• Tribology and Lubricants
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• v.8 no.1
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• pp.30-37
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• 1992

The displacement and pressure field of liquid crystals are analyzed numerically and compared with classical Reynolds theory. A plane slider bearing is employed as a simple example considering elasticity, permeability and splay effect which are the inherent characteristics of layered liquid crystals. Due to the geometric constraint of thin wedge and the strong anchoring behavior of the liquid crystals dislocations are inevitable. A finite element method is used to solve five coupled nonlinear equations. The load characteristics based on the pressure distribution along the gap shows that the liquid crystals can carry large load compared to the conventional lubricants.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.739-740
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• 2008

Method for 3D reconstruction from image points and geometric clues can be roughly classified as "model-based" and "constraint-based". We present a new method to reconstruct from one image a scene using depth-point. The our method is benchmarked synthetic data and its effectiveness is shown on photograph data.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.7
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• pp.144-153
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• 1997

The inverse kinematics problem of a reclaimer which excavates and transports raw materials in a raw yard is investigated. Because of the geometric feature of the equipment in which scooping buckets are attached around the rotating disk, kinematic redundancy occurs in determining joint variable. Link coordinates are introduced following the Denavit-Hartenbery representation. For a given excavation point the forward kinematics yields 3 equations, however the number of involved joint variables in the equations is four. It is shown that the rotating disk at the end of the boom provides an extra passive degree of freedom. Two approaches are investigated in obtaining inverse kinematics solutions. The first method pre-assigns the height of excavation point which can be determined through path planning. A closed form solution is obtained for the first approach. The second method exploits the orthogonality between the normal vector at the excavation point and the z axis of the end-effector coordinate system. The geometry near the reclaiming point has been approximated as a plane, and the plane equation has been obtained by the least square method considering 8 adjacent points near the point. A closed form solution is not found for the second approach, however a linear approximate solution is provided.

• International Journal of Naval Architecture and Ocean Engineering
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• v.7 no.1
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• pp.142-156
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• 2015

A new method for ship Inner Shell optimization, which is called Parametric Inner Shell Optimization Method (PISOM), is presented in this paper in order to improve both hull performance and design efficiency of transport ship. The foundation of PISOM is the parametric Inner Shell Plate (ISP) model, which is a fully-associative model driven by dimensions. A method to create parametric ISP model is proposed, including geometric primitives, geometric constraints, geometric constraint solving etc. The standard optimization procedure of ship ISP optimization based on parametric ISP model is put forward, and an efficient optimization approach for typical transport ship is developed based on this procedure. This approach takes the section area of ISP and the other dominant parameters as variables, while all the design requirements such as propeller immersion, fore bottom wave slap, bridge visibility, longitudinal strength etc, are made constraints. The optimization objective is maximum volume of cargo oil tanker/cargo hold, and the genetic algorithm is used to solve this optimization model. This method is applied to the optimization of a product oil tanker and a bulk carrier, and it is proved to be effective, highly efficient, and engineering practical.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.14 no.4
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• pp.81-88
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• 2005

This paper attempts to derive the dynamic model of handling tasks in finger robot which grasps stable 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, the roblems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. The effect of geometric constraints of area-contacts between the link's end-effector and the object is analyzed and the model based on the differential-algebraic equations is presented. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation and the experiment that the control system gives the performance improvement in the dynamic stable grasping and nimble manipulating of the dual fingers robot with soft tips.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.219-224
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot finger 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's 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. Finally, it is shown that even in the simplest case of dual single D.O.F manipulators there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that the object is of rectangular shape and motion is confined to a horizontal plane.

• Journal of KIISE:Computer Systems and Theory
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• v.34 no.4
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• pp.132-137
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• 2007

A point-wise car-like robot moving in the plane changes its direction with a constraint on turning curvature. In this paper, we consider the problem of computing a shortest path of bounded curvature between a prescribed initial configuration (position and orientation) and a polygonal goal, and propose a new geometric proof showing that the shortest path is either of type CC or CS (or their substring), where C specifies a non-degenerate circular arc and S specifies a non-degenerate straight line segment. Based on the geometric property of the shortest path, the shortest path from a configuration to a polygonal goal can be computed in linear time.

• Journal of Korean Society of Steel Construction
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• v.16 no.2 s.69
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• pp.201-213
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• 2004

A GA-based optimum design algorithm and a program for plane steel frame structures with semi-rigid connections are presented. The algorithm is incorporated with the refined plastic hinge analysis method wherein geometric nonlinearity is considered by using the stability functions of beam-column members, and material nonlinearity, by using the gradual stiffness degradation model that includes the effects of residual stresses, moment redistribution through the occurrence of plastic hinges, semi-rigid connections, and geometric imperfection of members. In the genetic algorithm, the tournament selection method and micro-GAs are employed. The fitness function for the genetic algorithm is expressed as an unconstrained function composed of objective and penalty functions. The objective and penalty functions are expressed as the weight of steel frames and the constraint functions, respectively. In particular, the constraint functions fulfill the requirements of load-carrying capacity, serviceability, ductility, and construction workability. To verify the appropriateness of the present method, the optimal design results of two plane steel frames with rigid and semi-rigid connections are compared.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.1
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• pp.24-30
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• 2016

The accuracy of small and low-cost CCD cameras is insufficient to provide data for precisely tracking unmanned aerial vehicles (UAVs). This study shows how a quad rotor UAV can hover on a human targeted tracking object by using data from a CCD camera rather than imprecise GPS data. To realize this, quadcopter UAVs need to recognize their position and posture in known environments as well as unknown environments. Moreover, it is necessary for their localization to occur naturally. It is desirable for UAVs to estimate their position by solving uncertainty for quadcopter UAV hovering, as this is one of the most important problems. In this paper, we describe a method for determining the altitude of a quadcopter UAV using image information of a moving object like a walking human. This method combines the observed position from GPS sensors and the estimated position from images captured by a fixed camera to localize a UAV. Using the a priori known path of a quadcopter UAV in the world coordinates and a perspective camera model, we derive the geometric constraint equations that represent the relation between image frame coordinates for a moving object and the estimated quadcopter UAV's altitude. Since the equations are based on the geometric constraint equation, measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the quadcopter UAV. The Kalman filter scheme is applied for this method. Its performance is verified by a computer simulation and experiments.

• Journal of Korean Society of Steel Construction
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• v.18 no.2
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• pp.147-160
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• 2006

GA-based fuzzy optimum design algorithm incorporated with the refined plastic hinge analysis method is presented in this study. In the refined plastic hinge analysis method, geometric nonlinearity is considered by using the stability functions of the beam-column members. Material nonlinearity is also considered by using the gradual stiffness degradation model, which considers the effects of residual stresses, moment redistribution through the occurence of plastic hinges, and the geometric imperfections of the members. In the genetic algorithm, the tournament selection method and the total weight of the steel frames. The requirements of load-carrying capacity, serviceability, ductility, and constructabil ity are used as the constraint conditions. In fuzzy optimization, for crisp objective function and fuzzy constraint s, the tolerance that is accepted is 5% of the constraints. Furthermore, a level-cut method is presented from 0 to 1 at a 0 .2 interval, with the use of the nonmembership function, to solve fuzzy-optimization problems. The values of conventional GA optimization and fuzzy GA optimization are compared in several examples of steel structures.