• Proceedings of the Korean Society for Technology of Plasticity Conference
• /
• 2002.05a
• /
• pp.29-32
• /
• 2002

The mechanical joining process of a sheet metal pair has been developed in order to replace the resistance spot welding process in case that joining of mechanically unweldable materials and coated sheet metals with different thickness are needed. Form-joining or clinching, a kind of mechanical joining process, is defined as joining process of a sheet metal pair by geometric constraint imposed by plastic deformation of workpieces without any additive part. It has been reported that the joining strength by commercial form-joining apparatus is 50∼70 percent of that by resistance spot welding. Therefore, a two-step form-joining process with a secondary punch is proposed. The device is designed to improve the joining strength by increasing the geometric constraint of the deformed shape by combining a primary punch, a secondary punch and a female die. In order to verify the improved joining strength by the designed process, the tensile-shear strength, the peel-tension strength and the asymmetric peel-tension strength are compared with those by the TOX process and resistance spot welding.

• Korean Journal of Computational Design and Engineering
• /
• v.1 no.3
• /
• pp.242-256
• /
• 1996

Although feature-based design is a promising approach to fully integrating CAD/CAM, current feature-based design approaches seldom provide methodologies to easily define and design features. This paper proposes a new approach to integrating parametric design with feature-based design to overcome those limitations by globally decomposing a design into a set of features and locally defining and positioning each feature by geometric constraints. Each feature is defined as a parametric shape which consists of a feature section, attributes, and a set of constraints. The generalized sketching and sweeping techniques are used to simplify the process of designing features. The proposed approach is knowledge-based and its computational efficiency in geometric reasoning is improved greatly. Parametrically designed features not only have the advantage of allowing users to efficiently perform design changes, but also provide designers with a natural design environment in which they can do their work more naturally and creatively.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2000.11a
• /
• pp.670-673
• /
• 2000

This paper attempt analysis and computer simulation of dynamics of a set of dual multi-joint fingers with soft-deformable tips which are grasping. Firstly, a set of differential equation describing dynamics of the fingers and object together with geometric constraint of tight area-contacts is formulated by Euler-Lagrange's formalism. 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. Finally, simulation results are shown and the effects of geometric constraints of area-contact is discussed.

• 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
• /
• 1992.10b
• /
• pp.1-6
• /
• 1992

A principle of "orthogonalization" is proposed as an extended notion of hybrid (force and position) control for robot manipulators under geometric endpoint constraints. The principle realizes the hybrid control in a strict sense by letting position and velocity feedback signals be orthogonal in joint space to the contact force vector whose components are exerted at corresponding joints. This orthogonalization is executed via a projection matrix computed in real-time from a gradient of the equation of the surface in joint coordinates and hence both projected position and velocity feedback signals become perpendicular to the force vector that is normal to the surface at the contact point in joint space. To show the important role of the principle in control of robot manipulators, three basic problems are analyzed, the first is a hybrid trajectory tracking problem by means of a "modified hybrid computed torque method", the second is a model-based adaptive control problem for robot manipulators under geometric endpoint constraints, and the third is an iterative learning control problem. It is shown that the passivity of residual error dynamics of robots follows from the orthogonalization principle and it plays a crucial role in convergence properties of both positional and force error signals.force error signals.

• Journal of the Chungcheong Mathematical Society
• /
• v.26 no.4
• /
• pp.723-734
• /
• 2013

A robust optimization problem, which has a maximum function of continuously differentiable functions as its objective function, continuously differentiable functions as its constraint functions and a geometric constraint, is considered. We prove a necessary optimality theorem and a sufficient optimality theorem for the robust optimization problem. We formulate a Wolfe type dual problem for the robust optimization problem, which has a differentiable Lagrangean function, and establish the weak duality theorem and the strong duality theorem which hold between the robust optimization problem and its Wolfe type dual problem. Moreover, saddle point theorems for the robust optimization problem are given under convexity assumptions.

• The Journal of Korea Robotics Society
• /
• v.6 no.4
• /
• pp.308-316
• /
• 2011

This work deals with development of effective redundancy resolution algorithms for the motion control of manipulator. Differently from the typical kinematically redundant robots that are attached to the fixed ground, the ZMP condition should be taken into account in the manipulator motion in order to guarantee the system stability. In this paper, a new motion planning algorithm for redundant manipulator not fixed to the ground is introduced. A sequential redundancy resolution algorithm is proposed, which ensures the ZMP (Zero Moment Point) stability, the planned operational motion, and additional sub-criteria such as joint limit index. A geometric constraint equation derived by reshaping the existing ZMP equation enables one to employ the sequential redundancy algorithm. The feasibility of the proposed algorithm is verified by simulating a redundant manipulator model.

• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.12 no.3
• /
• pp.495-508
• /
• 1999

변형된 라이저의 단위 접선벡터상의 운동학적 제약조건을 적용하여 심해저 라이저의 비선형 동적해석을 행한다. 이 조건의 적용으로 자유도수를 감소시킬 수 있으며 심한 비선형성으로 인한 해의 발산 가능성을 제거할 수 있다. 라이저의 거대변형으로 인한 기하학적 비선형성과 비선형 경계조건이 고려된다. 또한, 비선형성이 포함되는 수동학적 하중이 조류와 파랑에 의해 발생하여 내부에 정상류가 흐르는 라이저관의 외벽에 작용하게 된다. 이 외에도라이저 자체의 축방향 변형조건을 고려한다. Galerkin의 유한요소 근사화와 시간증분자를 적용하여 유한요소에 대한 평형 메트릭스 방정식을 유도하고, 수치해석을 위한 알고리즘을 제안하며 API 보고서의 결과와 비교함으로써 제안된 모델이 검증된다. 또한, 기하학적 비선형성으로 인한 영향을 조사하였다.

• Proceedings of the KSRS Conference
• /
• 2004.10a
• /
• pp.121-124
• /
• 2004

This paper proposed the method of creating image mosaic in automated fashion. It is well known that geometric and radiometric balance in adjacent images should be maintained in mosaicking process. The seam line to minimize geometric discontinuity was extracted using Minimum Absolute­Gray-Difference Sum considering constraint condition in search width. To maintain the radiometric balance of images acquired at different time, we utilized Match Cumulative Frequency, Match Mean and Standard Deviation and Hue Adjustment algorithm. The mosaicked image prepared by the proposed method was compared with those of commercial software. Experiments show that seam lines were extracted significantly well from roads, rivers. ridgelines etc. and Match Cumulative Frequency algorithm was performed pretty good in histogram matching

• 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...