• 한국군사과학기술학회지
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• 제15권6호
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• pp.721-728
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• 2012

The tracked SUGVs(Small Unmanned Ground Vehicles) are frequently operated in the narrow slope such as stairs and trails. But due to the nature of the tracked vehicle which is steered using friction between the track and the ground and the limited field of view of driving cameras mounted on the lower position, it is not easy for SUGVs to trace narrow slopes. To properly trace inclined narrows, it is very important for SUGVs to keep it's heading direction to the slope. As a matter of factor, no roll value control of a SUGV can makes it's heading being located in the direction of the slope in general terrains. But, the problem is that we cannot directly control roll motion for SUGV. Instead we can control yaw motion. In this paper, a new slope driving method that enables the vehicle trace the narrow slopes with IMU sensor usually mounted in the SUGV is suggested which including an estimation technique of the desired yaw angle corresponding to zero roll angle. In addition, a fuzzy steering controller robust to changes in driving speed and the stair geometry is designed to simulate narrow slope driving with the suggested method. It is shown that the suggested method is quite effective through the simulation.

• 한국지반공학회지:지반
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• 제14권6호
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• pp.33-44
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• 1998

본 연구는 우기에 흔히 발생되는 천부 사면파괴와 지표수 침투와의 관계를 규명하기 위한 기초연구로서 수행되었다. 사면이 침투수에 의하여 부분적으로 포화되었을 경우에 토양에 작용하는 응력의 변화를 고찰하고 이와 관련된 사면의 전단강도 이론에 대하여 논의하였다. 그리고 임의의 무한 평면사면에 한계평형법을 적용하여 지표수 침투가 사면의 안정성에 미치는 영향을 분석하였다. 또한 한계평형 해석에서 사용한 일부 모델과 동일한 조건하에서 유한차분법 프로그램인 FLAC을 이용하여 수치해석을 실시하고 그 결과를 한계평형 해석에서 구한 결과와 비교해봄으로써 지표수침투와 사면의 안정성 문제에 관한 수치해석적 접근 가능성을 검토하였다. 본 연구는 단순 사면에 대한 해석결과이므로 보다 일반적인 사면에 적용하기 위해서는 더욱 나은 연구가 수행되어야 할 것이다.

• 한국도로학회논문집
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• 제15권4호
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• pp.75-83
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• 2013

PURPOSES: The purpose of study is to understand the characteristic of driving noise from the front and rear tire for effective active noise cancellation application. METHODS : As literature review, noise measurement methods were reviewed. Noise measurement conducted at three kind of section by road slope using CPX(Close Proximity Method). Noise data was compared by total sound pressure level and 1/3 octave band frequency sound pressure level. Also, each section was compared by T-test using SPSS. RESULTS : In the case of the uphill section, it was shown that the sound pressure level of the front tire at Sugwang-Ri and Sinchon-RI sections was higher than that of the rear tire in low and high frequency band. In the case of high slope section of Sangsaek-Ri, the sound pressure level of the front tire was higher than that of the rear tire in high frequency. Also, in the case of the downhill section, it was shown that the sound pressure level of the front tire at Sugwang-Ri and Sinchon-RI sections was higher than that of the rear tire in low frequency band. However, the sound pressure levels of both the front and rear tires were approximately the same in the high slope section of Sangsaek-Ri. The result of T-test showed that total sound pressures of the front and rear tires were not different from each other in the case of high slope and high speed. CONCLUSIONS: Road slope was not an important variable for effective active noise cancellation.

• 한국지반공학회논문집
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• 제28권6호
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• pp.5-17
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• 2012

철도선로에 설치되는 전철주기초의 모멘트에 대한 거동을 파악하기 위한 실물 재하시험을 수행하였다. 현행 시공방법에 따라 현장타설방식으로 설치된 직경 75cm, 깊이 2.5m의 원형 전철주기초 2본에 대하여 실제 조건과 동일한 모멘트 위주의 하중을 가하여 기초의 파괴모멘트를 확인하였다. 성토사면이 기초의 저항모멘트에 미치는 영향을 평가하기 위하여 사면방향과 사면반대방향으로 각각 모멘트를 가하였다. 국내 설계기준에 따라 성토지형에 설치된 전철주 기초는 파괴 이전까지는 변위가 거의 발생하지 않다가 급격한 전도로 파괴되는 취성거동을 보이는 것을 규명하였다. 성토사면의 영향으로 기초의 파괴모멘트가 30% 정도 감소하는 것으로 평가되었으며, 이를 토대로 전철주기초 설계에서 사면의 영향을 고려하기 위한 지형계수(K)로 0.7을 제안하였다. 또한 실물 재하시험 결과로 나타난 파괴모멘트를 국내외 설계방법의 저항모멘트 산정 결과와 비교함으로써 그 적합성을 평가하였다.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2009년도 세계 도시지반공학 심포지엄
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• pp.775-784
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• 2009

