• 로봇학회논문지
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• 제2권3호
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• pp.275-281
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• 2007

This paper presents a motion planning strategy for legged robots using locomotion primitives in the complex 3D environments. First, we define configuration, motion primitives and locomotion primitives for legged robots. A hierarchical motion planning method based on a combination of 2.5 dimensional maps of the 3D workspace is proposed. A global navigation map is obtained using 2.5 dimensional maps such as an obstacle height map, a passage map, and a gradient map of obstacles to distinguish obstacles. A high-level path planner finds a global path from a 2D navigation map. A mid-level planner creates sub-goals that help the legged robot efficiently cope with various obstacles using only a small set of locomotion primitives that are useful for stable navigation of the robot. A local obstacle map that describes the edge or border of the obstacles is used to find the sub-goals along the global path. A low-level planner searches for a feasible sequence of locomotion primitives between sub-goals. We use heuristic algorithm in local motion planner. The proposed planning method is verified by both locomotion and soccer experiments on a small biped robot in a cluttered environment. Experiment results show an improvement in motion stability.

• International Journal of Aeronautical and Space Sciences
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• 제18권2호
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• pp.236-244
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• 2017

In this study, the high-velocity impact penetration behavior of $[45/0/-45/90]_{ns}$ carbon/epoxy composite laminates was studied. The considered configuration includes a spherical steel ball impacting clamped circular laminates with various thicknesses and diameters. First, the impact experiment was performed to measure residual velocity and extent of damage. Next, the impact experiment was numerically simulated through finite element analysis using LS-dyna. Three-dimensional solid elements were used to model each ply of the laminates discretely, and progressive material failure was modeled using MAT162. The result indicated that the finite element simulation yielded residual velocities and damage modes well-matched with those obtained from the experiment. It was found that fiber damage was localized near the impactor penetration path, while matrix and delamination damage were much more spread out with the damage mode showing a dependency on the orientation angles and ply locations. The ballistic-limit velocities obtained by fitting the residual velocities increased almost linearly versus the laminate diameter, but the amount of increase was small, showing that the impact energy was absorbed mostly by the localized impact damage and that the influence of the laminate size was not significant at high-velocity impact.

• Structural Engineering and Mechanics
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• 제36권4호
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• pp.513-527
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• 2010

This paper presents a three-dimensional finite element method based structural analysis model for structural analysis of reinforced concrete high-rise buildings during construction. The model considered the time-dependency of the structural configuration and material properties as well as the effect of the construction rate and shoring stiffness. Uniaxial compression tests of young concrete within 28 days of age were conducted to establish the time-dependent compressive stress-strain relationship of concrete, which was then used as input parameters to the structural analysis model. In-situ tests of a RC high-rise building were conducted, the results of which were used for model verification. Good agreement between the test results and model predictions was achieved. At the end, a parametric study was conducted using the verified model. The results indicated that the floor position and construction rate had significant effect on the shore load, whereas the influence of the shore removal timing and shore stiffness have much smaller. It was also found that the floors are more prone to cracking during construction than is ultimate bending failure.

• 한국광학회지
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• 제24권6호
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• pp.318-323
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• 2013

디지털 홀로그래피 현미경은 기준광과 시료의 굴절률과 두께에 의한 광경로 차이를 간섭 방법을 이용하여 측정하여 3차원 형상을 측정하는 방법이다. 그리고 광 경로차는 시료의 두께와 시료와 시료 주변의 굴절률 차이에 의존한다. 시료 형상 기울기가 매우 큰 경우에는 광 경로차가 커져 일반적인 간섭 방법으로는 측정이 어렵다. 이런 경우 시료를 액체에 담그어 측정하면 광 경로차가 매우 작아져서 일반적인 간섭 방법을 이용하여 측정할 수 있다. 본 연구에서는 디지털 홀로그램 현미경과 액체를 이용하여 기울기가 큰 비구면 렌즈의 형상을 측정하는 연구를 하였다. 시료의 굴절률과 비슷한 액체를 선택함으로서 비구면 렌즈의 정밀한 3차원 측정이 가능하였다.

