• 제목/요약/키워드: stability index

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듀얼 공간을 이용한 이차원 두 손가락 로봇의 파지 안정성 분석 및 최적 파지 계획 (Grasp Stability Analysis in Dual-Space and Optimal Grasp Planning for Two-Fingered Robots in 2-D)

  • 국명호;장명언;이지홍
    • 제어로봇시스템학회논문지
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    • 제12권11호
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    • pp.1102-1110
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    • 2006
  • This paper addresses the problem of computing grasp stability of the object for two-fingered robots in two dimensions. The concepts of force-closure and dual space are introduced and discussed in novel point of view, and we transform friction cones in a robot work space to line segments in a dual space. We newly define a grasp stability index by calculating intersection condition between line segments in dual space. Moreover, we propose a method to find the optimal grasp points of the given object by comparing the defined grasp stability index. Its validity and effectiveness are investigated and verified by simulations for quadrangle object and elliptic objects.

폐기물매립지의 사후관리종료 평가를 위한 안정화 지수 산정에 관한 연구 (Development of Stability Index for Defining the End of the Post-closure Monitoring Period for MSW Landfill)

  • 이남훈;한정현
    • 유기물자원화
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    • 제14권2호
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    • pp.63-70
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    • 2006
  • 본 연구에서는 폐기물매립지의 안정화 정도를 용이하게 평가하기 위하여 매립폐기물의 분해정도를 수치화 할 수 있는 매립지의 안정화 지수 개발을 목적으로 하였다. 안정화 지수를 개발하기 위하여 50개소의 사용종료 매립지를 대상으로 침출수 수질, 매립가스 조성, 매립폐기물의 물리화학적 특성 자료를 수집하여 이들의 매립연령별 환경특성을 고찰하였다. 그리고 이들 환경지표중 폐기물매립지의 안정화와 상관도가 높은세부 환경지표로서 침출수의 BOD/CODcr, 발생가스중의 $CH_4$농도, 매립폐기물의 C/N가 안정화 지표로 선정하였다. 각 지표에 대한 매립연령별 추세선을 이용하여 지수화한 결과 매립지 안정화 지수로 다음과 같은 식을 얻을 수 있었다. $$I_{LS}=S_L+S_G+S_W$$ $$S_L=-\{4.892+16.587{\cdot}ln[BOD/COD_{Cr]\}$$ $$S_G=53.872-12.782{\cdot}ln[CH_4]$$ $$S_W=79.382-20.013{\cdot}ln[C/N]$$ (단, $S_L$, $S_G$, and $S_W$는 각각 33.3점이 최대값이다.) 여기서, $I_{LS}$ : 매립지 안정화 지수 $S_L$ : 침출수의 안정화 점수 $S_G$ : 매립가스의 안정화 점수 $S_W$ : 폐기물의 안정화 점수.

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관로를 통하여 수송되는 원통형 캡슐의 거동에 대하여 캡슐밀도의 균일성이 미치는 영향 (The Effects of the Capsule Density Uniformity on the Behavior of Cylindrical Capsules Transported through a Pipeline)

  • 이경훈
    • 물과 미래
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    • 제26권4호
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    • pp.97-105
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    • 1993
  • 본 논문은 캡슐밀도의 균일성의 영향을 고려하여 관로내에서의 원통형 캡슐 흐름의 특성을 이해하기 위하여 수행된 연구결과를 기술한다. 캡슐의 중심 축방향으로의 밀도변화 영향을 실험적으로나 분석적인 방법으로 연구하였다. 실험은 직경 190mm, 길이 17m인 관에서 수행되었으며, 속도, 캡슐의 기울기, 캡슐바닥과 관과의 간격이 여러 가지 실험 조건하에서 측정되었다. 실험데이타를 해석하기 위하여 무차원 변수로 주어지는 안정성지수(Stability Index)가 유도되었다. 관로에서의 캡슐의 거동은 안정성 지수에 크게 영향을 받는다. 실험결과는 안정성 지수가 캡슐거동과 캡슐밀도의 균일성과의 상관관계를 잘 설명하여주는 유효한 기준임을 증명하였다.

