• Journal of the Korean Society for Precision Engineering
• /
• v.15 no.11
• /
• pp.100-107
• /
• 1998

This paper presents the development of estimation model and control method based on the new robot vision. This proposed control method is accomplished using the sequential estimation scheme that permits placement of the rigid body in each of the two-dimensional image planes of monitoring cameras. Estimation model with six parameters is developed based on the model that generalizes known 4-axis scara robot kinematics to accommodate unknown relative camera position and orientation, etc. Based on the estimated parameters, depending on each camera the joint angle of robot is estimated by the iteration method. The method is experimentally tested in two ways, the estimation model test and a three-dimensional rigid body placement task. Three results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as assembly and welding.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2013.05a
• /
• pp.311-312
• /
• 2013

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2013.05a
• /
• pp.313-314
• /
• 2013

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2014.04a
• /
• pp.630-631
• /
• 2014

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1995.10a
• /
• pp.1114-1119
• /
• 1995

This paper presents the development of estimation model and control method based on the new computer vision. This proposed control method is accomplished using a sequential estimation scheme that permits placement of the rigid body in each of the two-dimensional image planes of monitoring cameras. Estimation model with six parameters is developed based on a model that generalizes known 4-axis scara robot kinematics to accommodate unknown relative camera position and orientation, etc. Based on the estimated parameters,depending on each camers the joint angle of robot is estimated by the iteration method. The method is tested experimentally in two ways, the estimation model test and a three-dimensional rigid body placement task. Three results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as assembly and welding.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.29 no.6A
• /
• pp.651-659
• /
• 2009

This study dealt with the behavior of pile-abutment joints in integral abutment bridges. Two types of pile-abutment joints were proposed to strengthen its rigid action. One was fabricated with transverse rebars which penetrated the H-pile in the abutment. The other was composed of stud shear connectors on the flanges of the H-pile. Three half scaled pile-abutment joint specimens were fabricated and loading tests were performed to evaluate the behavior of proposed joints. The results showed that the initial stiffness in elastic region of all specimens was sufficient to be applied for the integral abutment bridges. However, the performances of the proposed joints were shown to be more effective in rigid action compared to the joints types suggested by the Integral Bridge Design Guideline. The results from stiffness, strength, rotation and crack propagation tests supported this matter.

• Proceedings of the Korea Water Resources Association Conference
• /
• 2021.06a
• /
• pp.66-66
• /
• 2021

2011년에 일본 도호쿠 지방 태평양 해역에서 규모 9.0의 지진이 발생하여 거대한 쓰나미가 일본 본토 해안을 침수시켰다. 이로 인해, 정확한 피해규모가 파악되기 어려울 정도로 막대한 인명과 재산피해를 입게 되었다. 센다이지역의 경우 쓰나미로 인해 해안에 위치한 약 3.8 평방킬로미터의 방풍림이 모두 전복되었고 일부는 유목이 되어 쓰나미와 함께 내륙으로 흘러들어가 곳곳에 퇴적되어 농지를 훼손하고 가옥에 피해를 주었다. 따라서, 본 연구는 유목의 발생과 흐름에 따른 거동을 수치적으로 분석하여, 폭우나 쓰나미와 같은 거대흐름과 산지와 방풍림 등에서 발생하는 유목의 발생과 거동과정을 예측하고, 흐름과 유목 거동에 따른 피해지역을 선별할 수 있는 방법을 구축하기 위한 초기단계로서, 이를 위해 유목의 발생과정의 역학적 모델링을 수치모듈에 적용하였고 이를 활용하여 수치모의를 수행하였다. 흐름분석을 위해 쓰인 모형은 홍수범람 모형인 Nays2D Flood 이며 천수방정식을 기본으로 한다. 쓰나미의 흐름은 해안가의 방풍림지역을 상류단 경계조건으로 하여 발생 당시 관측된 수심변화를 본 모형의 상류단 경계조건으로 입력하였다. 상류단 경계조건에서 쓰나미의 유속은 수심에 따른 파속으로 계산하였다. 본 연구에서는 또한 유목의 발생과 흐름거동을 기존에 개발된 입자법 기반의 유목동역학모형을 활용하여 수치적으로 모델링 하였다. 유목은 유연성이 없는 원주형 강체로 가정하였고 초기설정으로는, 방풍림지역에 30만개의 유목이 하상의 수직방향으로 배치되어있는 것으로 가정하였다. 여기서, 본 연구에서는 쓰나미가 발생하면 흐름에 따른 항력으로 인해 수직방향으로 배치된 유목이 부러지며, 흐름과 함께 흘러가는 현상을 모델링하였다. 본 연구는 폭우나 쓰나미와 같은 거대흐름으로 인해 발생할 수 있는 유송잡물과 유목의 거동을 예측분석하는 기초연구자료로 활용될 수 있으며, 더 나아가 유목의 발생과정까지 수치적으로 재현하는 모델링을 수행하였기 추후에, 산지와 하천에서 발생할 수 있는 유송잡물의 발생과 연행 과정을 보다 세부적으로 예측할 수 있는 기초방법론으로 쓰일 수 있을 것으로 판단된다.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.40 no.5
• /
• pp.497-503
• /
• 2016

In this study, we formulate an acoustical topology optimization problem to optimally design a partition layout inside the expansion chamber of a muffler. The lower-limit insertion loss value at a target frequency is constrained, and the partition volume is selected as an object function. In this study, we calculate the insertion loss outside the duct, while to determine the noise-attenuation performance, we use the insertion loss value calculated inside the duct or transmission loss value obtained in a previous study. We employ the finite-element model for acoustical analysis, and we determine the transmission of an incident acoustic wave through each finite element using the functions of design variables that change continuously between "0" and "1." The rigid body elements, which totally reflect incident waves, build up partitions. Finally, we compare optimal topologies that depend on the target frequency and the allowed lower-limit value of insertion loss.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.35 no.11
• /
• pp.1471-1476
• /
• 2011

The catalytic converter in the front part of an automobile's exhaust system converts toxic exhaust gas into nontoxic gas. The substrate in the central part of the converter has a circular or oval-shaped cross section and fine lattice-shaped walls. In the canning process, the substrate is wrapped in mats and inserted into a can. During this process, mat pressure is induced, which may cause brittle fracturing in the substrate. In this paper, a finite element program for determining the mat pressure distribution was developed to avoid these fractures. The program was created in Microsoft EXCEL, so the input and output procedures are relatively simple. It was assumed that the substrate is rigid, the mat is material nonlinear, and the can is linear elastic. The can is modeled as a beam element to resist both bending and uniform tension/compression. The number of elements is fixed to 35, and the number of iterations, to 20. The solutions are compared to ABAQUS solutions and found to be in good agreement.