• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.14-19
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• 1998

In this paper, a target approachable force-guided control with adaptive accommodation for the complex assembly is presented. The complex assembly (CA) is defined as a task which deals with complex shaped parts including concavity or whose environment is so complex that unexpected contacts occur frequently during insertion. CA tasks are encountered frequently in the field of the manufacturing automation and various robot applications. To make CA successful, both the bounded wrench condition and the target approachability condition should be satisfied simultaneously during insertion. By applying the convex optimization technique, an optimum target approaching twist can be determined at each instantaneous contact state as a global minimum solution. Incorporated with an admissible perturbation method, a new CA algorithm using only the sensed resultant wrench and the target twist is developed without motion planning nor contact analysis which requires the geometry of the part and the environment. Finally, a VME-bus based real-time control system is built to experiment various CA task. T-insertion task as a planar CA and double-peg assembly task as a spacial assembly were successfully executed by implementing the new force-guided control with adaptive accommodation.

• Journal of the Korean Institute of Landscape Architecture
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• v.30 no.2
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• pp.50-62
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• 2002

From modernism to post-modernism, the practice in the design field often reduced the complexity of environment and to remove variety. However, contemporary ideas of space have been changed. The current thought premise is that the environment is mutable and is evolving according to inner and outer forces and elements. Therefore, leading designers recognize that the environment is complex in itself while anticipating a new theory explaining on-going trends. The idea of fold formulated by Gilles Deleuze can provide a theoretical base for new environmental design in constrat to current design practices. The fold is a hybrid by accommodating complex relations within an object. It carries a dynamic world view through continual process and yields a topological space against absolute space like Euclid geometry. The characteristics of the fold can be paraphrased as rhizome, stratification and smooth space. Rhizome forms a non-hierarchial connection like networking in internet space. Stratification is a kind of superimposition of autonomous potential layers within a single object. Smooth space is a free space and event oriented space keeping non-linear form. This study tried to incorporate the idea of fold to environmental design methods and design process in order to make space which can correspond with complex environment and topological form. In the design process adapted to fold theory, rhizome analysis accepts the complexity of environment and stratification strategy embraces the possibility of accidental use. As a result, the designed park carries a monadic image and produces an ambiguous space. Lastly, smooth space makes topological space unlike Euclid geometry and is free space comosed by the user themselves. Transporting the idea of fold into environmental design could be an alterative way for indeterminate and flexible design to accept new identity of place. Therefore, this study accepts the concept of incidental morphogenesis to make space based on the complexity of environment. The designed space based on the idea of fold searches to create free event space determined by user rather than designated by designer.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.5 s.182
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• pp.143-148
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• 2006

It is still very difficult to generate a geometry model and finite element model, which has complex and many free surface, even though 3D CAD solutions are applied. Furthermore, in the medical field, which is a big growth area of recent years, there is no drawing. For these reasons, making a geometry model, which is used in finite element analysis, is very difficult. To resolve these problems and satisfy the requests of the need to create a 3D digital file for an object where none had existed before, new technologies are appeared recently. Among the recent technologies, there is a growing interest in the availability of fast, affordable optical range laser scanning. The development of 3D laser scan technology to obtain 3D point cloud data, made it possible to generate 3D model of complex object. To generate CAD and finite element model using point cloud data from 3D scanning, surface reconstruction applications have widely used. In the early stage, these applications have many difficulties, such as data handling, model creation time and so on. Recently developed point-based surface generation applications partly resolve these difficulties. However there are still many problems. In case of large and complex object scanning, generation of CAD and finite element model has a significant amount of working time and effort. Hence, we concerned developing a good direct finite element model generation method using point cloud's location coordinate value to save working time and obtain accurate finite element model.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.672-677
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• 2007

