the optimal kinematic parameters of the manipulator. The former is used to select the optimal kinematic parameter values, whereas the latter is utilized to solve the inverse kinematic problem when the ACO determines the parameter values. This study solves a design problem with the PUMA 560 when the desired task space trajectory is given and discusses its results in the simulation part to verify the performance of the proposed design.

• 한국입자에어로졸학회지
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• 제9권4호
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• pp.271-277
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• 2013

This article reports the drag reduction phenomenon of aqueous suspensions containing carbon nanotubes (CNTs) flowing through horizontal tubes. Stable nanofluids were prepared by using a surfactant. It is found that the drag forces of CNT nanofluids were reduced at specific flow conditions compared to the base fluid. It is found that the friction factor of CNT nanofluids was reduced up to approximately 30 % by using CNT nanofluids. Increased kinematic viscosities of CNT nanofluids are suggested to the key factors that cause the drag reduction phenomenon. In addition, transition from laminar to turbulent flow is observed to be delayed when CNT nanofluids flow in a horizontal tube, meaning that drag reduction occurs at higher flow rates, that is, at higher Reynolds numbers.

• 한국자동차공학회논문집
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• 제20권5호
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• pp.19-25
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• 2012

This study describes effects of DME additives on combustion and exhaust emissions characteristics including nano-particle in a single cylinder compression ignition engine. Considered additives include bio-diesel, n-butanol, and MTBE for increasing kinematic viscosity. Among three additives, n-butanol showed the greatest kinematic viscosity. In addition MTBE showed the highest vapor pressure. In the present study mixing ratios of additives were kept constant at 1 and 10% by volume. Experiments were performed at 1200rpm engine speed and nano-particles were measured by SMPS (Scanning mobility particle sizer) devices. Results of combustion characteristics showed that considered additives had little effects on combustion pressure. However, patterns of heat release rate were dependent on properties of additives. Nano-particles of MTBE were the lowest among considered additives.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 하계학술대회 논문집 D
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• pp.2444-2446
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• 2004

로봇 매니퓰레이터를 제어하기 위해서는 로봇의 Forward/Reverse Kinematics를 정확히 알아야 하고, 이를 바탕으로 각 목적에 맞는 로봇 매니퓰레이터의 설계가 이루어진다. 만약 이 매니퓰레이터에 카메라가 장치되어 어떤 물체를 추적해야 한다면, 매니퓰레이터의 Kinematics와 카메라의 컨트롤이 적절하게 조합되어 물체 추적을 행하게 된다. 본 논문에서는 Particle Filter의 큰 주류인 SISR 방법을 소개하고, 이 방법을 화상카메라에 적용하여 움직이는 물체를 추적하는 연구를 수행하려한다.

• Journal of Advanced Marine Engineering and Technology
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• 제33권5호
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• pp.679-685
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• 2009

In order to simulate a smoke or poisonous gas emergency in a rectangular tunnel and to investigate a better way to exhaust the smoke, the characteristics of smoke flow have been analyzed using flow field data acquired by Particle Image Velocimetry(PIV). Olive oil has been used as tracer particles with the kinematic viscosity of air, $1.51{\times}10^{-5}\;m^2/s$. The investigation has done in the range of Reynolds number of 1600 to 5333 due to the inlet velocities of 0.3 m/s to 1 m/s respectively. The average velocity vector and instantaneous kinematic energy fields with respect to the three different Reynolds numbers are comparatively discussed by the Flow Manager. In general, the smoke flow becomes more disorderly and turbulent with the increase of Reynolds number. Kinematic energy in the measured region increases with the increase of Reynolds number while decreasing at the leeward direction about the outlet region.

