• Structural Engineering and Mechanics
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• v.41 no.6
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• pp.735-750
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• 2012

This paper presents a comparison between two different procedures to deal with the geometric nonlinear analysis of space trusses, considering its structural stability aspects. The first nonlinear formulation, called positional, uses nodal positions rather than nodal displacements to describe the finite elements kinematics. The strains are computed directly from the proposed position concept, using a Cartesian coordinate system fixed in space. The second formulation, called corotational, is based on the explicit separation between rigid body motion and deformed motion. The numerical examples demonstrate the performances and the convergence of the responses for both analyzed formulations. Two numerical examples were compared, including a lattice beam with postcritical behavior. Despite the two completely different approaches to deal with the geometrical nonlinear problem, the results present good agreement.

• Journal of Navigation and Port Research
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• v.27 no.5
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• pp.527-537
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• 2003

The characteristics of ship induced waves caused by navigation become widely different from both ship's speed and water depth condition. The ship induced waves specially generated in coastwise routes frequently give rise to call unforeseen danger for swimmers and small boats as well as shoreline erosion or sea wall destruction in coastal zones. The main concern of ship induced wave study until now is either how to reduce ship resistance or how to manoeuvre the ship safely under a constant water depth in the view point of shipbuilding engineers. Moreover, due to the trends for appearance of the high speed ships at the shallow coastal water, we are confronted with the danger of damages from those ship induced waves. Therefore, it is necessary to examine the development of ship induced waves and the influence of their deformation effects according to its propagation ray. In present study, in order to predict the development of the ship induced waves and their propagation under the conditions of complicate and variable shallow water depth with varying ship's speed, we constructed a computer model using Boussinesq equation with a fixed coordinate system and verified the model results by comparison with experimental results. Additionally, the model was applied under the variable water depth based on actual passage and we then confirmed the importance of the variable water depth consideration.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.13 no.2
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• pp.61-71
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• 1993

The stress waves generated by the mechanical energies by impact or the chemical energies by the explosions are transmitted through medium. The wave propagation process through medium is a very complicated procedure due to the reflections and refractions of the waves at the free surfaces and interfaces. In this study the pressure independent Von-Mises model is employed for the wave propagation analysis in the layered systems. Governing equations of this study are conservation equations of momentum and mass in Lagrangian coordinate system which is fixed to the material. Due to the shock-front which violates the continuity assumptions inherent in the differential equations numerical artificial viscosity is used to spread the shock front over several computational zones. These equations are solved by Finite Difference Method with discretized time and space coordinates. The associate normality flow rule as a plastic theory is implemented to find the plastic strains.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.12 no.2
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• pp.21-33
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• 1992

Under the intense-impulsive loading, structures are subjected to the wide range of pressures at an instantaneous time. The constitutive laws capable to describe the material behavior under the extreme pressure as well as the low pressure are necessary for the analysis of the structural behavior under the intense -impulsive loadings. In this study, two plastic models, the pressure independent Von-Mises model and the pressure dependent Drucker-Prager model, are employed for the wave propagation analysis. Governing equations of this study are conservation equations of momentum and mass in Lagrangian coordinate system which is fixed to the material. Due to the shock-front which violates the continuity assumptions inherent in the differential equations numerical artificial viscosity is used to spread the shock front over several computational zones. These equations are solved by Finite Difference Method with discretized time and space coordinates. The associate normality flow rule as a plastic theory is implemented to find the plastic strains.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.839-846
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• 2016

Bin picking is a task of picking a small object from a bin. For accurate bin picking, the 3D pose information, position, and orientation of a small object is required because the object is mixed with other objects of the same type in the bin. Using this 3D pose information, a robotic gripper can pick an object using exact distance and orientation measurements. In this paper, we propose a 3D vision technique for accurate measurement of 3D position and orientation of small objects, on which a paper label is stuck to the surface. We use a maximally stable extremal regions (MSERs) algorithm to detect the label areas in a left bin image acquired from a stereo camera. In each label area, image features are detected and their correlation with a right image is determined by a stereo vision technique. Then, the 3D position and orientation of the objects are measured accurately using a transformation from the camera coordinate system to the new label coordinate system. For stable measurement during a bin picking task, the pose information is filtered by averaging at fixed time intervals. Our experimental results indicate that the proposed technique yields pose accuracy between 0.4~0.5mm in positional measurements and $0.2-0.6^{\circ}$ in angle measurements.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.10
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• pp.955-961
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• 2006