Recently, the new finite element method which uses NURBS as shape functions was proposed. It is very promising because it can directly use CAD data to describe geometry and discretize problem domain. In this case, CAE models are not approximated but represent exact geometry. So, it can contribute to more accurate results. In addition, it can greatly reduce CAE costs in that simulation models don't have to be made up independently. But in spite of these advantages, the method using NURBS have also some disadvantages. NURBS surface cannot be refined locally. T-splines are recently developed surface modeling technique. A T-spline surface is a NURBS surface with T-junctions and is defined by a control grid called T-mesh. The T-junctions enable T-spline surfaces to be refined locally. That is, it is possible to add a single control point to a T-spline control grid without propagating an entire row or column of control points and without altering the surface. In this research, the finite element analysis using T-splines is studied. In this analysis, CAD data are used directly for engineering analysis. Some problems with complex geometry are solved. And the results will be compared with ones of conventional FEM.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 1999.03b
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• pp.14-17
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• 1999

The wrinkling behavior of a thin sheet with perfect geometry is a kind of compressive instability. The compressive instability is influenced by many factors such as stress state mechanical properties of the sheet material geometry of the body contact conditions and plastic anisotropy. The analysis of compressive instability in plastically deforming body is difficult considering all the factors because the effects of the factors are very complex and the instability behavior may show wide variation for small deviation of the factors. In this study the bifurcation theory is introduced for the finite element analysis of puckering initiation and growth of a thin sheet with perfect geometry. All the above mentioned analysis and the post-bifurcation behavior is analyzed by introducing the branching scheme proposed by Riks. The finite element formulation is based on the incremental deformation theory and elastic-plastic material modeling. in order to investigate the effect of plastic anisotropy on the compressive instability a square plate that is subjected to compression in one direction and tension in the other direction is analyzed by the above-mentionedfinite element analysis. The critical stress ratios above which the buckling does not take place are found for various plastic anisotropic modeling method and discussed. Finally the effect of plastic anisotropy on the puckering behavior in the spherical cup deep drawing process is investigated.

• Earthquakes and Structures
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• v.2 no.4
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• pp.337-356
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• 2011

In this paper, cable-stayed bridges with single pylon and two equal side spans, with variations in geometry and span ranging from 120 m to 240 m have been studied. 3D models of the bridges considered in this study have been analysed using ANSYS. As the first step towards a detailed seismic analysis, free vibration response of different geometries is studied for their mode shapes and frequencies. Typical pattern of free vibration responses in different frequencies with change in geometry is observed. Further, three different seismic loading histories are chosen with various characteristics to find the structural response of different geometries under seismic loading. Effect of variation in pylon shape, cable arrangement with variation in span is found to have typical characteristics with different structural response under seismic loading. From the study, it is observed that the structural response is very much dependent on the geometry of the cable-stayed bridge and the characteristics of the seismic loading as well. Further, structural responses obtained from the study would help the design engineers to take decisions on geometric shapes of the bridges to be constructed in seismic prone zones.

• Wind and Structures
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• v.36 no.1
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• pp.61-73
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• 2023

In this article, a novel structural modal parameters identification methodology is developed to determine the natural frequencies and damping ratios of civil structures based on the symplectic geometry mode decomposition (SGMD) approach. The SGMD approach is a new decomposition algorithm that can decompose the complex response signals with better decomposition performance and robustness. The novel method firstly decomposes the measured structural vibration response signals into individual mode components using the SGMD approach. The natural excitation technique (NExT) method is then used to obtain the free vibration response of each individual mode component. Finally, modal natural frequencies and damping ratios are identified using the direct interpolating (DI) method and a curve fitting function. The effectiveness of the proposed method is demonstrated based on numerical simulation and field measurement. The structural modal parameters are identified utilizing the simulated non-stationary responses of a frame structure and the field measured non-stationary responses of a supertall building during a typhoon. The results demonstrate that the developed method can identify the natural frequencies and damping ratios of civil structures efficiently and accurately.

