• Journal of Welding and Joining
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• v.20 no.3
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• pp.129-137
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• 2002

This study presents a new method to derive the constraint coefficient from the degree of angular deformation caused by welding, as measured experimentally by varying the shape of welded joints and the magnitude of constraints and from analysis results given by the elastic FEM method. The equivalent load was then calculated with this constraint coefficient. The validity of the numerical analysis involved in this new method was confirmed by its agreement with the experimental results. As for the effects of the constraints based on the shape of the welded joints in the case of Butt welding when the constraint coefficients are not considered, the deformed quantity produced by analysis is larger that produced by experiment and consequently is largely affected by the constraints. However, in the case of Fillet welding, the deformed quantity is seldom affected regardless of constraint coefficient considerations.

• Special Issue of the Society of Naval Architects of Korea
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• 2007.09a
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• pp.22-25
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• 2007

Angular distortion in welding process is decided by the various variables. We can make the prediction of welding distortion in similar reality by the analysis of data through many specimen tests. However it is difficult that prediction of welding distortion applies to the ship building. We can establish that angular distortion varies directly as the specimen size. And, it makes clear distortion's difference between constraint and unconstraint, according to the change of a plate thickness.

• Journal of Welding and Joining
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• v.15 no.4
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• pp.63-69
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• 1997

Welding distortion is more serious problem than any other problems caused by welding process, especially, in the heavy-industrial place. These welding distortions are caused by nonuniform heating and cooling of metal during and after welding operations. And these distortion quantities are must be known to worker in production line because distorions are important role in assembling part. Therefore an analytical model to explain and predict the welding distortion are needed. A numerical analysis of welding distortion which is inelastic behavior of weldment would require the three dimensional calculation. But computing time and memory would be very large, and the resulting cost might be unacceptable. Therefore we use a numerical technique for two dimensional analysis in the section normal to the weld direction of weldment under an assumption of quasi-stationary conditions. But the result of the calculation under two dimensional(plane strain) assumption was not satisfied as compared with experimental result. This paper proposed a technique for analysing the welding angular distortion by using a constraint boundary condition on the two dimensional finite element model. The simulation results revealed that the constraint boundary model could more reasonably describe the welding distortion than the plane strain model did.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.5
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• pp.412-418
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• 2007

An inverse optimal problem for homing guidance with angular constraint is addressed. The gains of BPN(Biased PN) are investigated by duality analysis related to the weighting matrices of the performance index in the LQ control problem. Moreover, the criteria for the existence of optimal gains are derived from the generalized Riccati equation. Based on the conditions we achieve the gain set of BPN to be optimal solution to the LQ problem with terminal constraints. To validate and demonstrate the proposed approach 3-DOF simulations are carried out.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.1
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• pp.56-64
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• 2013

We propose an efficient minimum-time cornering motion planning algorithms for differential-driven wheeled mobile robots with motor control input constraint, under piecewise constant control input sections. First, we established mobile robot's kinematics and dynamics including motors, divided the cornering trajectory for collision-free into one translational section, followed by one rotational section with angular acceleration, and finally the other rotational section with angular deceleration. We constructed an efficient motion planning algorithm satisfying the bang-bang principle. Various simulations and experiments reveal the performance of the proposed algorithm.

• Journal of Korean Society of Steel Construction
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• v.13 no.5
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• pp.547-556
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• 2001

This study presents new method in which to derive the constraint coefficient from the quantity of angular deformation by welding measured by varying the shape of welded joints and the magnitude of constraints by varying the shape of welded joints and the magnitude of constraints by experiment and from the result analyzed by elastic FEM method and then to decide equivalent load with it The numerical analysis results by this new method verified the validity by agreeing with the experimental result on specimen. In addition These results are applicable to the prediction of the quantity of welding deformation for large structures regardless of the size and the shape While in the effects of the constraints based on the shape of welded joints in the case of Butt welding when the constraint coefficients are not considered the deformed quantity is produced larger than one by the experiment and consequently is largely affected by the constraints But in the case of Fillet welding the deformed quantity is seldom affected regardless of considering the constraint coefficients or not.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.6
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• pp.148-159
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• 1999

A numerical method is presented for the dynamic analysis of spur gears rotating with very high angular speeds. For an efficient computation each gear is assumed to consist of a rotating rigid disk and an elastic tooth having mass, and finite element formulations are used for the equations of motion of the tooth. The geometric constraint is imposed between the rigid disk and the elastic tooth to fix them, and contact condition is imposed between the meshing teeth of the gears. At each iteration of each time step the Lagrange multiplier and contact force are revised by using the constraint error vector, and then the whole equations of motion are time integrated with the given Lagrange multiplier and contact force. For the accurate solution the velocity and acceleration constraints as well as the displacement constraint are satisfied by the monotone reductions of the constraint error vectors. Computing procedures associated with the iterative schemes are explained and numerical simulations are conducted with the spur gears.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.8
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• pp.89-96
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• 2015

Human visual system has chromatic adaptation to determine the color of an object regardless of illumination, whereas digital camera records illumination and reflectance together, giving the color appearance of the scene varied under different illumination. NMFsc(nonnegative matrix factorization with sparseness constraint) was recently introduced to estimate original object color by using sparseness constraint. In NMFsc, low sparseness constraint is used to estimate illumination and high sparseness constraint is used to estimate reflectance. However, NMFsc has an illumination estimation error for images with large uniform area, which is considered as dominant chromaticity. To overcome the defects of NMFsc, illumination estimation via nonnegative matrix factorization with dominant chromaticity image is proposed. First, image is converted to chromaticity color space and analyzed by chromaticity histogram. Chromaticity histogram segments the original image into similar chromaticity images. A segmented region with the lowest standard deviation is determined as dominant chromaticity region. Next, dominant chromaticity is removed in the original image. Then, illumination estimation using nonnegative matrix factorization is performed on the image without dominant chromaticity. To evaluate the proposed method, experimental results are analyzed by average angular error in the real world dataset and it has shown that the proposed method with 5.5 average angular error achieve better illuminant estimation over the previous method with 5.7 average angular error.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.3
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• pp.249-256
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• 1999

The conventional robot manipulability is decomposed into linear manipulability and angular manipulability so that they may be analysed and visualized in easy way even in the case of 3 dimensional task space with 6 variables. After the Jacobian matrix is decomposed into linear part and angular part, constraint on joint velocities is transformed into linear task velocity and angular task velocity through the decomposed Jacobian matrices. Under the assumption of redundant robot manipulators, several optimization problems which utilize the redundancy are formulated to be solved by linear programming technique or sequential quadratic programming technique. After deriving the solutions of the optimization problems, we give graphical interpretations for the solutions.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.9
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• pp.845-853
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• 2012

We propose time-optimal cornering motion trajectory planning and control algorithms for differential wheeled mobile robot with motor actuating voltage constraint, under piecewise constant control input condition. For time-optimal cornering trajectory generation, 1) we considered mobile robot's dynamics including actuator motors, 2) divided the cornering trajectory into one liner section, followed by two cornering section with angular acceleration and deceleration, and finally one liner section, and 3) formulated an efficient trajectory generation algorithm satisfying the bang-bang control principle. Also we proposed an efficient trajectory control algorithm and implemented with an X-bot to prove the performance.