• Journal of Institute of Control, Robotics and Systems
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• v.11 no.8
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• pp.678-687
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• 2005

This paper describes a relative localization algorithm using odometry data and consecutive local maps. The purpose of this paper is the odometry error correction using the area matching of two consecutive local maps. The local map is built up using a sensor module with dual laser beams and USB camera. The range data form the sensor module is measured using the structured lighting technique (active stereo method). The advantage in using the sensor module is to be able to get a local map at once within the camera view angle. With this advantage, we propose the AVS (Aligned View Sector) matching algorithm for. correction of the pose error (translational and rotational error). In order to evaluate the proposed algorithm, experiments are performed in real environment.

• Geomechanics and Engineering
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• v.25 no.2
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• pp.89-98
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• 2021

The paper presents an experimental study on the strength behaviour of a coral gravelly sand from Vietnam subjected to monotonic and cyclic loading. A series of direct shear tests were carried out to investigate the shear strength behaviour and the factors affecting the shear strength of the sand such as relative density, cyclic load, amplitude of the cyclic load and loading rate. The study results indicate that the shear strength parameters of the coral gravelly sand include not only internal friction angle but also apparent cohesion. These parameters vary with the relative density, cyclic load, the amplitude of the cyclic load and loading rate. The shear strength increases with the increase of the relative density. The shear strength increases after subjecting to cyclic loading. The amplitude of the cyclic load affects the shear strength of coral gravelly sand, the shear strength increases as the amplitude of the cyclic load increases. The loading rate has insignificantly effect on the shear strength of the coral gravelly sand.

• Journal of Power System Engineering
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• v.19 no.5
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• pp.32-37
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• 2015

The present study is to investigates the convective heat transfer characteristics and pressure drop inside the rib-roughened cooling passage of gas turbine blades. The divergent rectangular channel is fabricated with V-shaped ribs on one wall only and the inlet hydraulic diameter to outlet hydraulic diameter ratio($D_{ho}/D_{hi}$) of 1.49 is used. The current investigation has covered a Reynolds number (Re) range of 22,000~75,000, relative roughness height ($e/D_h$) of 0.1~0.2, and rib angle of attack (a) of $30^{\circ}$, $45^{\circ}$, and $60^{\circ}$ for a fixed relative pitch of 10. Results show that the Nusselt numbers are the greatest in the $60^{\circ}$-angled ribs; however, the total friction factors are the highest in the $30^{\circ}$-angled ribs.

• Proceedings of the KIEE Conference
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• 1999.11c
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• pp.512-514
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• 1999

The damping ratio $\zeta$ of a continuous 2nd order response which passes all the points of the discrete response of a 2nd order discrete system(envelope curve) is a function of only the location of the closed-loop pole and ie not at all related to the location of the zero. And the peak overshoot of the envelope curve is uniquely specified by the damping ratio $\zeta$, which is a function of solely the closed-loop pole location, and the angle $\alpha$ which is determined by the relative location of the zero with respect to the closed-loop complex pole. Therefore, if the zero slides on the real axis with the closed-loop complex poles being fixed, then the angle $\alpha$ changes however the damping ratio $\zeta$ does not. Accordingly, when the closed-loop system poles are fixed, the peak overshoot is function of $\alpha$ or the system zero. In this thesis the effects of the relative location of the zero on the system performance of a second order discrete system is studied.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.5
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• pp.1508-1515
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• 1996

The method of utilizing sensitivity linkages for the analysis of mechanical errors are proposed. As sources of the mechanical error, tolerances in the link length and clearances in thejoints are considered. It is demonstrated that the problem of calculating mechanical errors of a 4-bar mechanism can be transformed into a problem of conventeional velocity analysis of a sensitivity linkage. As a result of the present study, it is found and proved that the mechanical error of the output angle in the 4-Bar mechaism is represented as a simple harmonic function with respect to the relative position of the pin on the clearance circle. Also the vector representing the mechanical error of a coupler point makes, in general, an ellipse as the relative angle varies on the clearance circle. With these results we can better identify the characteristic of the mechanical errors in linkages.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.1
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• pp.39-45
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• 2007