• Bulletin of the Korean Chemical Society
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• v.34 no.12
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• pp.3695-3702
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• 2013

A nickel(II) complex $[Ni(H_2biim)_2(H_2O)_2](ClO_4)_2{\cdot}H_2O$ (1) of biimidazole ligand has been synthesized and characterized (Where $H_2biim$ = 2,2'-biimidazole). The single crystal X-ray diffraction of the complex shows a dimeric structure with six coordinated psudo-octahedral geometry. The cyclic voltammograms of complex exhibited one quasireversible reduction wave ($E_{pc}=-0.61V$) and an irreversible oxidation wave ($E_{pa}=1.28V$) in DMF solution. The interaction of the complex with Calf-Thymus DNA (CT-DNA) has been investigated by absorption and fluorescence spectroscopy. The complex is an avid DNA binder with a binding constant value of $1.03{\times}10^5M^{-1}$. The results suggest that the nickel(II) complex bind to CT-DNA via intercalative mode and can quench the fluorescence intensity of EB bind to CT-DNA with $K_{app}$ value of $3.2{\times}10^5M^{-1}$. The complex also shown efficient oxidative cleavage of supercoiled pBR322 DNA in the presence of hydrogen peroxide as oxidizing agent. The DNA cleavage by complex in presence of quenchers; viz. DMSO, KI, $NaN_3$ and EDTA reveals that hydroxyl radical or singlet oxygen mechanism is involved. The complex showed invitro antimicrobial activity against four bacteria and two fungi. The antimicrobial activity was nearer to that of standard drugs and greater than that of the free ligand.

• Bulletin of the Korean Chemical Society
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• v.32 no.12
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• pp.4321-4326
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• 2011

A new series of heteroleptic cyclometalated iridium(III) complexes has been synthesized and characterized by absorption, emission and cyclic voltammetry studies: $(pqx)_2Ir(acac)$ (1), $(dmpqx)_2Ir(acac)$ (2) and $(dfpqx)_2Ir(acac)$ (3) where pqx=2-phenylquinoxalinate, dmpqx=2-(2,4-dimethoxyphenyl)quinoxalinate, dfpqx=2-(2,4-difluorophenyl) quinoxalinate and acac=acetylacetonate anion. The reaction of excess acetylacetone with ${\mu}$-chloride-bridged dimeric iridium complex, $[(C\^N)_2Ir({\mu}-Cl)]_2$, gives a complex 1 and an unusual hydridoiridium(III) complex, $(pqx)IrH(acac)_2$ (4). The complex 1, 2 and 3 show their emissions in an orangered region (${\lambda}_{PL,max}$ = 583-616 nm), and the emission maxima can be tuned by the change of substituent at phenyl ring of 2-phenylquinoxaline ligand. The phosphorescent line shape indicates that the emissions originate predominantly from $^3MLCT$ states with little admixture of ligand-based $^3({\pi}-{\pi}^*)$ excited states. The structures of complex 3 and 4 are additionally characterized by a single crystal X-ray diffraction method. The complex 3 shows a distorted octahedral geometry around iridium(III) metal ion. A strong trans influence of the phenyl ring is examined. In complex 4, there are two discrete molecules which are mirror images each other at the ratio of 1:1 in an unit cell. We propose that the phosphorescent complex 1, 2 and 3 are possible candidates for the phosphors in OLEDs applications.

• Korean Journal of Computational Design and Engineering
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• v.1 no.1
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• pp.65-75
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• 1996

This paper describes an automatic finite element(FE) mesh generation for three-dimensional structures consisting of free-form surfaces. This mesh generation process consists of three subprocesses: (a) definition of geometric model, i.e. analysis model, (b) generation of nodes, and (c) generation of elements. One of commercial solid modelers is employed for three-dimensional solid and shell structures. Node is generated if its distance from existing node points is similar to the node spacing function at the point. The node spacing function is well controlled by the fuzzy knowledge processing. The Delaunay method is introduced as a basic tool for element generation. Automatic generation of FE meshes for three-dimensional solid and shell structures holds great benefits for analyses. Practical performances of the present system are demonstrated through several mesh generations for three-dimensional complex geometry.