풍화된 엽리는 연장성이 크고 거칠기가 적어서 치명적인 활동면으로 작용할 수 있다. $\bigcirc\bigcirc$ 도로공사 현장에 발생된 대절토 사면의 붕괴는 엽리와 평행한 단층면의 활동에 의한 것으로 후기 풍화에 의해 단층면에 녹니석 점토 성분이 충진 되면서 절취에 의해 변경된 지반환경을 수용치 못하고 갑작스런 붕괴가 발생된 사례이다. 붕괴사면의 안정화 방안을 수립하기 위해서는 내부 엽리구조의 3차원 분포를 정확히 파악하는 것이 매우 중요하였다. 이를 위하여 사면에 격자 형태로 10개의 시추를 수행하였으며, 각 시추공에서 시추공영상촬영을 수행하였고, 그 결과를 15개의 단면에 투영하여 사면 내부에 분포하는 엽리, 절리, 단층의 3차원 배열을 분석하였다. 분석 방법으로는 측정된 시추공의 면구조를 절취면에 투영하기 위하여 개발된 Fracjection을 사용하였다. 투영분석 결과 평면에 투영된 엽리의 구조들은 엽리의 주향이 사면의 좌측으로 가면서 사면 내부로 깊어짐을 보여주고 있어서 사면의 우측에서 붕괴된 지질구조는 현 붕괴면 위치와 사면의 좌측 부분에 또 하나의 쐐기파괴 위험성이 존재함이 조사되었다. 전기한 지질 구조의 3차원 조사자료를 기초로 예상 활동면이 설정되었으며, 그 활동면을 기초로 한계평형 분석을 수행하여 현 사면의 경사 완화와 앵커 및 억지말뚝과 피암터널의 설계방안 등이 검토 되었다.

• 한국유체기계학회 논문집
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• 제9권2호
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• pp.44-49
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• 2006

In this study, the effects of volute area distribution on the performance of a centrifugal pump were numerically studied using a commercial CFD code. To reduce the shutoff head, maintaining head and efficiency at a design flow rate, the flat head-capacity characteristic curves in which the head varies only slightly with capacity from shutoff to design capacity are frequently required. In order to control the shutoff head of a pump, several volute cross-sectional area distributions were proposed as a main parameter with the same impeller geometry The calculation results show that the slope of the performance characteristic curve of the centrifugal pump can be controlled by modifying the area distribution from volute tongue to volute outlet with fixed volute outlet area and also varied volute outlet area.

• 유체기계공업학회:학술대회논문집
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• 유체기계공업학회 2005년도 연구개발 발표회 논문집
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• pp.497-502
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• 2005

In this study. the effect of volute area distribution on the performance of a centrifugal pump were numerically studied using a commercial CFD code. To reduce the shutoff head, maintaining head and efficiency at a design flow rate. the flat head-capacity characteristic curves in which the head varies only slightly with capacity from shutoff to design capacity are frequently required. In order to control the shutoff head of a pump, several volute cross-sectional area distributions were proposed as a main parameter with the same impeller geometry. The calculation results show that the slope of the performance characteristic curve of the centrifugal pump can be controlled by modifying the area distribution from volute tongue to volute outlet with fixed volute outlet area and also varied volute outlet area.

• 한국해양공학회지
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• 제15권1호
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• pp.7-11
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• 2001

In this paper, trapezoid sections and prominence sections were examined to improve the performance of floating breakwater in long waves. The linear potential theory is used and the boundary element method with a matching boundary is employed for numerical computation. The effects of the side slope of the trapezoid section and the geometry ratio of the prominence section on the floating breakwater were examined. It was found that trapezoid sections show lower transmission coefficients than the rectangular sections in the long wave range. In prominence sections the size of the sides are more important than the size of the top. Proper choices of the pontoon type geometry may move the local minimum point of the wave transmission coefficient toward the longer wave ranges and improve the performance of the floating breakwater in the long wave range for a given wave period.

• Tribology and Lubricants
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• 제13권3호
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• pp.93-101
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• 1997

The numerical results on the stress distributions of rail-wheel contact problems are presented for three models in a high-speed rail system. These models which have straight and tapered (1:40 and 1:20) contact geometries between the wheelset and rail are analyzed using the finite element approach. From the simulation results we found that the tapered geometry (1:20) of railwheel contact base line showed very stable contact stress distributions for a whole contact position between the wheel and rail in a curved rail section. The FEM computed results may present an optimized slope geometry of rail-wheel contact in a high-speed railway system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1342-1347
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• 1997

In this paper, we performed simulations of aircraft automatic landing using GPS, DGPS and CDGPS. Our purpose is examining the possibility of aircraft landing using GPS through the simulation results. The aircraft landing is composed of two stages, glide-slope and flare. Therefore, LQG controllers are designed separately. In simulations, measurement noise depends not only on UERE and UERRE(which have different values in GPS, DGPS, and CDGPS) but also on DOPs. DOPs are determined only by the geometry of GPS satellite constellation. For DOP calculation, we also made program for GPS satellites orbit simulatiion. Accordin to the simulation results, ICAO CAT III can be achieved of CDGPS is used.