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정사무엘 ( Samuel Jung ),강우원 ( Woo Won Kang ) 한국식품저장유통학회(구 한국농산물저장유통학회) 2011 한국식품저장유통학회지 Vol.18 No.1
We investigated the quality characteristics of cookies prepared after addition of various concentrations of used coffee grounds (0%, 1%, 3%, and 5%, all w/w) as a substitute for flour. As coffee grounds concentration rose, decrease in the pH of cookie dough was evident. In terms the water-holding capacity of dough, cookies prepared 3% (w/w) coffee grounds yielded the highest value. With an increase in coffee grounds concentration, the color a value rose, but the L and b values fell. The gelatinization temperature became higher, but both peak viscosity and 15 min-height values declined. The spread and loss ratios decreased but the leavening rate rose significantly with elevation of coffee grounds concentration. The hardness of cookies rose but slightly, as coffee grounds concentration rose. Upon sensory evaluation of all of appearance, flavor, and overall preference, cookies prepared with addition of used coffee grounds were superior to those without grounds, whereas those prepared using 1%-3%(w/w) coffee grounds showed the highest overall acceptability. Thus cookies made using coffee grounds can be economically competitive. In addition, the ingredients of coffee powder and used coffee grounds were shown to be very similar, except that coffee grounds contain 15-fold less caffeine than dose coffee powder. As health concerns are popular today, the use of coffee grounds to manufacture processed food may be acceptable.
정사무엘(Samuel Jung),유완석(Wansuk Yoo) 한국자동차공학회 2013 한국자동차공학회 지부 학술대회 논문집 Vol.2013 No.4
A military UGV (unmanned ground vehicle) is a vehicle that operates without an human onboard for short-range surveillance and reconnaissance. It has to control driving direction and velocity by predicting road conditions, since the military UGV is being used in the off-road area. A focus of this paper is to predict the optimal velocity of the vehicle driving off-road. Current trends of velocity estimation method can be divided into two, a method based a road profile and a method using a response of vehicle. Because these methods can’t assure driving stability of vehicle on off-road, a method based virtual driving using DB has been proposed recently. Owing to using DB based on simulation results, this method has limitation on DB construction and the uncertainty of the driving stability. In order to overcome these problems, this study suggests a method of applying response of vehicle directly in virtual driving simulation without DB. To verify the suggested method, the vehicle is modeled with 1/4 car simply and Fuguson surface and B-spline is employed to interpolate the road and path data.
수정된 스카이훅 제어기를 적용한 회전형 현가장치 차량의 차체진동 저감
정사무엘(Samuel Jung),유완석(Wan-suk Yoo) 대한기계학회 2013 大韓機械學會論文集A Vol.37 No.1
군용 견마로봇차량은 전시 임무수행간 야지를 주행하게 되는데, 이때 발생하는 지속적인 충격에 의한 차체의 진동은 내부 구성품에 손상을 초래할 수 있다. 현재 차체 진동저감을 위한 제어의 수단으로 능동 또는 반능동 현가장치을 사용한 많은 연구가 진행 되고 있다. 본 연구에서는 기존의 반능동 현가장치와 더불어 6x6 차량의 회전형 현가장치와 독립적인 구동제어에 의한 진동저감 기법을 제안한다. 진동 제어기로는 스카이훅의 수정기법 중의 하나인 SH-ADD 를 적용하였다. ISO E 등급의 노면을 주행노면으로 선정하였으며, 시뮬레이션은 ADAMS Control 과 Matlab Simulink 를 연동하여 수행하였다. 야지에서의 내부장비의 피로누적에 초점을 두어 주행 제어조건에 따른 RMS 수치로서 결과를 비교 및 분석하였다. In military vehicles moving over poor roads, severe vibration of the chassis can damage internal components. Currently, many studies have focused on active and semi-active suspensions to reduce the vibration of the chassis. In this study, a vibration reduction technique is suggested by applying a unique rotating suspension structure. SH-ADD, a type of modified Skyhook, was selected as a controller for vibration reduction. A random ISO class E road was selected as the driving road. The simulation was performed using ADAMS Control and Matlab Simulink. The control result was compared with the RMS acceleration with a focus on the cumulative fatigue of the internal equipment.
