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PRT 차량용 수직이송장치의 개발을 위한 구조강도 평가
강석원,엄주환,정락교,송준현,Kang, Seok-Won,Um, Ju-Hwan,Jeong, Rag-Gyo,Song, Joon-Hyun 대한기계학회 2015 대한기계학회 논문집. Transactions of the KSME. C, 산업기술과 혁신 Vol.3 No.3
본 논문에서는 PRT(Personal Rapid Transit) 차량의 수직이송을 위한 장치를 개발하는 과정에서 수행된 주요 구조물의 정적 구조적 안전성 평가 결과를 다룬다. 지금까지 노선상에서 승객이 탑승한 상태에서 운영중인 차량의 수직이송에 대한 연구는 전무하며, 이는 기존의 2 차원 적인 교통운영 체계의 한계를 극복하는데 기여할 수 있을 것으로 기대된다. 특히, 본 연구에서 제안된 수직이송장치는 순환컨베이어 방식으로 연속 이송이 가능해서 통행량이 많은 지역에도 적용이 가능하다. 본 시스템이 물류분야에서 많이 사용되어 왔지만, 수직이동 시 차량의 무게에 의한 하중은 일반적인 물류의 수송과는 다르게 집중하중 형태로 컨베이어에 가해지기 때문에 이에 대한 구조적 안정성 평가는 필수적이다. 본 논문에서는 상용 유한요소 해석 프로그램인 $Ansys^{(R)}$를 이용해서 수직이송 장치의 기본 설계(안)의 구조적 안정성을 수치해석적 방법에 의해 평가하고자 한다. This paper presents numerical results of static structural stability analysis in development of a vertical transfer device of a PRT(Personal Rapid Transit) vehicle. The vertical transfer of a fully occupied vehicle operating on a road network is the first attempt, which is expected to contribute to overcome the limitations of conventional 2-dimensional operation mode. In particular, the vertical transfer apparatus designed based on vertical circulating conveyors is capable of continuous transfer without time delay so that it enables to accommodate a high traffic density. This system has been frequently used in a logistics field; however, it is essential to assess a structural integrity because an external force by a vehicle weight is exerted on the conveyors in the form of a concentrated load unlike a conventional logistic transport. In this study, prior to the production process, the structural performance of the pilot design in an early stage is numerically evaluated using the commercial finite element method (FEM) solver (i.e., $Ansys^{(R)}$).
강석원,정길생 ( Seok Won Kang,Kil Saeng Chung ) 한국축산학회 1976 한국축산학회지 Vol.18 No.2
This experiment was carried out to clarify the seasonal changes in general characteristics such as semen volume, sperm concentration, sperm motility, sperm abnormality and pH of the semen collected from Korean native goats by the method of electrostimulation. The results obtained in this experiment were as follows: 1. Semen volume per ejaculation was increased with decreasing daylight and the reverse was true fur the incensing daylight; average semen volume per ejaculation of November, December and January was 0.95㎖ and that of July, August and September was 0.50㎖. Significant difference (P$lt;0.05) between those two volumes was observed: 2. Seasonal changes in sperm concentration was reciprocal to those of semen volume. Average sperm concentration of July, August and September was 16.02×10^8/㎖, and that of November, December and January was 9.86×10^8/㎖ and there was also significant difference (P$lt;0.05) between those two concentration. 3. Sperm motility was changed in parallel with the variation of semen volume per ejaculation; average sperm motility of November, December and January was 83.30 and that of July, August and September was 55.10 as motility index, and significant difference (P$gt;0.05) between those two values was observed. 4. Sperm abnormality was also changed in parallel with semen volume; average percentages of abnormal spermatozoa during November, December and January were higher than those of the other months. 5. The pH of ejaculated semen was ranged from 6.80 to 7.20 throught the year and no remarkable variation acording to season was observed. 6. Significantly high (P$lt;0.01) negative correlations between semen volume and sperm concentration, sperm concentration and sperm motility, sperm concentration and sperm abnormality was observed. And there was also positive correlation between semen volume and sperm motility, semen volume and sperm abnormality, semen volume and pH, and sperm motility and pH. 7. It was clarified by those results that the reproductive activity of Korean native goat was activated by the increasing daylight began from November to January in Korea.
강석원(Seok-Won Kang),박찬익(Chan-Ik Park),변규호(Gyu-Ho Byun),이장명(Jang-Myung Lee) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.9
This paper proposes a new ball robot which has a four axis structure and four motors that directly actuate the ball to move or to maintain the balance of the robot. For the Balancing control, it is possible to use non-model-based controller to control simply without complex formula. All the gains of the controller are heuristically adjusted during the experiments. The tilt angle is measured by IMU sensors, which is used to generate the control input of the roll and pitch controller to make the tilt angle zero. The performance of the designed control system has been verified through the real experiments with the developed ball robot.
마이크로채널 내 나노 구조체에 의한 열전달 효과의 상승에 대한 수치해석
강석원(Seok-Won Kang),정락교(Rag-Gyo Jeong),변윤섭(Yeun-Sub Byun),엄주환(Ju-Hwan Um),김백현(Back-Hyun Kim) 한국산학기술학회 2014 한국산학기술학회 학술대회 Vol.- No.-
본 연구에서는 나노입자의 벽면에서의 고립된 침전(Isolated precipitation)에 의한 나노 핀 (Nano-Fin)의 형성에 의한 유효 열전달 면적(Effective heat transfer area)의 증가에 따른 열전달 효과 의 상승에 대해 수치 해석적 방법을 통해서 확인하였다. 특히, 마이크로채널에서의 매우 낮은 농도(예: ~1 vol.%)의 나노유체의 층류(Laminar flow)에 의한 열전달에서는 나노유체 자체의 열-물성 (Thermo-physical properties)의 영향보다 채널 벽면에 입자의 침전으로 형성된 나노 구조체의 영향 (즉, 표면적의 변화)을 크게 받는다. 이를 확인하기 위하여 인공적으로 제작된 나노 구조체 (Nano-structures)에 대해서 정제수(DIW: Deionized Water)를 사용하여 가열된 마이크로채널 내 벽면 에서의 열전달 해석을 수행하였다. 그 결과, 유량이 증가할수록 나노 구조체의 형성에 의한 대류 열전 달 효과가 증가하는 것으로 밝혀졌다. 또한, 매크로 크기의 핀의 적용 시 발생할 수 있는 구조체에 의 한 압력 강하 또한 없었다.
자전거로봇의 균형제어 및 주행제어를 위한 LQR 제어기 설계
강석원(Seok-Won Kang),박경일(Kyung-Il Park),이장명(Jangmyung Lee) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.5
This paper proposes a balancing control and driving control of a bicycle robot based on dynamic modeling of the bicycle robot, which has been derived using the Lagrange equations. For the balancing control of the bicycle robot, a reaction wheel pendulum method has been adopted in this research. By using the dynamics equations of the bicycle robot, an LQR controller has been designed for a balancing and driving control of a bicycle robot. The performance of the balance control is verified experimentally before the driving control, which shows a stable posture within one degree vibrations. To show the dynamic characteristics of the bicycle robot during driving, a trapezoidal velocity trajectory is selected as the references. Through simulations and real experiments, the effectiveness of the proposed algorithm has been demonstrated.