• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.1
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• pp.98-106
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• 1991

Future generation of robots will be considerably more autonomous than present robotic systems. The main objective of research on theoretical problems in robotics is to endow robotics system with basic capabilities they will need to operate in an intelligent and autonomous manner. This paper discusses the problem of collision free movement of robot manipulator. It is formulated in path planning with obstacle avoidance expressed in the term of the distance between convex shapes in the three dimensional space. The examples are given to illustrate the main feature of the method.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.28 no.6
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• pp.652-658
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• 2004

In this paper, we report the numerical and experimental solutions of the axi-symmetric flows in the axial plane driven by an impingement of fluid from the bottom wall of a circular cylinder. We managed to visualize successfully the flow pattern shown on the vertical plane through the container axis. The numerical results are shown to compare well with the experimental results for the case of infinity Rossby number. The satisfactory agreement between the two results was possible when in the numerics the free surface was treated as a solid wall so that a no-slip condition was applied on the surface. The numerical solutions reveal that inertial oscillation plays an important role at small Rossby numbers, or at a larger background rotation.

• Journal of Welding and Joining
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• v.6 no.3
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• pp.21-26
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• 1988

The behavior of angular distortion in butt joint wleding of thin plate structure is investigated with an experimental model and partially with a computational model. The experimental model studying the effects of specimene size and degree of restraint on the angular distorion offers a good method for analyzing the behavior of the distrotion. In addition, the distrotion during welding was demonstrated by both experimental measurement and numericla prediciton. The facts evealed in this study are as follows : 1) distrotion angles were changed with variations of specimene wldth. 2) With the restraint, angular distrotion was reduced to 20% to that of free joint. 3) After the restraint being removed, the effect of restraint was also remained. 4) Same heat input per unit thickness caused same amount of distortion. 5) The mode of angular distortion was expected to be changed with expected to be changed with time, i.e. convex movement during heating and concave one during cooling.

• Journal of Mechanical Science and Technology
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• v.18 no.6
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• pp.1042-1051
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• 2004

The vortex flow characteristics of a sharp-edged delta wing at high angles of attack were studied using a computational technique. Three dimensional, compressible Reynolds-averaged Navier-Stokes equations were solved to understand the effects of the angle of yaw, angle of attack, and free stream velocity on the development and interaction of vortices and the relationship between suction pressure distributions and vortex flow characteristics. The present computations gave qualitatively reasonable predictions of vortical flows over a delta wing, compared with past wind tunnel measurements. With an increase in the angle of yaw, the symmetry of the pair of leading edge vortices was broken and the vortex strength was decreased on both windward and leeward sides. An increase in the free stream velocity resulted in stronger leading edge vortices with an outboard movement.

• Korean Management Science Review
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• v.23 no.3
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• pp.63-75
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• 2006

There are many kinds of research on web graph, most of them are focus on the hyperlinked structure of the web graph. Well known results on the web graph are rich-get-richer phenomenon, small-world phenomenon, scale-free network, etc. In this paper, we define 3 new directed web graph, so called the Web Usage Pattern Graph (WUPG), that nodes represent web sites arid arcs between nodes represent a movement between two sites by users' browsing behavior. The data to constructing the WUPG, approximately 56,000 records, are gathered from some users' PCs. The results analysing the data summarized as follows : (i) extremely rich-get-richer phenomenon (ii) average path length between sites is significantly less than the previous one (iii) less external hyperlinks, more internal hyperlinks.

• Proceedings of KOSOMES biannual meeting
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• 2009.06a
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• pp.85-86
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• 2009

The sloshing phenomenon can be defined as the nonlinear movement of the free-surface of liquids inside tanks. It generates dynamic loads on the tank structure and thus becomes a problem of relative importance in the design of marine structures. The present study describes a experiment of the sloshing of flows with free-surface which contained in a rectangular tank moving in pitching motion.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.7 no.4
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• pp.28-34
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• 1998

This paper presents a new method for local obstacle avoidance of indoor mobile robots. The method combines a directional approach called the lane method and a velocity space approach. The lane method divides working area into lanes and then chooses the best lane to follow for efficient and collision-free movement. Then, the heading direction to enter and follow the best lane is decided, and translational and rotational velocity considering physical limitations of a mobile robot are determined. Since this method combines both the directional and velocity space method, it shows collision-free motion as well as smooth motion taking the dynamic of the robot into account.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.13 no.10
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• pp.751-759
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• 2003

The theoretical method is developed to investigate the vibration characteristics of the sloshing and bulging mode for the circular cylindrical storage tank with an annular plate on free surface. The cylindrical tank is filled with an inviscid and incompressible liquid. The liquid domain is limited by a rigid cylindrical surface and a rigid flat bottom. As the effect of free surface waves Is taken into account in the analysis, the bulging and sloshing modes are studied. The solution for the velocity potential of liquid movement is assumed as a suitable harmonic function that satisfies Laplace equation and the relevant boundary conditions. The Rayleigh-Ritz method is used to derive the frequency equation of the cylindrical tank. The effect of Inner-to-outer radius ratio and thickness of annular plate and liquid volume on vibration characteristics of storage tank is studied. The finite element analysis is performed to demonstrate the validity of present theoretical method.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.2
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• pp.95-101
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• 2018

This paper presents a collision free mobile robot navigation based on the fuzzy inference fusion model in unkonown environments using multi-ultrasonic sensor. Six ultrasonic sensors are used for the collision avoidance approach where CCD camera sensors is used for the trajectory following approach. The fuzzy system is composed of three inputs which are the six distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot's wheels, and three cost functions for the robot's movement, direction, obstacle avoidance, and rotation. For the evaluation of the proposed algorithm, we performed real experiments with mobile robot with ultrasonic sensors. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.

• Proceedings of the IEEK Conference
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• 2002.06c
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• pp.199-202
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• 2002

We described a real-time 3D computer vision system called MIMIC(Motion interface f Motion information Capture system) that can capture and save motion of an actor. This system analyzes input images from vision sensors and searches feature information like a head, hands, and feet. Moreover, this estimates intermediated joints as an elbow and hee using feature information and makes 3D human model having 20 joints. This virtual human model mimics the motion of an actor in real-time. Therefore this system can realize the movement of an actor unaffectedly because of making intermediated joint for complete human body contrary to other marker-free motion capture system.