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A Case Study on Heavy Rainfall Using a Wind Profiler and the Stability Index

  • Hong, Jongsu;Jeon, Junhang;Ryu, Chansu
    • 통합자연과학논문집
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    • 제8권3호
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    • pp.221-232
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    • 2015
  • In this study, the vertical characteristics of wind were analyzed using the horizontal wind, vertical wind, and vertical wind shear, which are generated from a wind profiler during concentrated heavy rain, and the quantitative characteristics of concentrated heavy rain were analyzed using CAPE, SWEAT, and SRH, among the stability indexes. The analysis of the horizontal wind showed that 9 cases out of 10 had a low level jet of 25 kts at altitudes lower than 1.5 km, and that the precipitation varied according to the altitude and distribution of the low-level jet. The analysis of the vertical wind showed that it ascended up to about 3 km before precipitation. The analysis of the vertical wind shear showed that it increased up to a 1 km altitude before precipitation and had a strong value near 3 km during heavy rains. In the stability index analysis, CAPE, which represents thermal buoyancy, and SRH, which represents dynamic vorticity, were used for the interpretation of the period of heavy rain. As SWEAT contains dynamic upper level wind and thermal energy, it had a high correlation coefficient with concentrated-heavy-rain analysis. Through the case studies conducted on August 12-13, 2012, it was confirmed that the interpretation of the prediction of the period of heavy rain was possible when using the intensive observation data from a wind profiler and the stability index.

관로를 통하여 수송되는 원통형 캡슐의 거동에 대하여 캡슐밀도의 균일성이 미치는 영향 (The Effects of the Capsule Density Uniformity on the Behavior of Cylindrical Capsules Transpored through a Pipeline)

  • 이경훈;이관수
    • 한국수자원학회:학술대회논문집
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    • 한국수자원학회 1993년도 수공학연구발표회논문집
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    • pp.483-490
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    • 1993
  • 본 논문은 캡슐밀도의 균일성의 영향을 고려하여 관로내에서의 원통형 캡슐 흐름의 특성을 이해하기 위하여 수행된 연구결과를 기술한다. 캡슐의 중심 축방향으로의 밀도변화 영향을 실험적으로나 분석적인 방법으로 연구하였다. 실험은 직경 190mm, 길이 18m인 관에서 수행되었으며, 속도, 캡슐의 기울기, 캡슐바닥과 관과 간격이 여러가지 실험조건하에서 측정되었다. 실험데이타를 해석하기 위하여 무차원 변수로 주어지는 안정성지수(Stability Index)가 유도되었다. 관로에서의 캡슐의 거동은 안정성지수에 크게 영향을 받는다. 실험결과는 안정성지수가 캡슐거동과 캡슐밀도의 균일성과의 상관관계를 잘 설명하여주는 유효한 기준임을 증명하였다.

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Post-pillars design for safe exploitation at Trepça hard rock mine (Kosovo) based on numerical modeling

  • Ibishi, Gzim;Genis, Melih;Yavuz, Mahmut
    • Geomechanics and Engineering
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    • 제28권5호
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    • pp.463-475
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    • 2022
  • In the mine exploitation stage; one of the critical issues is the stability assessment of post-pillars. The instability of post-pillars leads to serious safety hazards in mining operations. The focus of this study is to assess the stability of post-pillars in the 130# stope in the central ore body at Trepça hard rock mine by employing both conventional (i.e., critical span curve) and numerical methods (i.e., FLAC3D). Moreover, a new numerical based index (i.e., Pillar Yield Ratio-PYR) was proposed. The aim of PYR index is to determine a border line between stable, potentially unstable, and failure state of post-pillars at a specific mine site. The critical value of pillar width to height ratio is 2.5 for deep production stopes (e.g., > 800 m). Results showed that pillar size, mining height and mining depth significantly have affected the post-pillar stability. The reliability of numerical based index (i.e., PYR) is verified based on empirical underground pillar stability graph developed by Lunder, 1994. The proposed pillar yield ratio index and pillar stability graph can be used as a design tool in new mining areas at Trepça hard rock mine and for other situations with similar geotechnical conditions.