진재훈(Jae Hoon Jin),정사무엘(Samuel Jung),김태윤(Tae Yoon Kim),김영구(Young Ku Kim),안창기(Chang Gi Ahn),유완석(Wan Suk Yoo) 대한기계학회 2016 大韓機械學會論文集A Vol.40 No.2
본 연구에서는 자주박격포의 다물체동역학 모델을 만든 뒤, 포탄의 탄도학을 고려하여 시뮬레이션 하였다. 자주박격포 모델은 박격포 모델 및 차량 모델로 구성하였으며, 상용 다물체 해석 프로그램인 RecurDyn 을 사용하였다. 차량 모델은 6 자유도 강체플랫폼으로 모델링 하였으며, 박격포 발사 직후의 움직임에는 강내탄도학을 적용하였다. 강내탄도학 해석의 결과를 바탕으로, 포신을 떠난 후의 강외탄도 해석을 수행하였다. 몬테카를로 기법을 활용한 반복 해석으로 발사각과 차량 동특성에 의한 변동이 고려된 탄착점의 분산도를 구하여 사격정확도를 제시하였다. For this research, the trajectory of a projectile was simulated via the multibody dynamics analysis of a selfpropelled mortar. The dynamic model was composed of a mortar model and a vehicle model, and was simulated using the RecurDyn program. Interior ballistic was applied to the mortar model, and exterior ballistic was conducted by Matlab using the simulation results of the interior trajectory. Through repetitive Monte-Carlo simulations, the accuracy of the mortar was analyzed by considering variations in the aiming angle and vehicle dynamic response.
Vecna BEAR 형 로봇의 견인력 추정을 위한 Lumped 궤도 모델링
김태윤(Tae Yun Kim),정사무엘(Samuel Jung),유완석(Wan Suk Yoo) 대한기계학회 2015 大韓機械學會論文集A Vol.39 No.3
최근 전투에서 인명 손실을 최소화하기 위해 사람이 접근하기 어려운 지역에서 부상병을 구조해내는 로봇(Vecna Bear type robot)이 개발되고 있다. Vecna BEAR 형 로봇은 험한 지형을 주행하게 되므로 큰 진동 및 전복에 의해 부상자에게 충격을 가할 수 있다. 이러한 로봇의 안정성을 보장하기 위해서는 다양한 환경에 대해 주행 한계속도를 실시간으로 추정할 수 있는 알고리즘이 요구된다. 따라서 한계속도추정 알고리즘을 수행하기 위하여 실시간 해석이 가능한 동역학 모델이 필요하다. Vecna BEAR 형 로봇의 구동부인 궤도는 실제로 많은 요소로 구성되어 있기 때문에 궤도의 다물체 동역학 모델에 의한 실시간 해석은 불가능하다. 그러므로 적은 해석량과 합당한 정확성을 만족하는 lumped 궤도 모델이 필요하다. 본 연구에서는 이러한 lumped 궤도 모델링을 수행하였고, 다물체 동역학 상용 프로그램인 RecurDyn 을 이용하여 견인력을 검증하였다. Recently, Vecna BEAR type robot to save injured individuals from inaccessible areas has been developed to minimize the loss of life. Because this robot is driven on rough terrain, there is a risk of rollover and vibration, which could impact the injured. In order to guarantee its stability, an algorithm is required that can estimate the speed limits for various environments in real time. Therefore, a dynamic model for real-time analysis is needed for this algorithm. Because the tracks used as the driving component of Vecna BEAR type robot consist of many parts, it is impossible to analyze the multibody tracks in real time. Thus, a lumped track model that satisfies the requirements of a short computation time and adequate accuracy is required. This study performed lumped track modeling, and the traction force was verified using RecurDyn, which is a dynamic commercial program.