• Journal of international Conference on Electrical Machines and Systems
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• 제1권4호
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• pp.505-508
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• 2012

A permanent magnet flux switching (PMFS) machine has a simple rotor, whilst both magnets and coils are set in the stator, resulting in easy removal of heat due to both copper loss and eddy current loss in magnets. However, the volume of magnets used in PMFS machines is usually larger than in conventional PM machines, and leakage flux does exist at the non-airgap side. To make full use of the magnets and gain higher power density, a novel 3-dimensional (3D) field PMFS machine is developed. It combines merits of the tubular linear machine, external-rotor rotary machine and axial-flux rotary machine, hence, offers high power density and peak torque capability, as well as efficient utility of magnets owing to the unique configuration of triple airgap fields.

• Journal of Welding and Joining
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• 제32권6호
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• pp.14-21
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• 2014

High-temperature corrosion resistance of martensitic-hardfaced weldment is generally evaluated by the Cr content depending on dilution rate. Present study used a commercial program(SYSWELD) applying three-dimensional heat flow analysis to predict temperature distribution of weld. Configuration of weld bead can be determined by the contour of melting temperature and simultaneously dilution rate is calculated to predict Cr content. Experimental study also has been conducted to measure Cr content of harfaced surface welded by FCAW. Results indicated that computational results were well matched with those obtained from experiments.

• 한국복합재료학회:학술대회논문집
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• 한국복합재료학회 2005년도 춘계학술발표대회 논문집
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• pp.203-206
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• 2005

The objective of study on composite cylinder for alternative fuel vehicle is to develop safe, efficient, and commercially viable, on-board fuel storage system for the fuel cell vehicle or natural gas vehicle that use highly compressed gaseous fuel such as hydrogen or natural gas. This study presents the whole procedure of development and certification of a type 3 composite cylinder of 207bar service pressure and 70 liter water capacity, which includes design/analysis, processing of filament winding, and validation through various testing and evaluation. Design methods of liner configuration and winding patterns are presented. Three dimensional, nonlinear finite element analysis techniques are used to predict burst pressure and failure mode. Design and analysis techniques are verified through burst and cycling tests. The full qualification test methods and results for validation and certification are presented.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.454-457
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• 1995

In optical disc system, tracking actuator is consisted of coarse actuator and fine tracking actuator. This, two-stage actuator, requires many devices and two servos for large stroke and precisional displacement. These complicate configuration increases moving mass. So dynamic characteristics become bad, that is, sensitivity of high frequency gain decrease. In this paper, frequency performance is willing to be better as so one dimensional tracking actuator is designed. In order to investigate the performance of the proposed tracking actuator, the Bode diagram is plotted with Dynamic analyzer and friction characteristic is explained. Finally, tracking error performance is ins investigated into 0.1 .mu.m resolution with MATLAB simulation.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제54권3호
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• pp.120-126
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• 2005

This paper deals with a Double-type Transverse Flux Linear Motor which can be applied to high power system. This type can reduce overall system volume because it has a double flux path, and less number of phases and turns comparing with prototype for one phase. This machine is based on permanent magnet excitation, and the pole shape is designed to reduce attraction force between stator and mover poles. In the paper, the basic configuration of double type is introduced first, and the principle of movement is explained. After performing the characteristic analysis by 3-dimensional equivalent magnetic circuit network, the results are discussed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.107.5-107
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• 2001

In this report, as the active position measurement system, a new method for two-dimensional position measurement system using a concept of semi-open type signal field has proposed. The feature of this system is realizing a position measurement only by scanning the encoded laser beams from scanning points to a measurement field, and observed it. First, both system configuration and encoding method are considered concretely, and M-sequence signal is selected for encoding. Next system design is performed to realize the theoretical measurement accuracy, and applied to a position measurement experiments. Experimental results show that measurement precision is larger than theoretical values. Furthermore, method for improving the measurement ...