The global ultrasonic system for the self-localization of a mobile robot consists of several ultrasonic transmitters fixed at some reference positions in the global coordinates of robot environment. By activating the ultrasonic transmitters, the mobile robot is able to get the distance to the ultrasonic transmitters and compute its own position in the global coordinate. Due to the limitation on the ultrasonic signal strength and beam width as well as the environmental obstacles however, the ultrasonic signals from some generator may not be transmitted to the robot. Thus, instead of activating the all ultrasonic transmitters, it is necessary to select some ultrasonic generators to activate based on the current robot position. In this paper, we propose a selective activation algorithm for self-localization with the global ultrasonic system. The selective activation algorithm gets the meaningful ultrasonic data at every sampling instants, which results in the faster and more accurate response of the self-localization than the conventional sequential activation. Through the self-localization and path following control, we verify the effectiveness of the proposed selective activation algorithm.

• Journal of Mechanical Science and Technology
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• v.18 no.7
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• pp.1203-1212
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• 2004

The purpose of this study is to predict and understand the hydrodynamic forces and their nonlinear behaviors of fluid motion around the submerged plate oscillating near a free surface. To achieve this objective, we have developed a composite grid method for the solution of a radiation problem. The domain is divided into two different grids; one is a moving grid system and the other is a fixed grid system. The moving grid is employed for the body fitted coordinate system and moves with the body. This numerical method is applied to calculation of radiation forces generated by the submerged plate oscillating near a free surface. In order to investigate the characteristics of the radiation forces, the forced heaving tests have been performed with several amplitudes and different submergences near a free surface. These experimental results are compared with the numerical ones obtained by the present method and a linear potential theory. As a result, we can confirm the accuracy of the present method. Finally, the effect of nonlinear and viscous damping has been evaluated on the hydrodynamic forces acting on the submerged plate.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1144-1149
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• 2003

It is very important to measure circular motion accuracy of NC lathes it affects accuracy, performance, interchange ability and quality of machine parts machined by the NC lathes in industries. So, in this study, measuring units system to measure circular motion accuracy two axes circular motion accuracy of NC lathes was composed of two optical linear scales installed on the z and x-axes of work coordinate system on NC lathe and a computer inserted with PC counter card enables to obtain measuring data. Here, ATC(Automatic Tool Changer) and moving part of linear scales are fixed with magnet bases in order to measure circular motion accuracy of the ATC of NC lathe. And next, computer software was developed in order to measure the circular motion accuracy of NC lathe under resolution of 0.1 $\mu\textrm{m}$ using two linear scales, and also computer softwares were developed so that measuring data could be modeled on plots and be analyzed numerically,

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.9 no.1
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• pp.55-63
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• 1997

A numerical investigation has been made for flows in an axisymmetric circular cylinder with an impulsively rotating cone located at the bottom of the container. The axisymmetric container is completely filled with a viscous fluid. Major parameter for the present research is only the vertex angle of the cone, otherwise Reynolds number and aspect ratio of the vessel are fixed. Main interest concerns on the vortex breakdown of meridional circulation by impulsive rotation of the cone with respect to the longitudinal axis of the cylinder. Numerical method has been used to integrate momentum and continuity equations on a generalized body-fitted grid system. The pattern of vortex breakdown is quite different from that in a right circular cylinder with flat endwall disks. The flow visualization photograph of the preceeding work by Escudier is compared with the present numerical results and the two results are in good agreements. Also flow data are plotted to gain a deep understanding for the present phenomena of the vortex breakdown. The conclusions of this work are clearly explained by the classical theory of the vortex flows in a finite geometry.

• Journal of the Korea Society of Computer and Information
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• v.13 no.2
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• pp.235-242
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• 2008

An Autonomous mobile robot is a very useful system to achieve various tasks in dangerous environment, because it has the higher performance than a fixed base manipulator in terms of its operational workspace size as well as efficiency. A method for estimating the position of an object in the Cartesian coordinate system based upon the geometrical relationship between the image captured by 2-DOF active camera mounted on mobile robot and the real object, is proposed. With this position estimation, a method of determining an optimal path for the autonomous mobile robot from the current position to the position of object estimated by the image information using homogeneous matrices. Finally, the corresponding joint parameters to make the desired displacement are calculated to capture the object through the control of a mobile robot. The effectiveness of proposed method is demonstrated by the simulation and real experiments using the autonomous mobile robot.