• 한국지능시스템학회논문지
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• 제21권5호
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• pp.660-666
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• 2011

본 논문에서는 절 기구(bar linkage)형 다관절 보행로봇(multi-legged walking robot)의 최적다리 길이선정을 위하여 입자군집 최적화(PSO: Particle Swarm Optimization) 기법을 사용하였다. PSO 알고리즘을 적용하기 위해서 제안한 보행로봇의 기구학적인 해석이 필요하다. 게 로봇은 4절 링크 이론(four-bar linkage)과 얀센 메커니즘(Jansen mechanism)을 기반으로 설계되었다. 이러한 기구학적인 해석을 바탕으로 로봇의 보행보폭을 정의한다. 그리고 PSO의 학습 및 군집 특성을 이용하여 최대의 보행보폭을 가지는 10개(EA)의 링크(link)길이를 구한다. 시뮬레이션을 통해 각 링크의 위치와 다리 끝단의 보행보폭을 확인할 수 있다. 결과로서, PSO기법이 절 기구형 다관절 보행로봇의 최적다리 길이 선정에 효율적임을 보여 준다.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2004년도 학술대회지
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• pp.96-101
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• 2004

When the wind blows hard, most waves are breaking in sea. Breaking waves occur, exceeding limitation of wave steepness(wave height/wave length=l/7). Because a wave of single angular frequency couldn't generate the breaking phenomena at two dimensional ocean engineering basin, the breaking wave can be generated by the superposition of waves with various angular frequencies. We research how are the particle kinematics in the breaking wave and the magnitude of the breaking wave exciting force. We compare the force in a regular wave which has same specifications(wave height, period and length) as the breaking wave. Also the experimental results of wave exciting force and particle velocity are investigated by comparison on the analytic results using the potential theory.

• 천문학회보
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• 제43권1호
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• pp.54.2-54.2
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• 2018

It is important to understand very fast CMEs which are the main cause of geomagnetic storms and solar particle events (SPEs). During this solar cycle 24, there are 10 very fast CMEs whose speeds are over 2000 km/s. Among these, there were only two fronside events (2012 January 23 and 2012 March 7) and they are associated with two major flares (M8.7 and X5.4) and the most strong SPEs (6310 pfu and 6530 pfu). They have a similar characteristics: there were successive CMEs within 2 hours in the same active region. We analyze their magnetic properties using SDO HMI magnetograms and kinematic ones from STEREO EUVI/COR1/COR2 observations. We can measure their speeds and initial accelerations without projection effects because their source locations are almost the limb. Additionally, we are investigating magnetic and kinematic characteristics of 8 backside events using AI-generated magnetograms constructed by deep learning methods.

• Journal of Mechanical Science and Technology
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• 제20권12호
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• pp.2025-2033
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• 2006

This paper presents, the design of a latch mechanism for wafer containers in a standard mechanical interface environment. For an integrated circuits fabrication factory, the standard mechanical interfaced wafer container is an effective tool to prevent wafers from particle contamination during wafer storage, transporting or transferring. The latch mechanism inside the container door is used to latch and further seal the wafer container for safety and air quality. Kinematic characteristics of the mechanism are established by analyzing the required functions of the mechanisms. Based on these characteristics, a methodology for enumerating feasible latch mechanisms is developed. New mechanisms with one degree-of-freedom and up to five links are generated. An optimum design is also identified with respect to the criteria pertinent to the application. The computer-aided simulation is also built to verify the design.

• 한국지능시스템학회논문지
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• 제24권4호
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• pp.450-456
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• 2014

휴머노이드 로봇은 인간-로봇 상호작용에 가장 효과적인 로봇 플랫폼이지만 20개 이상의 관절로 구성되어 있을 만큼 복잡한 구조여서 전통적인 역기구학적 방법으로 안정되면서도 정교한 자세를 생성하기가 어렵다. 본 논문에서는 고속 연산최적화 기법인 Particle Swarm Optimization 기법을 사용해서 앞쪽 지면에 놓인 물체를 단측지지 상태로 상체를 굽혀서 왼팔이나 오른팔로 집는 고난도의 자세를 생성하고, 이를 상용 휴머노이드 로봇 플랫폼에 적용하여 검증함으로써 제안 된 방법의 적용 가능성을 확인한다.