Nexus among Bank Competition, Efficiency and Financial Stability: A Comprehensive Study in Bangladesh

  • RAHMAN, Syed Mohammad Khaled;CHOWDHURY, Mohammad Ashraful Ferdous;TANIA, Tasmina Chowdhury
    • The Journal of Asian Finance, Economics and Business
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    • 제8권2호
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    • pp.317-328
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    • 2021
  • This study examines the impact of bank competition and efficiency in the financial stability of the banking sector in Bangladesh. The study used the Lerner index and the Boone indicator to represent the bank competition, while the non-performing loan (NPL) and Z-score are used to represent financial stability. The secondary data were collected from the annual reports of 28 DSE listed commercial banks of Bangladesh over the period from 2011 to 2018. Using a dynamic panel GMM model, the study found the Lerner index is significantly negatively related with Z-score, which means that higher bank competition results in higher bank stability. It is also seen that higher cost efficiency results in higher bank stability. The Lerner index has negative, but insignificant impact on NPL. Similarly, using the Boone indicator, this study found that lower competition increases NPL. In terms of the Z-score, the Boone indicator found that 1 unit of increment results in decrease of the Z-score by 6.15 units. The study suggests that, as more competition results in more financial soundness, the banking industry competition should be ensured by policymakers or regulators. Banks could enhance financial stability by cost control to achieve cost efficiency as well as by improving loan-to-asset ratio.

실시간 감시 정보를 이용한 전압안정도 제어 방안에 대한 연구 (A Study on the Voltage Stability Control Scheme using Real-time Monitoring Data)

  • 이윤환
    • 전기학회논문지P
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    • 제66권4호
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    • pp.206-212
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    • 2017
  • In this paper, using the power system information obtained from real-time monitoring device, to analyze the voltage stability margin index and described the voltage stability control scheme for voltage stability enhancement. Based on the utilization of the voltage stability monitoring index based on local information provided by the PMU(Phasor Measurement Unit), the purpose of the plan is to control the system stably in real time. In order to apply the load control scheme, the voltage stability margin is calculated using the data acquired through the PMU installed in each load bus. If the voltage drops below a certain level, load control is performed for each. The effectiveness of the voltage stability control measures is applied to the actual KEPCO system to analyze the effectiveness.

현가장치 기구 재구성에 의한 $6\times6$ 로봇차량의 기동성 안정화 (Mobility Stabilization of a $6\times6$ Robot Vehicle by Suspension Kinematics Reconfiguration)

  • 백운경;이지웅
    • 동력기계공학회지
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    • 제14권3호
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    • pp.39-45
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    • 2010
  • The dynamic stability of a robot vehicle can be enhanced by the Force-Angle Stability Margin concept that considers a variety of dynamic effects. To evaluate the robot vehicle stability, a SPI(stability performance index), which is a function of the suspension arm angles, was used. If the SPI has a minimum value, the robot vehicle has maximum stability. The FASM and SPI concepts were incorporated in the mobility simulation by using ADAMS and MATLAB/Simulink. The simulation results using these concepts showed significant improvements of the vehicle stability on rough terrains.

강우시 사면안전율 변화를 이용한 열차운전규제기준 개발 (The Development of Rail-Transport Operation Control using the Variation of Slope Stability under Rainfall)

  • 김현기;이진욱;신민호
    • 한국철도학회:학술대회논문집
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    • 한국철도학회 2003년도 추계학술대회 논문집(II)
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    • pp.397-402
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    • 2003
  • Infiltration of rainfall causes railway embankment to be unstable and may result in failure. Basic relationship between the rainfall and stability of railway embankment are defined to analyze the stability of embankment by rainfall. An experimental study for defining of infiltration rate of rainfall into slope is conducted in the lab. The results of Rainfall infiltration show that rainfall infiltration is not equal to infiltration as like reservoir because rate of rainfall infiltration is controlled by slope angle. Based on these results, boundary condition of rainfall is altered and various numerical analysis are performed. The variation of shear strength, the degree of saturation and pore-water pressure for railway slope during rainfall can be predicted and the safety factor of railway slope can be expressed as the function of rainfall amount, namely rainfall index. Therefore, it is judged that this rainfall index can be a good tool for the rail-transport operation control.

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