This paper proposes a method of container position measurement using automatic landing system that is estimated by a laser range finder. In the most of container position measurement methods, CCD cameras or laser scanners have been used to get the source data. However those sensors are not only weak for disturbances, for examples, the light, fog, and rain, but also the system cost is high. When the spreader arrives at the goal position, it is still swung by inertia or by wind effect. In this paper, the spreader swung data have been used to find the container position. The laser range finder is equipped in the front side of spreader. It can measure distance and relative position between spreader and container. This laser range finder can be rotated as desired by a motor. And a tilt sensor is equipped on the spreader to measure spreader sway. The relative position information between the spreader and a container using the laser range finder and tilt sensor is estimated through the geometrical analysis.

• Journal of Korean Foot and Ankle Society
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• v.7 no.1
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• pp.36-40
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• 2003

Purpose: To investigate the relationship between radiographic parameters of the forefoot and plantar pressure in patients with hallux valgus. Materials and Methods: Plantar pressures of 21 patients with hallux valgus were examined with EMED-ST system. The data were compared with the parameters on the simple weightbearing dorsoplantar radiographs of the feet. The radiographic parameters that were measured were hallux valgus angle, 1-2 intermetatarsal angle, relative lengths of the metatarsals which were measured with the methods described by Maestro et al. and Okuda et al. Results: Statistically significant correlation was found between peak pressures under 2, 3 metatarsal heads and the relative lengths of 2, 3 metatarsals which were measured with the method described by Maestro et al. However they could explain only 13% of the pressures under the 2, 3 metatarsal heads by multivariate analysis. Conclusion: These results suggest that we cannot predict the plantar pressures under the foot with the parameters on the simple weightbearing dorsoplantar radiographs of the feet.

• Proceedings of the Korean Geotechical Society Conference
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• 2009.03a
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• pp.136-145
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• 2009

Factors influencing shear behavior of granular material include particle size, shape, distribution, relative density, particle crushing, etc. In this study, these factors are characterized by viewpoint of shear behavior using numerical analysis based on DEM. Geometrical particle shape is represented by a combination of small circular particles and influence of particle shape on crushing is studied through relative comparisons between clump (uncrushable) and cluster (crushable) models which are modeled using DEM. Also, particle shape is quantified by the dimensionless parameters such as circularity and convexity. The results indicate that particle shape indexes have a negative association with internal friction angle. Also, internal friction angle becomes reduced and failure envelop curve becomes nonlinear due to the particle crushing. It is also found that numerical results are quite good agreement with the experimental test conducted in this study.

• Journal of Power Electronics
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• v.9 no.4
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• pp.631-642
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• 2009

The sun is a useful reference direction because of its brightness relative to other astronomical objects and its relatively small apparent radius as viewed by spacecrafts near the Earth. Most satellites use solar power as a source of energy, and so need to make sure that solar panels are oriented correctly with respect to the sun. Also, some satellites have sensitive instruments that must not be exposed to direct sunlight. For all these reasons, sun sensors are important components in spacecraft attitude determination and control systems. To minimize components and structural mass, some components have multiple purposes. The solar cells will provide power and also be used as coarse sun sensors. A coarse Sun sensor is a low-cost attitude determination sensor suitable for a wide range of space missions. The sensor measures the sun angle in two orthogonal axes. The Sun sensor measures the sun angle in both azimuth and elevation. This paper presents the development of a model to determine the attitude of a small cube-shaped satellite in space relative to the sun's direction. This sensor helps small cube-shaped Pico satellites to perform accurate attitude determination without requiring additional hardware.

• Proceedings of the KIEE Conference
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• 1998.07a
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• pp.302-304
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• 1998

Self magnetic field in a Bus bar usually degrades the critical current in it. Actually the total critical current of a Bus bar is not the same as the sum of total critical current of each stacked HTS tape. This is due to the self field effects in a bus bar. To reduce the degradations of critical current in a bus bar, we need to analyze the self field distributions in a bus bar. Conceptually, by rearranging the each stacked tapes, the self field effects can be minimized. In this paper, we calculate the self magnetic field distributions across a bus bar analytically, with the variations of the relative angle of the two conductors in a go-and-return pair. As a result, we suggest that the optimum relative angle exist which minimize the self field effect in a bus bar.