• The Journal of Korea Robotics Society
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• v.3 no.1
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• pp.1-8
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• 2008

Automatic parking assist system is one of the key technologies of the future automobiles. Control problem of a car-like vehicle is not easy due to the nonholonomic constraints. In this paper, a practical solution for planning a car-parking path is proposed according to the proposed motion space (M-space) approach. The M-space is the extension of the conventional configuration space (C-space). A collision-free, nonholonomic feasible path can be directly computed by the M-space conversion and a back-propagation of reachable regions from the goal. The proposed planning scheme provide not a single solution, but also a candidate solution set, therefore, optimization of the parking path can be easily carried out with respect to performance criteria such as safety, maneuvering, and so on. Presented simulation results clearly show that the proposed scheme provides various practical solutions.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.3
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• pp.88-98
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• 1998

In many automatization applications, a rigid body is required to go forward and backward repeatedly through a set of given position/orientations precisely while a crank is rotated. Such a motion can be generated by 6 bar mechanism adding a dyad to a 4 bar mechanism. If this is the case for 3 position synthesis of the 4 bar mechanism, the feasible solution area for designing the 4 bar mechanism will be limited over the general solution area. This paper proposes a procedure to synthesize 4 bar mechanism to be used to generate the required motion. It is found that the only input crank of the 4 bar mechanism should be limited to satisfy the condition. And the feasible design area for the circle point/ center point of the input crank is identified so that design of the undesired mechanism could be avoided. The method is tested and the results are shown.

• Journal of the Korean Graphic Arts Communication Society
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• v.19 no.1
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• pp.28-41
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• 2001

Rheological properties of ink and Ink-Water balance are the important factors in lithographic printing. Laboratory test method which determines the emulsification rate of dampening solution and ink has been described. The emulsification theory and laboratory test method deduced from Surland and it has become a useful tool for the industry. The effects of pH value and surface tension of dampening solution on the emulsification rate has been tested by many researcher. In this paper we focused on the factors which influence in the emulsification such as pH and surface tension of dampening solution and emulsifying temperature. To study on the factors determining the emulsion velocity, we have measured water pickup and calculated emulsion velocity constant 'k' and activation energy.

• Proceedings of the Korea Society for Energy Engineering kosee Conference
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• 1993.11a
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• pp.99-102
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• 1993

A consistent general order nodal method for solving the three-dimensional neutron diffusion equation in (x-y-z) geometry has been derived by using a weighted integral technique and expanding the spatial variable by the Legendre orthogonal series function. The equation set derived can be converted into any order nodal schemes. It forms a compact system for general order of nodal moments. The method utilizes fewer unknown variables in the schemes for iterative-convergence solution than other nodal methods listed in the literatures, and because the method utilizes the analytic solutions of the transverse-integrated one dimensional equations and a consistent approximation for a given spatial variable through all the solution procedures, which renders the use of an approximation for the transverse leakages no longer necessary, we can expect extremely accurate solutions and the solution would converge exactly when the mesh width is decreased or the approximation order is increased.

• Journal of Mechanical Science and Technology
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• v.15 no.6
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• pp.752-763
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• 2001

Although there are many different solution schemes proposed for multidimensional radiative transfer, reference solutions to benchmark these methods are very rare in the literature. In this paper we produced some accurate solutions for purely absorbing gray and nongray gases including H$_2$O and CO$_2$by using the discrete transfer method with sufficiently accurate T(sub)95 quadrature set. The spectral transmittances of the mixtures of H$_2$O and CO$_2$are estimated by using the narrow band model. The gray gas solutions are obtained for different absorption coefficients, and the nongray real gas solutions are obtained for different mixture fractions of H$_2$O and CO$_2$. The numerical solutions presented in this paper are proved to be sufficiently accurate as compared to the available exact solutions and they may be used as reference solutions in evaluating various solution schemes.

