• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.28 no.12
• /
• pp.1845-1855
• /
• 2004

This paper presents the forward kinematics of the Casing Oscillator that is a construction machine. The Structure of the Casing Oscillator is similar to those of 4 degree-of-freedom mechanisms with a redundancy. With analytical (geometrical) methods, the solutions of the forward position kinematics problem are significantly found by both solving an 8$^{th}$ -order polynomial equation in one unknown variable and using one over-constraint geometrical equation which can be derived under the condition of a redundancy. The proposed forward kinematics has closed-form solutions and allows Auto-Balancing control of the moving platform in real time. Numerical examples are presented and the results are verified by an inverse kinematics analysis.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.30 no.11 s.254
• /
• pp.1486-1493
• /
• 2006

This paper presents a dynamic model of a high mobility tracked vehicle composed of rigid bodies. Track is modeled as an extensible cable and the track tension between the sprocket and roller is calculated by the catenary equation. The ground force acting on a road wheel is calculated by the Bekker's pressure-sinkage relationship using the segmented wheel model. System equations of motion and constraint acceleration equations are derived in the joint coordinate space using the velocity transformation method.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.30B no.9
• /
• pp.64-75
• /
• 1993

This paper proposes a recovering technique of the elevation map by stereo modeling of the aerial image sequence which is transformed based on the aircraft situation. The area-based stereo matching method is simulated and the various parameters are experimentally chosen. In a depth extraction step, the depth is determined by solving the vector equation. The equation is suitable for stereo modeling of aerial images which do not satisfy the epipolar constraint. Also, the performance of the conventional feature-based matching scheme is compared. Finally, techniques analyzing the accuracy of the recovered elevation map (REM) are described. The analysis includes the error estimation for both height and contour lines, where the accuracy is based on the measurements of deviations from the estimates obtained manually. The experimental results show the efficiency of the proposed technique.

• Journal of Mechanical Science and Technology
• /
• v.18 no.9
• /
• pp.1529-1536
• /
• 2004

A structure is broken down into a number of substructures by means of the finite element method and the substructures are synthesized for the complete structure. The divided substructures take two types: fixed-free and free-free elements. The flexibility and stiffness matrices of the free-free elements are the Moore-Penrose inverse of each other. Thus, it is not easy to determine the equilibrium equations of the complete structure composed of two mixed types of substructures. This study provides the general form of equilibrium equation of the entire structure through the process of assembling the equilibrium equations of substructures with end conditions of mixed types. Applications demonstrate that the proposed method is effective in the structural analysis of geometrically complicated structures.

• Proceedings of the KWS Conference
• /
• 2002.10a
• /
• pp.276-281
• /
• 2002

A metallurgical model for bainite transformation kinetics in the coarse-grained heat affected zone(CGHAZ) on the basis of an Avrami-type equation was studied. Isothermal transformation tests were carried out to obtain the empirical equations for incubation time and Avrami kinetic constants for C-Mn-Mo-Ni steel. The effect of prior austenite grain size(PAGS) on the reaction rate of bainite was also investigated. Compared with experimental transformation behavior of bainite, the predicted behavior was in good agreement. It was also found that a smaller grain size retard the bainite reaction rate, contrary to the classical grain size effect and this is considered to be caused by constraint of grain size to bainite growth.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 2004.10a
• /
• pp.411-418
• /
• 2004

Using a level set method we develop a shape optimization method applied to energy flow problems in steady state. The boundaries are implicitly represented by the level set function obtainable from the 'Hamilton-Jacobi type' equation with the 'Up-wind scheme.' The developed method defines a Lagrangian function for the constrained optimization. It minimizes a generalized compliance, satisfying the constraint of allowable volume through the variations of implicit boundary. During the optimization, the boundary velocity to integrate the Hamilton-Jacobi equation is obtained from the optimality condition for the Lagrangian function. Compared with the established topology optimization method, the developed one has no numerical instability such as checkerboard problems and easy representation of topological shape variations.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.132.6-132
• /
• 2001

This paper aims to derive a mathematical model of the dynamics of handling tasks in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.108.4-108
• /
• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot fingers which stably grasps and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for differential-algebraic equations of overall...

• Journal of Institute of Control, Robotics and Systems
• /
• v.3 no.5
• /
• pp.469-475
• /
• 1997

A method for solving the inverse kinematic problem of reclaimer is presented in this paper. The reclaimers in the raw yard are being used to dig raws and transfer them to the blast furnaces. The kinematic configuration of the reclaimer is different from that of commercially available robots, because it has a rotating disk with several buckets at the end of the boom to dig raws. The reclaimer has a redundancy due to the rotating disk : the degrees of freedom are greater than the number of forward kinematic equations. A plane equation in the 3-dimensional space is determined by using several points adjacent to the reclaiming point of the raw ores pile. A constraint is obtained from the relation ship of the plane equation and trajectories of the bucket of the reclaimer. Finally, a solution of the inverse kinematics of the reclaimer is determined by a numerical method.

• Journal of computational fluids engineering
• /
• v.1 no.1
• /
• pp.112-122
• /
• 1996

A finite element scheme using the concept of PISO method has been developed to solve the Navier-Stokes viscous flows in all speed range. This scheme includes development of new pressure equation that retains both the hyperbolic term related with the density variation and the elliptic term reflecting the incompressibility constraint. The present method is applied to the incompressible two-dimensional driven cavity flow problems(Re=100, 400 and 1,000). For compressible flows, the Carter plate problem(M=3 and Re=1,000) is computed. Finally, we have simulated the shock-boundary layer interaction(M=2 and Re=2.96×10/sup 5/), a more difficult problem, and compared its results with the experiment to demonstrate the shock capturing capability of the present solution algorithm.