• Proceedings of the IEEK Conference
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• summer
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• pp.263-268
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• 2004

The inverse kinematics problem is to find a set of joint variable values that will place the end effector of a robot manipulator into a given pose. Pieper has shown that a sufficient condition for a manipulator to have a closed form solution is that three adjacent joint axes intersects, hence the six axes robot with spherical wrist allows closed form solution. But many industrial robots have a non-spherical wrist to provide a stronger wrist configuration so that they can handle heavy payloads. Also, the use of a non-spherical wrist can result in a cheap and simple wrist arrangement than when all three axes intersect at a common point. In these cases, closed form solutions cannot be found. Therefore numerical technique must be used to solve the inverse kinematics equations. This paper proposes a new algorithm that can be used for finding inverse kinematics solution of the six axes robot with non-spherical wrist. Computer simulations are provided to prove the usefulness of our method.

• Steel and Composite Structures
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• v.3 no.3
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• pp.169-184
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• 2003

This paper presents a generic modelling of composite steel-concrete beams with elastic shear connection. It builds on the well-known seminal technique of Newmark, Siess and Viest, in order to formulate the partial interaction formulation for solution under a variety of end conditions, and lends itself well for modification to enable direct quantification of effects such as shrinkage, creep, and limited shear connection slip capacity. This application is possible because the governing differential equations are set up and solved in a fashion whereby inclusion of the kinematic and static end conditions merely requires a statement of the appropriate constants of integration that are generated in the solution of the linear differential equations. The method is applied in the paper for the solution of the well-studied behaviour of simply supported beams with partial interaction, as well as to provide solutions for a beam encastr$\acute{e}$ at its ends, and for a propped cantilever.

• Nuclear Engineering and Technology
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• v.32 no.6
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• pp.595-604
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• 2000

Flow-Accelerated Corrosion Behavior of SA106 Gr.C steel in room temperature alkaline solution simulating the CANDU primary water condition was studied using Rotating Cylinder Electrode. Systems of RCE were set up and electrochemical parameters were applied at various rotating speeds. Corrosion current density decreased up to pH 10.4 then it increased rapidly at higher pH. This is due to the increasing tendency of cathodic and anodic exchange half-cell current. Corrosion potential shifted slightly upward with rotating velocity. Passive film was formed from pH 9.8 by the mechanism of step oxidation and the subsequent precipitation of ferrous species into hydroxyl compound. Above pH 10.4, the film formation process was active and the film became stable. Corrosion current density showed increment in pH 6.98 with the rotating velocity, while it soon saturated from 1000 rpm above pH 9.8. This seems that activation process which represents formation of passive film on the bare metal surface controls the entire corrosion process

• Journal of the military operations research society of Korea
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• v.27 no.1
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• pp.28-38
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• 2001

A transportation problem amy have multiple optimal solutions, if an optimal solution to the problem is degenerate. This study derives a condition, under which multiple degenerate optimal solutions exist, fro ma current degenerate optimal transportation tableau by utilizing the homogeneous equation obtained from the closed loops connecting degenerate basic variable and non-basic variables, and discusses a method of generating alternative degenerate optimal solutions and their associated transportation tableaus. Each degenerate optimal solution may not have the same range of feasibility in sensitivity analysis on supply and demand quantity due to different set of shadow prices which multiple degenerate solution have.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2002.12a
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• pp.383-386
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• 2002

In this paper, we investigated the pattern recognition performance of the numeric patterns (from 0 to 9) using DNA coding method. The pattern recognition performance of the DNA coding method is compared to the that of the GA(Genetic Algorithm). GA searches effectively an optimal solution via the artificial evolution of individual group of binary string using binary coding, while DNA coding method uses four-type bases denoted by A(Adenine), C(Cytosine), G(Guanine) and T(Thymine), The pattern recognition performance of GA and DNA coding method is evaluated by using the same genetic operators(crossover and mutation) and the crossover probability and mutation probability are set the same value to the both methods. The DNA coding method has better characteristics over genetic algorithms (GA). The reasons for this outstanding performance is multiple possible solution presentation in one string and variable solution string length.